Telescopic clamping jaw structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a telescopic clamping jaw structure and a robot, the telescopic clamping jaw structure comprises a mounting frame, a motor and a mounting seat, the motor is fixedly arranged on the mounting frame, and an output shaft of the motor is connected with the mounting seat; a driving unit and a plurality of clamping pieces are arranged at the bottom of the mounting base, the clamping pieces are mounted at the bottom of the mounting base through the driving unit, and the driving unit can drive the clamping pieces to be close to each other or away from each other; a first sliding strip and a second sliding strip are symmetrically connected to the bottom of the mounting seat in a sliding manner, and each clamping piece is correspondingly mounted on one sliding strip; the problem that an existing clamping jaw is not convenient to adjust is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a telescopic gripper structure and a robot. Background Technology

[0002] In the fields of automated production and industrial robotics, the gripper arm, as the core actuator for material handling, directly affects the equipment's adaptability to materials of different specifications. Traditional mechanical grippers mostly adopt a rigid structural design, using pneumatic drive or servo motors to achieve fixed-interval opening and closing movements. Their gripping range is usually preset at the factory, only suitable for materials of specific sizes and shapes. For example, parallel clamping grippers rely on a first cylinder to drive the gripping arm to move synchronously. Although this can achieve high-precision positioning, its stroke range is limited by mechanical limit devices, making it unable to flexibly adapt to materials with large size differences. When the production line needs to switch to different specifications of materials, operators need to manually replace the entire set of grippers or adjust the limit modules. This not only leads to production cycle interruptions and extended equipment downtime, but also significantly increases labor maintenance costs and material switching complexity, making it difficult to meet the flexible and high-cycle production requirements of modern intelligent manufacturing.

[0003] Therefore, the inventors have proposed a telescopic gripper structure and a robot to solve the aforementioned technical problems. Utility Model Content

[0004] One objective of this invention is to provide a telescopic gripper structure and a robot to solve the problem that existing grippers are not easy to adjust; the second objective is to propose a robot.

[0005] On the one hand, in order to achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A telescopic gripper structure and robot include a mounting frame, a motor and a mounting base, wherein the motor is fixedly mounted on the mounting frame and the output shaft of the motor is connected to the mounting base;

[0007] The bottom of the mounting base is provided with a drive unit and multiple clamping components. The clamping components are mounted on the bottom of the mounting base via the drive unit. The drive unit can drive the distance between the clamping components to move closer or further apart.

[0008] The bottom of the mounting base is symmetrically slidably connected with a first slide bar and a second slide bar, and each of the clamping members is correspondingly installed on one of the slide bars;

[0009] The drive unit includes a drive component, a central shaft, and a first connecting rod and a second connecting rod hinged to both ends of the central shaft. The end of the first connecting rod is movably connected to a first slide bar, and the other end of the second connecting rod is movably connected to a second slide bar. The output end of the drive component is connected to the middle position of the central shaft.

[0010] Furthermore, the driving component includes a driving housing, a first cylinder, and a rack, the rack being slidably connected within the driving housing, and the piston end of the first cylinder being connected to the rack for driving the rack to slide;

[0011] A gear that meshes with a rack is rotatably connected inside the drive housing. A drive rod is coaxially connected to the gear, and the bottom of the drive rod passes through the drive housing and connects to the middle of the central shaft.

[0012] Furthermore, the mounting base includes a base plate and a housing, the housing being detachably connected to the base plate, and a reflector being provided on one side of the base plate.

[0013] Furthermore, along the length of the base plate, slide rails are symmetrically arranged on both sides of the bottom of the base plate, and sliders are provided on both the first slide rail and the second slide rail, with the sliders slidably mounted on the slide rails.

[0014] Furthermore, the clamping member includes a clamping plate, a clamping shell detachably connected to the clamping plate, and a clamping assembly. A third cylinder is provided on the clamping plate, and the piston end of the third cylinder passes through the clamping plate and is connected to the clamping assembly. The third cylinder is used to drive the clamping assembly to open or close.

[0015] Furthermore, the clamping assembly includes two clamping units symmetrically installed on both sides of the clamping plate, and a push rod is connected between the two clamping units. The push rod is connected to the piston end of the third cylinder.

[0016] Furthermore, the clamping unit includes a first arm, a second arm, and a clamping part. One end of the first arm is hinged to the clamping plate, and the other end of the first arm is fixedly connected to the clamping part. One end of the second arm is hinged to the push rod, and the other end of the second arm is hinged to the middle position of the first arm.

[0017] Furthermore, a mounting block is provided in the middle of the base plate, and connecting blocks are fixedly provided on both sides of the mounting block, with the tops of both connecting blocks connected to the base plate;

[0018] The bottom of the mounting block is provided with a clamping component.

