Flexible claw of industrial robot

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a flexible claw of an industrial robot, which synchronously drives a plurality of stay wires through a single output shaft of a stay wire control mechanism, realizes cooperative opening and closing of a clamping mechanism, simplifies a control system, and improves the working efficiency. The stay wire control mechanism is flexibly connected with a stay wire through a wire pipe, so that interference between different clamping mechanisms and other parts is avoided, meanwhile, the clamping mechanisms can be flexibly fixed to the upper side of the mounting plate through spline heads and spline holes, and the purpose that the positions and angles of the clamping mechanisms can be flexibly adjusted by claws according to the sizes of workpieces can be achieved; the flexibility and the grabbing capacity of the claw hand are improved, the structure is simple, and meanwhile the investment cost of factory equipment can be reduced.

Description

A flexible gripper for industrial robots Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a flexible gripper for industrial robots. Background Technology

[0002] In modern industrial automated production, industrial robots are widely used in many processes such as material handling, assembly, and sorting due to their advantages of high efficiency, precision, and repeatability. Among them, the flexible gripper is a key actuator for industrial robots to achieve the grasping function, and its performance directly affects the robot's operating efficiency and applicability.

[0003] Traditional industrial robot grippers have relatively fixed structural designs, commonly featuring two or three grippers. However, with the continuous development of industrial production, production scenarios are becoming increasingly complex and diverse, involving a growing variety of items and specifications. For example, in the electronics manufacturing industry, the components to be grasped vary greatly in shape, ranging from tiny chips and flat circuit boards to irregularly shaped connectors; in the food processing industry, the food packaging to be grasped is diverse, including bags, boxes, and cans, with extremely high requirements for hygiene and gentleness during the grasping process. Because of their unchangeable layout, traditional fixed-style flexible grippers often require replacement with different gripper sizes to meet these diverse grasping needs, increasing equipment costs and maintenance difficulty, and also limiting production capacity. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible gripper for industrial robots to solve the problems mentioned in the background art.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0006] A flexible gripper for industrial robots includes a vertical rod, a pull-wire control mechanism mounted on the upper side of the vertical rod, a mounting plate fixed on the lower side of the vertical rod, a plurality of spline holes evenly formed on the upper side of the mounting plate, and a plurality of clamping mechanisms mounted on the lower side of the mounting plate.

[0007] The clamping mechanism includes a mounting frame with a connecting plate hinged to its bottom. A flexible claw is fixed to the lower side of the connecting plate. A conduit is connected to the lower side of the mounting frame. The upper end of the conduit is fixedly connected to the pull-wire control mechanism. A pull wire is slidably installed inside the conduit. One end of the pull wire is drivenly connected to the connecting plate, and the other end of the pull wire is drivenly connected to the output end of the pull-wire control mechanism. A tension spring is sleeved on the outer side of the lower end of the pull wire. The upper and lower ends of the tension spring are fixedly connected to the mounting frame and the connecting plate, respectively. A spline head matching the spline hole is fixed to the top of the mounting frame. A disc is fixed to the lower side of the spline head, and a fixing component for fixing to the mounting plate is installed on the upper side of the spline head.

[0008] The fixing assembly includes two symmetrically distributed rotating rods that are vertically rotatably connected to the spline head. Each rotating rod has a fixing rod fixed to its top. A disc is fixed to the lower side of the spline head. The upper side of the mounting bracket has a cavity. Two first gears, respectively connected to the lower side of the rotating rods, are rotatably mounted inside the cavity. Second gears, respectively meshing with the two first gears, are rotatably mounted on the sides of the first gears. A rotating column, connected to the second gears, is vertically rotatably mounted inside the cavity. A lever is hinged vertically to the middle of the rotating column. A spring plate, fixed to the rotating column, is fixed to the side of the lever. A horizontal groove is formed on the outer side of the cavity. Vertical grooves are connected to the left and right ends of the horizontal groove. The lever is located inside the horizontal groove and the vertical groove.

[0009] The number of teeth on the second gear is greater than the number of teeth on the first gear.

[0010] A fixing plate is fixed to the side of the vertical rod, and multiple spline holes are also provided on the upper side of the fixing plate.

