A robot gripper

Abstract

The utility model relates to robot clamping equipment technical field discloses a kind of robot clamping jaw, including clamping mechanism and main part, the main part includes transmission mechanism, the clamping mechanism includes two identical clamping components, two the clamping component is fixedly installed on transmission mechanism, the clamping component includes connecting piece and rubber block, the connecting piece is fixedly connected with transmission mechanism, fixedly connected with mounting post on the connecting piece, mounting hole is opened in the rubber block, the rubber block is rotatably sleeved on mounting post by mounting hole, the end of mounting post is detachably connected with locking piece, one end of the rubber block is abutted with connecting piece, the other end is abutted with locking piece, the rubber block includes multiple clamping surfaces being arranged along the length direction of rubber block.The utility model can solve the problem in the prior art, the felt wearing speed on clamping mechanism is faster, and replacement frequency is higher, and the mode of adhesion is connected, and replacement is more troublesome.

Description

Technical Field

[0001] This utility model relates to the field of robot gripping equipment technology, and in particular to a robot gripper. Background Technology

[0002] A robot (robotic arm) gripper typically consists of a gripping mechanism and a main body. The main body includes a drive system, transmission mechanism, sensors, and control system, all of which work together to achieve precise grasping. The gripping mechanism, as the end effector, directly contacts and grasps the object, and is usually designed as a simple two-finger type.

[0003] In existing technologies, to improve the anti-slip effect of clamping mechanisms, felt is often glued to one side of the object being clamped. However, in actual use, it has been found that the felt on the clamping mechanism wears out quickly, requires frequent replacement, and the glued connection makes replacement cumbersome. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a robot gripper that solves the problems in the prior art where the felt on the gripping mechanism wears out quickly, requires frequent replacement, and is connected by adhesive, making replacement cumbersome.

[0005] This utility model solves the above-mentioned technical problems through the following technical means:

[0006] A robotic gripper includes a gripping mechanism and a main body. The main body includes a transmission mechanism. The gripping mechanism includes two identical gripping assemblies, both of which are fixedly mounted on the transmission mechanism. Each gripping assembly includes a connector and a rubber block. The connector is fixedly connected to the transmission mechanism, and a mounting post is fixedly connected to the connector. The rubber block has a mounting hole, and the rubber block is rotatably fitted onto the mounting post through the mounting hole. A locking member is detachably connected to the end of the mounting post. One end of the rubber block abuts against the connector, and the other end abuts against the locking member. The rubber block includes multiple gripping surfaces arranged along the length of the rubber block.

[0007] By designing the above structure, when the clamping surfaces wear down, the locking mechanism can be removed, and the rubber block can be rotated to replace the worn clamping surfaces with unworn ones. The locking mechanism then secures the rubber block. When multiple clamping surfaces are worn down, the entire rubber block can be replaced. On one hand, using rubber blocks instead of felt provides better wear resistance and reduces replacement frequency; on the other hand, the clamping surfaces can be changed simply by rotation, making operation more convenient. Furthermore, the fact that the entire rubber block needs to be replaced only after multiple clamping surfaces have worn down further reduces the replacement frequency.

[0008] In this embodiment, a plate is provided between the rubber block and the locking member. The plate is slidably sleeved on the mounting post. One side of the plate abuts against the locking member, and the other side abuts against the rubber block. The rubber block has multiple through holes, and the connector has multiple blind holes. A reinforcing rod passes through the through holes. One end of the reinforcing rod is fixedly connected to the plate, and the other end passes through the blind hole.

[0009] By designing the above structure, the reinforcing rod can improve the overall strength of the rubber block. On the one hand, it prevents the rubber block from rotating and twisting during use; on the other hand, it prevents the rubber block from twisting and deforming during rotation. Furthermore, the reinforcing rod inserted into the blind hole can increase the locking force on the rubber block.

[0010] In this embodiment, redundant grooves are provided between adjacent clamping surfaces along the length of the rubber block.

[0011] By setting the above structure, when the clamping surface in use is squeezed and deformed, it is avoided to affect the adjacent unused clamping surfaces.