[0019] Furthermore, several second cylinders are provided on both sides of the mounting base, and a suction cup is connected downward to the piston end of each second cylinder.

[0020] On the other hand, this application also proposes a robot including a base and an arm, and further including a telescopic gripper structure as described above, the telescopic gripper structure being mounted on the arm.

[0021] The beneficial effects of this utility model are:

[0022] This invention utilizes a first and second connecting rod and a rack and pinion transmission design to enable continuous and precise spacing adjustment of the clamping component along the radial direction of the base plate. The drive unit converts the linear motion of the cylinder into the rotational motion of the central shaft. Through the linkage of the first and second connecting rods, the two side slides move synchronously in opposite directions along the slide rail, thereby expanding or contracting the clamping component's radial distance. Compared to traditional clamping methods with fixed or segmented adjustments, this structure overcomes the limitations of preset spacing, allowing for real-time adjustment of the clamping range based on material size. It is particularly suitable for automated gripping scenarios involving workpieces of mixed sizes, significantly improving the equipment's operational flexibility and adaptability to various scenarios.

[0023] The clamping component of this utility model adopts a double-arm lever-type clamping assembly. The synchronous opening and closing action of the clamping part is achieved by driving the push rod through the third cylinder, which enhances the clamping stability. Moreover, the design of setting a second cylinder and suction cup can flexibly meet the needs of grasping materials of various types and shapes. It has a compact structure and strong practicality.

[0024] Other advantages, objectives, and features of this application will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from practice of this application. The objectives and other advantages of this application may be realized and obtained through the detailed embodiments described below. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the telescopic gripper structure and the overall structure of the robot of this utility model;

[0026] Figure 2 for Figure 1 Schematic diagram of Part A;

[0027] Figure 3 The telescopic gripper structure of this utility model is as follows (view) Figure 1 ) Structural diagram;

[0028] Figure 4 for Figure 3 A diagram showing the view from below;

[0029] Figure 5 The telescopic gripper structure of this utility model is as follows (view) Figure 2 ) Structural diagram;

[0030] Figure 6 This is a schematic diagram of the drive component in one direction of the telescopic gripper structure of this utility model;

[0031] Figure 7This is a schematic diagram of the drive component in the telescopic gripper structure of this utility model from another direction;

[0032] Figure 8 This is a partial structural diagram of the telescopic gripper structure of this utility model;

[0033] Figure 9 This is a schematic diagram of the clamping component in the telescopic gripper structure of this utility model;

[0034] Figure 10 This is a schematic diagram of the overall disassembled structure of the clamping component in the telescopic gripper structure of this utility model;

[0035] Figure 11 This is a front-view disassembled structural diagram of the clamping component in the telescopic gripper structure of this utility model.

[0036] The components include: mounting bracket 1, motor 2, mounting base 3, base plate 31, mounting block 311, connecting block 312, housing 32, reflector 33, slide rail 34, drive unit 4, drive component 41, drive housing 411, first cylinder 412, rack 413, gear 414, drive rod 415, central shaft 42, first connecting rod 43, second connecting rod 44, clamping component 5, clamping plate 51, clamping shell 52, clamping assembly 53, clamping unit 531, first arm 5311, second arm 5312, clamping part 5313, push rod 532, third cylinder 54, first slide bar 6, second slide bar 7, slider 71, second cylinder 8, suction cup 81, base 91, and arm body 92. Detailed Implementation

[0037] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.

[0038] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0039] This embodiment proposes a telescopic gripper structure, such as Figures 1 to 11 As shown, it includes a mounting bracket 1, a motor 2, and a mounting base 3, as follows: Figure 1As shown, motor 2 is fixedly mounted on mounting bracket 1, and the output shaft of motor 2 is set downward and connected to mounting base 3.

[0040] The bottom of the mounting base 3 is provided with a drive unit 4 and multiple clamping members 5. In a preferred embodiment, the number of clamping members 5 is preferably three. The clamping members 5 are mounted on the bottom of the mounting base 3 via the drive unit 4, and the drive unit 4 can move the clamping members 5 closer together or further apart. Figure 4 and Figure 5 As shown, the bottom of the mounting base 3 is symmetrically slidably connected with a first slide bar 6 and a second slide bar 7, and the clamping parts 5 on the left and right sides are respectively installed on the first slide bar 6 and the second slide bar 7.

[0041] like Figure 4 and Figure 5 As shown, the drive unit 4 includes a drive member 41, a central shaft 42, and a first connecting rod 43 and a second connecting rod 44 hinged at both ends of the central shaft 42. The left end of the first connecting rod 43 is hinged to the first slide bar 6, and the right end of the second connecting rod 44 is hinged to the second slide bar 7. The output end of the drive member 41 is connected to the middle position of the central shaft 42.