[0011] A cylindrical rod, which is fixed to the vertical rod, is installed on the lower side of the fixing plate, and a circular baffle is fixed on the outer side of the cylindrical rod.

[0012] The spline head has an arc-shaped chamfer at the top, and an annular rubber ring is fixed on the upper side of the disc.

[0013] This gripper uses a single output shaft of a wire-controlled mechanism to synchronously drive multiple wires, enabling coordinated opening and closing of the clamping mechanisms. This simplifies the control system. The wire-controlled mechanism, through the flexible connection between the wire conduit and the wires, avoids interference between different clamping mechanisms and other components. It also allows the clamping mechanisms to be flexibly fixed to the upper part of the mounting plate via spline heads and spline holes. The gripper can flexibly adjust the position and angle of the clamping mechanism according to the workpiece size, improving its flexibility and gripping ability. Its simple structure also helps reduce factory equipment investment costs. The interaction of the lever, horizontal slot, vertical slot, first gear, and second gear allows for quick locking and disassembly of the fixing components without additional tools by simply moving the lever left and right, improving operational convenience. A spring plate pushes the lever into the vertical slot, forming a mechanical self-locking mechanism to prevent loosening due to vibration and improve the reliability of the flexible gripper. The larger size of the second gear reduces the angle at which the lever needs to rotate when controlling the fixed lever, further improving the usability of the flexible gripper. The fit between the fixed plate and the spline hole on its upper side allows for the addition or removal of the clamping mechanism on the upper side of the mounting plate. Unused grippers can be temporarily fixed to the fixed plate, and the mounting of the fixed plate on the upper side of the vertical rod does not interfere with the normal operation of the clamping mechanism on the lower mounting plate, improving the overall usability of the gripper. The cylindrical rod and circular baffle can be used to wind up the conduit of the clamping mechanism that is not in use. The rounded chamfer makes it easier to insert the spline head into the spline hole. The annular rubber ring can compress the spline head during installation, facilitating the rotation of the fixed lever. After the spline head is installed, it can reduce the wobbling between the clamping mechanism and the mounting plate, thus helping to improve the gripper's clamping accuracy. Attached Figure Description

[0014] This utility model can be further illustrated by the non-limiting embodiments given in the accompanying drawings.

[0015] Figure 1 is a schematic diagram of the structure of this utility model.

[0016] Figure 2 is an enlarged structural diagram of point A in Figure 1.

[0017] Figure 3 is an enlarged structural diagram of point B in Figure 2.

[0018] Figure 4 is a cross-sectional structural diagram of the clamping mechanism in this utility model.

[0019] Figure 5 is an enlarged structural diagram of point C in Figure 4.

[0020] 1. Vertical rod, 2. Pull-wire control mechanism, 3. Mounting plate, 4. Spline hole, 5. Mounting bracket, 6. Connecting plate, 7. Flexible claw head, 8. Conduit, 9. Pull wire, 10. Tension spring, 11. Spline head, 12. Disc, 13. Rotating rod, 14. Fixed rod, 15. Cavity, 16. First gear, 17. Second gear, 18. Rotating column, 19. Lever, 20. Spring plate, 21. Horizontal groove, 22. Vertical groove, 23. Fixed plate, 25. Cylindrical rod, 26. Circular baffle, 27. Arc chamfer, 28. Annular rubber ring. Detailed Implementation

[0021] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] As shown in Figures 1-5, a flexible gripper for industrial robots includes a vertical rod 1, a pull-wire control mechanism 2 installed on the upper side of the vertical rod 1, an mounting plate 3 fixed on the lower side of the vertical rod 1, a plurality of spline holes 4 evenly opened on the upper side of the mounting plate 3, and a plurality of clamping mechanisms installed on the lower side of the mounting plate 3.