[0012] In this embodiment, the multiple through holes are distributed at equal angles along the circumference of the mounting post. The through holes are located between the redundant slot and the mounting hole, and the two side walls of the redundant slot are tangent to the circumferential surface of the through holes.

[0013] By setting the above structure, the extrusion deformation of the clamping surface is further restricted to the side of the clamping surface, so as to avoid the adjacent clamping surfaces being affected.

[0014] In this embodiment, a raised strip is provided on the clamping surface along the length direction of the rubber block.

[0015] In this embodiment, the locking component includes a locking nut, the free end of the mounting post is provided with a connecting post, the plate is slidably sleeved on the connecting post, the connecting post is provided with a threaded section, the locking nut is threadedly connected to the threaded section, and the locking nut abuts against the plate.

[0016] In this embodiment, a spring is provided between the locking nut and the plate. The spring is sleeved on the connecting post, with one end of the spring abutting against the locking nut and the other end abutting against the plate.

[0017] By setting the above structure, when it is necessary to switch the clamping surface, simply move the plate towards the locking nut end to allow the reinforcing rod to exit from the blind hole, then rotate to switch the clamping surface, and finally release the plate. The spring returns to its original deformation, allowing the plate to move away from the locking nut end until the reinforcing rod is inserted into the blind hole, effectively improving the switching speed.

[0018] The beneficial effects of this utility model are:

[0019] 1. This utility model, by setting up a connecting part, a rubber block, and a locking part, allows the locking part to be removed when the clamping surfaces are worn during use. By rotating the rubber block, the unworn clamping surfaces replace the worn ones, and the locking part then locks the rubber block in place. When multiple clamping surfaces are worn, the entire rubber block can be replaced. On one hand, using a rubber block instead of felt provides better wear resistance and reduces replacement frequency; on the other hand, the clamping surfaces can be changed simply by rotation, making operation more convenient. Furthermore, the fact that the entire rubber block only needs to be removed and replaced after multiple clamping surfaces are worn further reduces the replacement frequency.

[0020] 2. This utility model, by setting a plate and a reinforcing rod, can improve the overall strength of the rubber block. On the one hand, it prevents the rubber block from rotating and twisting during use; on the other hand, it prevents the rubber block from twisting and deforming during rotation. Furthermore, the reinforcing rod inserted into the blind hole can increase the locking force on the rubber block. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a robot gripper according to the present invention;

[0022] Figure 2 This is a schematic diagram of the disassembled structure of a robot gripper according to the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a rubber block in a robot gripper according to the present invention;

[0024] in,

[0025] 1. Clamping mechanism; 11. Clamping assembly;

[0026] 2. Main body; 21. Transmission mechanism;

[0027] 3. Connector; 31. Mounting post; 311. Connecting post; 32. Blind hole;

[0028] 4. Rubber block; 41. Mounting hole; 42. Clamping surface; 43. Through hole; 44. Redundant groove; 45. Raised strip;

[0029] 5. Locking components;

[0030] 6. Plate body; 61. Reinforcing bar;

[0031] 7. Spring. Detailed Implementation

[0032] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can understand the advantages and effects of this utility model from the content disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are for illustrative purposes only and represent schematic diagrams, not actual pictures. They should not be construed as limiting the utility model. To better illustrate the embodiments of this utility model, some components in the figures may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable that some well-known structures and their descriptions may be omitted in the figures for those skilled in the art.

[0033] In the figures of this utility model embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figure, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe the positional relationship in the figure are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] like Figures 1-3 As shown, this utility model discloses a robot gripper, comprising a gripping mechanism 1 and a main body 2. The main body 2 includes a transmission mechanism 21. It is understood that in the prior art, the main body 2 also includes a drive system, sensors, and a control system. Since the drive system, sensors, control system, and transmission mechanism 21 are already fully disclosed in the prior art, they will not be described in detail here. The gripping mechanism 1 includes two gripping components 11 with identical structures. Both gripping components 11 are fixedly mounted on the transmission mechanism 21. When the transmission mechanism 21 is working, it achieves a gripping action by driving the two gripping components 11 to move closer to each other, and achieves a disengaging action by driving the two gripping components 11 to move away from each other.