[0042] In a preferred embodiment, the driving component 41 includes a driving housing 411, a first cylinder 412, and a rack 413. The rack 413 is slidably connected inside the driving housing 411. The piston end of the first cylinder 412 is connected to the rack 413 to drive the rack 413 to slide. A gear 414 that meshes with the rack 413 is rotatably connected inside the driving housing 411. A driving rod 415 is coaxially connected to the gear 414. The bottom of the driving rod 415 passes through the driving housing 411 and connects to the middle position of the central shaft 42. In this embodiment, the driving unit 4 drives the rack 413 to move linearly through the first cylinder 412. This linear motion is then converted into the rotational motion of the driving rod 415 via the gear 414 and rack 413, thereby driving the central shaft 42 to rotate. The central shaft 42 serves as the input end of a four-bar linkage. Its rotational motion is converted into the lateral linear motion of the first slider 6 and the second slider 7 through the first link 43 and the second link 44, which are hinged at both ends. The specific process is as follows: When the piston of the first cylinder 412 pushes the rack 413 to slide inside the drive housing 411, the rack 413 meshes with the gear 414, causing the gear 414 to rotate. The drive rod 415 driven by the gear 414 drives the central shaft 42 to rotate. The rotation of the central shaft 42 causes the left end of the first connecting rod 43 and the right end of the second connecting rod 44 to produce synchronous reverse displacement, thereby pulling the first slide bar 6 and the second slide bar 7 to move in opposite directions along the slide rail 34 of the base plate 31. Finally, the radial distance of the clamping member 5 installed on the slide bar is contracted or expanded, realizing the distance adjustment of the gripper.

[0043] As a preferred embodiment, such as Figure 3As shown, the mounting base 3 includes a base plate 31 and a housing 32. The housing 32 is detachably connected to the base plate 31 by bolts. A reflector 33 is provided on the front of the base plate 31. The reflector 33 enhances visibility under low light conditions and facilitates use.

[0044] As a preferred embodiment, such as Figure 4 and Figure 5 As shown, slide rails 34 are symmetrically arranged on both sides of the bottom of the base plate 31 along its length. A slider 71 is mounted on both the first slide bar 6 and the second slide bar 7, and the slider 71 is slidably mounted on the slide rails 34. The slide rails 34 on both sides limit the linear motion trajectory of the slider 71, ensuring that the first slide bar 6 and the second slide bar 7 only move along the length of the base plate 31, preventing the clamping member 5 from tilting or wobbling during extension and retraction. Simultaneously, the low-friction engagement between the slider 71 and the slide rails 34 reduces motion resistance, enabling the drive unit 4 to achieve rapid response with lower energy consumption, while also reducing wear during long-term operation and extending maintenance cycles.

[0045] As a preferred embodiment, such as Figure 5 and Figure 8 As shown, a mounting block 311 is fixedly installed in the middle of the base plate 31, and connecting blocks 312 are fixedly installed on both sides of the mounting block 311. The tops of the two connecting blocks 312 are connected to the base plate 31, and a clamping member 5 is provided at the bottom of the mounting block 311.

[0046] As a preferred embodiment, such as Figure 9 , Figure 10 and Figure 11As shown, the clamping component 5 includes a clamping plate 51, a clamping shell 52 detachably connected to the clamping plate 51, and a clamping assembly 53. A third cylinder 54 is provided on the clamping plate 51. The piston end of the third cylinder 54 passes through the clamping plate 51 and is connected to the clamping assembly 53. The third cylinder 54 is used to drive the clamping assembly 53 to open or close. The clamping assembly 53 includes two clamping units 531 symmetrically installed on both sides of the clamping plate 51. A push rod is connected between the two clamping units 531. 532, push rod 532 is connected to the piston end of third cylinder 54; clamping unit 531 includes first arm 5311, second arm 5312 and clamping part 5313, one end of first arm 5311 is hinged to clamping plate 51, the other end of first arm 5311 is fixedly connected to clamping part 5313, one end of second arm 5312 is hinged to push rod 532, and the other end of second arm 5312 is hinged to the middle position of first arm 5311. In this embodiment, the clamping assembly 53 is driven by the third cylinder 54 to achieve the opening and closing action, converting the linear motion of the third cylinder 54 into the clamping motion of the clamping part 5313. When the third cylinder 54 is activated, its piston end pushes the push rod 532 downward, and the two ends of the push rod 532 are respectively linked to the second arms 5312 of the clamping units 531 on both sides. The second arm 5312 uses the hinge point with the push rod 532 as the fulcrum to drive the first arm 5311 to rotate around its hinge point with the clamping plate 51, thereby causing the clamping part 5313 to unfold outward. When the third cylinder 54 retracts, the push rod 532 retracts, and the second arm 5312 pulls the first arm 5311 to rotate in the opposite direction, so that the clamping parts 5313 of the two clamping units 531 close in the middle to clamp the object.