[0023] The clamping mechanism includes a mounting frame 5, a connecting plate 6 hinged to the bottom of the mounting frame 5, a flexible claw head 7 fixed to the lower side of the connecting plate 6, a conduit 8 connected to the lower side of the mounting frame 5, the upper end of the conduit 8 fixedly connected to the pull-wire control mechanism 2, a pull wire 9 slidably installed inside the conduit 8, one end of the pull wire 9 being drivenly connected to the connecting plate 6, and the other end of the pull wire 9 being drivenly connected to the output end of the pull-wire control mechanism 2, a tension spring 10 sleeved on the outer side of the lower end of the pull wire 9, the upper and lower ends of the tension spring 10 being fixedly connected to the mounting frame 5 and the connecting plate 6 respectively, a spline head 11 matching the spline hole 4 fixed to the top of the mounting frame 5, and a fixing component for fixing to the mounting plate 3 installed on the upper side of the spline head 11.

[0024] The pull-line control mechanism 2 is existing technology and is used to control the extension and retraction of the pull-line 9. In use, the pull-line control mechanism 2 controls the retraction of the pull-line 9 and can simultaneously control the rotation of multiple connecting plates 6, thereby causing the flexible claw head 7 on the lower side to move and clamp the item.

[0025] The gripper synchronously drives multiple pull wires 9 through a single output shaft of the pull wire control mechanism 2, realizing the coordinated opening and closing of the clamping mechanism, simplifying the control system. The pull wire control mechanism 2 avoids interference between different clamping mechanisms and other components through the flexible connection between the wire tube 8 and the pull wires 9. At the same time, it allows the clamping mechanism to be flexibly fixed to the upper side of the mounting plate 3 through the spline head 11 and spline hole 4. The gripper can flexibly adjust the position and angle of the clamping mechanism according to the size of the workpiece, improving the gripper's flexibility and grasping ability. While the structure is simple, it also helps to reduce the investment cost of factory equipment.

[0026] The fixing assembly includes two symmetrically distributed rotating rods 13 that are vertically rotatably connected to the spline head 11. Each rotating rod 13 has a fixing rod 14 fixed to its top. A disc 12 is fixed to the lower side of the spline head 11. A cavity 15 is provided on the upper side of the mounting bracket 5. Two first gears 16, which are respectively connected to the lower side of the rotating rods 13, are rotatably installed inside the cavity 15. Second gears 17, which mesh with the two first gears 16, are rotatably installed on the side of the first gears 16. A rotating column 18, which is connected to the second gears 17, is vertically rotatably installed inside the cavity 15. A lever 19 is hinged at the middle of the rotating column 18. A spring plate 0, which is fixed to the rotating column 18, is fixed to the side of the lever 19. A horizontal groove 21 is provided on the outer side of the cavity 15. Vertical grooves 22 are connected to the left and right ends of the horizontal groove 21. The lever 19 is located inside the horizontal groove 21 and the vertical groove 22.

[0027] When the lever 19 is inside the left vertical groove 22, the fixing rod 14 retracts to the inside of the top projection of the spline head 11 (as shown in Figures 1 and 3). At this time, the spline head 11 can be freely inserted into the spline hole 4. When it is necessary to fix the spline head 11, simply move the lever 19 into the right vertical groove 22. At this time, under the cooperation of the first gear 16 and the second gear 17, the two fixing rods 14 rotate synchronously in the same direction. Then, the fixing rod 14 extends out and is fixed to the top of the fixing plate 23 and the disc 12 on the lower side of the spline head 11.

[0028] The combination of lever 19, horizontal groove 21, vertical groove 22, first gear 16 and second gear 17 allows for quick locking and disassembly of the fixed components by simply moving lever 19 left and right without the need for additional tools, improving operational convenience. Spring plate 0 pushes lever 19 into vertical groove 22, forming a mechanical self-locking mechanism to prevent loosening due to vibration and improve the reliability of the flexible gripper.

[0029] The number of teeth on the second gear 17 is greater than the number of teeth on the first gear 16.

[0030] The fact that the second gear 17 is larger than the first gear 16 makes the lever 19 need to rotate a smaller angle when controlling the fixed lever 14, further improving the ease of use of the flexible gripper.

[0031] A fixing plate 23 is fixed to the side of the vertical rod 1, and multiple spline holes 4 are also opened on the upper side of the fixing plate 23.