[0035] In this embodiment, the clamping assembly 11 includes a connector 3 and a rubber block 4. The connector 3 is fixedly connected to the transmission mechanism 21, and a mounting post 31 is fixedly connected to the connector 3. The rubber block 4 has a mounting hole 41, and the rubber block 4 is rotatably sleeved on the mounting post 31 through the mounting hole 41. A locking member 5 is detachably connected to the end of the mounting post 31. One end of the rubber block 4 abuts against the connector 3, and the other end abuts against the locking member 5. The rubber block 4 includes multiple clamping surfaces 42 arranged along the length of the rubber block 4. In this embodiment, the rubber block 4 has four clamping surfaces 42. When the clamping surfaces 42 in use are worn, the locking member 5 is removed, and the rubber block 4 is rotated to allow the unworn clamping surfaces 42 to replace the worn clamping surfaces 42. Then, the rubber block 4 is locked by the locking member 5. When all the clamping surfaces 42 are worn, the entire rubber block 4 can be replaced. On the one hand, replacing felt with rubber blocks 4 provides better wear resistance and reduces the replacement frequency; on the other hand, the clamping surface 42 can be changed by rotation, making operation more convenient. Furthermore, the entire rubber block 4 only needs to be removed and replaced after all clamps have worn down, further reducing the replacement frequency.

[0036] In this embodiment, a plate 6 is provided between the rubber block 4 and the locking member 5. The plate 6 is slidably sleeved on the mounting post 31. One side of the plate 6 abuts against the locking member 5, and the other side abuts against the rubber block 4. The rubber block 4 has multiple through holes 43, and the connecting member 3 has multiple blind holes 32. A reinforcing rod 61 passes through the through holes 43. One end of the reinforcing rod 61 is fixedly connected to the plate 6, and the other end passes through the blind hole 32. In some other embodiments, the rubber block 4 can be locked to the mounting post 31 by the locking member 5 alone. In this embodiment, by providing the plate 6 and the reinforcing rod 61, the reinforcing rod 61 can improve the overall strength of the rubber block 4. On the one hand, it prevents the rubber block 4 from rotating and twisting during use; on the other hand, it prevents the rubber block 4 from twisting and deforming during rotation. Furthermore, the insertion of the reinforcing rod 61 into the blind hole 32 can increase the locking force on the rubber block 4.

[0037] In this embodiment, redundant grooves 44 are provided between adjacent clamping surfaces 42 along the length of the rubber block 4. When the clamping surface 42 in use is squeezed and deformed, it avoids affecting the adjacent unused clamping surfaces 42.

[0038] In this embodiment, multiple through holes 43 are distributed at equal angles along the circumference of the mounting post 31. The through holes 43 are located between the redundant groove 44 and the mounting hole 41, and both sidewalls of the redundant groove 44 are tangent to the circumferential surface of the through holes 43. This further restricts the extrusion deformation of the clamping surface 42 to the side of the clamping surface 42, preventing adjacent clamping surfaces 42 from being affected.

[0039] In this embodiment, a protrusion 45 is provided on the clamping surface 42 along the length direction of the rubber block 4. When the two clamping components 11 clamp the item, the protrusion 45 can provide an upward supporting force to the item, preventing the item from sliding down.

[0040] In this embodiment, the locking element 5 includes a locking nut, and a connecting post 311 is provided at the free end of the mounting post 31. The plate 6 is slidably sleeved on the connecting post 311, and a threaded section is provided on the connecting post 311. The locking nut is threadedly connected to the threaded section, and the locking nut abuts against the plate 6. In some other embodiments, the locking element 5 may also be a pin.