[0047] As a preferred embodiment, such as Figure 3 and Figure 5 As shown, several second cylinders 8 are provided on both sides of the mounting base 3. The piston end of each second cylinder 8 is connected downward to a suction cup 81. The suction cup 81 is connected to a negative pressure pump and can be used to adsorb materials.

[0048] On the other hand, this application also proposes a robot including a base 91 and an arm 92, and further including a telescopic gripper structure as described above, the telescopic gripper structure being mounted on the arm 92.

[0049] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. A telescopic gripper structure, characterized in that, include: The mounting bracket (1), motor (2) and mounting base (3) are provided. The motor (2) is fixedly mounted on the mounting bracket (1), and the output shaft of the motor (2) is connected to the mounting base (3). The bottom of the mounting base (3) is provided with a drive unit (4) and a plurality of clamping members (5). The clamping members (5) are mounted on the bottom of the mounting base (3) through the drive unit (4). The drive unit (4) can drive the distance between each clamping member (5) to move closer or further away from each other. The bottom of the mounting base (3) is symmetrically slidably connected with a first slide bar (6) and a second slide bar (7), and each of the clamping members (5) is correspondingly installed on one of the slide bars; The drive unit (4) includes a drive member (41), a central shaft (42), and a first connecting rod (43) and a second connecting rod (44) hinged at both ends of the central shaft (42). The end of the first connecting rod (43) is movably connected to the first slide bar (6), and the other end of the second connecting rod (44) is movably connected to the second slide bar (7). The output end of the drive member (41) is connected to the middle position of the central shaft (42).

2. The telescopic gripper structure according to claim 1, characterized in that: The driving component (41) includes a driving housing (411), a first cylinder (412) and a rack (413). The rack (413) is slidably connected inside the driving housing (411). The piston end of the first cylinder (412) is connected to the rack (413) for driving the rack (413) to slide. The drive housing (411) is rotatably connected to a gear (414) that meshes with a rack (413). A drive rod (415) is coaxially connected to the gear (414). The bottom of the drive rod (415) passes through the drive housing (411) and connects to the middle position of the central shaft (42).

3. The telescopic gripper structure according to claim 2, characterized in that: The mounting base (3) includes a base plate (31) and a housing (32). The housing (32) is detachably connected to the base plate (31). A reflector (33) is provided on one side of the base plate (31).

4. The telescopic gripper structure according to claim 3, characterized in that: Along the length of the base plate (31), slide rails (34) are symmetrically arranged on both sides of the bottom of the base plate (31). Slider (71) is provided on both the first slide bar (6) and the second slide bar (7). The slider (71) is slidably mounted on the slide rail (34).

5. The telescopic gripper structure according to claim 1, characterized in that: The clamping member (5) includes a clamping plate (51), a clamping shell (52) detachably connected to the clamping plate (51), and a clamping assembly (53). A third cylinder (54) is provided on the clamping plate (51). The piston end of the third cylinder (54) passes through the clamping plate (51) and is connected to the clamping assembly (53). The third cylinder (54) is used to drive the clamping assembly (53) to open or close.

6. The telescopic gripper structure according to claim 5, characterized in that: The clamping assembly (53) includes two clamping units (531) symmetrically installed on both sides of the clamping plate (51), and a push rod (532) is connected between the two clamping units (531). The push rod (532) is connected to the piston end of the third cylinder (54).

7. The telescopic gripper structure according to claim 6, characterized in that: The clamping unit (531) includes a first arm (5311), a second arm (5312), and a clamping part (5313). One end of the first arm (5311) is hinged to the clamping plate (51), and the other end of the first arm (5311) is fixedly connected to the clamping part (5313). One end of the second arm (5312) is hinged to the push rod (532), and the other end of the second arm (5312) is hinged to the middle position of the first arm (5311).

8. The telescopic gripper structure according to claim 3, characterized in that: A mounting block (311) is provided in the middle of the base plate (31), and connecting blocks (312) are fixedly provided on both sides of the mounting block (311). The tops of the two connecting blocks (312) are connected to the base plate (31). The bottom of the mounting block (311) is provided with a clamping member (5).

9. The telescopic gripper structure according to claim 1, characterized in that: The mounting base (3) is provided with several second cylinders (8) on both sides, and each second cylinder (8) has a suction cup (81) connected downward to its piston end.

10. A robot, comprising a base (91) and an arm (92), characterized in that: It also includes a telescopic gripper structure as described in any one of claims 1 to 9, the telescopic gripper structure being mounted on the arm body (92).

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