[0032] A cylindrical rod 25, which is fixed to the vertical rod 1, is installed on the lower side of the fixing plate 23, and a circular baffle 26 is fixed on the outer side of the cylindrical rod 25.

[0033] The spline head 11 has an arc-shaped chamfer 27 at the top, and a ring-shaped rubber ring 28 is fixed on the upper side of the disc 12.

[0034] The cooperation between the fixing plate 23 and the spline hole 4 on the upper side of the fixing plate 23 allows the clamping mechanism on the upper side of the mounting plate 3 to be added or removed at will. Unused grippers can be fixed to the fixing plate 23 for temporary storage. The setting of the fixing plate 23 on the upper side of the vertical rod 1 will not interfere with the normal operation of the clamping mechanism on the lower mounting plate 3, thus improving the overall ease of use of the gripper. The cylindrical rod 25 and the circular baffle 26 can be used to wrap the wire tube 8 of the clamping mechanism that is not used. The setting of the arc chamfer 27 makes it easier to insert the spline head 11 into the spline hole 4. The annular rubber ring 28 can squeeze the spline head 11 when it is installed, thereby facilitating the rotation of the fixing rod 14. At the same time, after the spline head 11 is installed and rotated, it can be used to reduce the shaking between the clamping mechanism and the mounting plate 3, thereby helping to improve the clamping accuracy of the gripper.

[0035] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A flexible gripper for industrial robots, comprising a vertical rod, wherein a pull-wire control mechanism is mounted on the upper side of the vertical rod, characterized in that: A mounting plate is fixed to the lower side of the vertical rod. A plurality of spline holes are evenly distributed on the upper side of the mounting plate. Multiple clamping mechanisms are installed on the lower side of the mounting plate. Each clamping mechanism includes a mounting frame. A connecting plate is hinged to the bottom of the mounting frame. A flexible claw is fixed to the lower side of the connecting plate. A conduit is connected to the lower side of the mounting frame. The upper end of the conduit is fixedly connected to the pull-wire control mechanism. A pull wire is slidably installed inside the conduit. One end of the pull wire is drivenly connected to the connecting plate, and the other end is drivenly connected to the output end of the pull-wire control mechanism. A tension spring is sleeved on the outer side of the lower end of the pull wire. The upper and lower ends of the tension spring are fixedly connected to the mounting frame and the connecting plate, respectively. A spline head matching the spline holes is fixed to the top of the mounting frame. A disc is fixed to the lower side of the spline head. A fixing component for fixing to the mounting plate is installed on the upper side of the spline head.

2. The flexible gripper for industrial robots according to claim 1, characterized in that: The fixing assembly includes two symmetrically distributed rotating rods that are vertically rotatably connected to the spline head. Each rotating rod has a fixing rod fixed to its top. A disc is fixed to the lower side of the spline head. The upper side of the mounting bracket has a cavity. Two first gears, respectively connected to the lower side of the rotating rods, are rotatably mounted inside the cavity. Second gears, respectively meshing with the two first gears, are rotatably mounted on the sides of the first gears. A rotating column, connected to the second gears, is vertically rotatably mounted inside the cavity. A lever is hinged vertically to the middle of the rotating column. A spring plate, fixed to the rotating column, is fixed to the side of the lever. A horizontal groove is formed on the outer side of the cavity. Vertical grooves are connected to the left and right ends of the horizontal groove. The lever is located inside the horizontal groove and the vertical groove.

3. The flexible gripper for industrial robots according to claim 2, characterized in that: The number of teeth on the second gear is greater than the number of teeth on the first gear.

4. The flexible gripper for industrial robots according to claim 3, characterized in that: A fixing plate is fixed to the side of the vertical rod, and multiple spline holes are also provided on the upper side of the fixing plate.

5. The flexible gripper for industrial robots according to claim 4, characterized in that: A cylindrical rod, which is fixed to the vertical rod, is installed on the lower side of the fixing plate, and a circular baffle is fixed on the outer side of the cylindrical rod.

6. The flexible gripper for industrial robots according to claim 5, characterized in that: The spline head has an arc-shaped chamfer at the top, and an annular rubber ring is fixed on the upper side of the disc.

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