[0041] In this embodiment, a spring 7 is provided between the locking nut and the plate 6. The spring 7 is sleeved on the connecting post 311, with one end of the spring 7 abutting against the locking nut and the other end abutting against the plate 6. In some other embodiments, the locking nut and the plate 6 can also be directly locked. In this embodiment, by providing the spring 7, when it is necessary to switch the clamping surface 42, it is only necessary to move the plate 6 towards the locking nut end, so that the reinforcing rod 61 is withdrawn from the blind hole 32, then rotate to switch the clamping surface 42, and finally release the plate 6. The spring 7 returns to its deformation, so that the plate 6 moves away from the locking nut end until the reinforcing rod 61 is inserted into the blind hole 32, effectively improving the switching speed. It should be noted that the spring 7 can be added or not depending on the actual situation. If the object being clamped is too heavy, the locking nut and the plate 6 can be locked directly to prevent the object from moving along the axial direction of the mounting post 31 during the movement.

[0042] The working principle of this utility model is as follows:

[0043] When the clamping surface 42 is worn during use:

[0044] Move plate 6 toward the locking nut end to allow reinforcing rod 61 to exit from blind hole 32. Then rotate and switch to the unworn clamping surface 42. Finally, release plate 6, and spring 7 will return to its original shape, causing plate 6 to move away from the locking nut end until reinforcing rod 61 is inserted into blind hole 32.

[0045] When all four sides of rubber block 4 are worn:

[0046] Unscrew the locking nut from the connecting post 311, then remove the spring 7, plate 6 and rubber block 4 from the mounting post 31. Replace the rubber block 4 with a new one, then install the spring 7, plate 6 and rubber block 4 on the mounting post 31. Finally, install the locking nut.

[0047] The above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model. Technologies, shapes, and structural parts not described in detail in this utility model are all known technologies.

Claims

1. A robot gripper, comprising a gripping mechanism (1) and a main body (2), wherein the main body (2) includes a transmission mechanism (21), and the gripping mechanism (1) includes two gripping assemblies (11) with identical structures, both gripping assemblies (11) being fixedly mounted on the transmission mechanism (21), characterized in that: The clamping assembly (11) includes a connector (3) and a rubber block (4). The connector (3) is fixedly connected to the transmission mechanism (21). A mounting post (31) is fixedly connected to the connector (3). A mounting hole (41) is provided on the rubber block (4). The rubber block (4) is rotatably sleeved on the mounting post (31) through the mounting hole (41). A locking member (5) is detachably connected to the end of the mounting post (31). One end of the rubber block (4) abuts against the connector (3), and the other end abuts against the locking member (5). The rubber block (4) includes a plurality of clamping surfaces (42) arranged along the length direction of the rubber block (4).

2. The robot gripper according to claim 1, characterized in that: A plate (6) is provided between the rubber block (4) and the locking member (5). The plate (6) is slidably sleeved on the mounting post (31). One side of the plate (6) abuts against the locking member (5) and the other side abuts against the rubber block (4). The rubber block (4) has multiple through holes (43). The connector (3) has multiple blind holes (32). A reinforcing rod (61) is inserted into the through hole (43). One end of the reinforcing rod (61) is fixedly connected to the plate (6) and the other end is inserted into the blind hole (32).

3. A robot gripper according to claim 2, characterized in that: A redundant groove (44) is provided between adjacent clamping surfaces (42) along the length of the rubber block (4).

4. A robot gripper according to claim 3, characterized in that: Multiple through holes (43) are distributed at equal angles along the circumference of the mounting post (31). The through holes (43) are located between the redundant groove (44) and the mounting hole (41). Both side walls of the redundant groove (44) are tangent to the circumferential surface of the through holes (43).

5. A robot gripper according to claim 1, characterized in that: A protrusion (45) is provided on the clamping surface (42) along the length direction of the rubber block (4).

6. A robotic gripper according to claim 2, characterized in that: The locking component (5) includes a locking nut. The free end of the mounting post (31) is provided with a connecting post (311). The plate (6) is slidably sleeved on the connecting post (311). The connecting post (311) is provided with a threaded section. The locking nut is threadedly connected to the threaded section. The locking nut abuts against the plate (6).

7. A robotic gripper according to claim 6, characterized in that: A spring (7) is provided between the locking nut and the plate (6). The spring (7) is sleeved on the connecting column (311). One end of the spring (7) abuts against the locking nut, and the other end abuts against the plate (6).

Images