A multi-dimensionally adjustable robotic jaw structure

Abstract

The utility model discloses a kind of multi-dimensional adjustment's robot dog claw structure, comprising: fixed frame, the inside of the fixed frame is provided with first bearing, the inner surface of the first bearing is fixedly connected with shaft, the inside of the fixed frame is provided with second bearing, the inner surface of the second bearing is fixedly connected with shaft, the left end of the shaft is fixedly connected with first handle, the inside of the shaft is provided with limit slot, the side surface of the shaft is fixedly connected with rotating block, the side surface of the rotating block is fixedly connected with fixed block, the lower surface of the fixed block is fixedly connected with electric turntable, the structure can multi-angle adjust the use position of dog claw plate, so that dog claw plate can adapt to different objects of angle of repose, and rotating block can be rotated to specified position, convenient for limit block insertion limit slot, avoid damage to limit slot due to angle insertion inappropriate.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a multi-dimensional adjustable robot gripper structure. Background Technology

[0002] In the process of grasping square materials, robotic grippers are usually used to grasp the materials. The grippers grasp the two ends of the materials and limit their movement, thus picking up the materials. Robotic grippers are widely used in industrial production and logistics warehousing.

[0003] Currently, robot grippers typically have an electric rotary table above them during use. Activating the electric rotary table allows adjustment of the gripper's angle, but this adjustment is limited to one direction. When gripping objects of different sizes, relying solely on angle adjustment in a single direction makes it difficult for the gripper to fully conform to the object's surface, resulting in poor flexibility in the device's operation. Utility Model Content

[0004] The purpose of this invention is to provide a multi-dimensional adjustable robot gripper structure, which can adjust the position of the gripper plate at multiple angles so that the gripper plate fits the surface of the object and can adapt to objects at different placement angles.

[0005] To achieve the above objectives, a multi-dimensional adjustable robot gripper structure is provided, comprising: a fixed frame, a first bearing disposed inside the fixed frame, a rotating shaft fixedly connected to the inner surface of the first bearing, a second bearing disposed inside the fixed frame, the inner surface of the second bearing fixedly connected to the rotating shaft, a first rotating handle fixedly connected to the left end of the rotating shaft, a limit groove disposed inside the rotating shaft, a rotating block fixedly connected to the side surface of the rotating shaft, a fixed block fixedly connected to the side surface of the rotating block, an electric turntable fixedly connected to the lower surface of the fixed block, a first fixing rod fixedly connected to the lower surface of the electric turntable, and a first fixing rod disposed inside the first fixing rod. The second groove has a second slider slidably connected to its inner surface. A connecting block is fixedly connected to the lower surface of the second slider. A claw plate is fixedly connected to the lower surface of the connecting block. A second fixing rod is fixedly connected to the side surface of the fixing frame. A first groove is provided inside the second fixing rod. A first slider is slidably connected to the inner surface of the first groove. A first moving plate is fixedly connected to the lower surface of the first slider. A limit block is fixedly connected to the side surface of the first moving plate. A bidirectional lead screw is threaded to the inner surface of the first slider. A second rotating handle is fixedly connected to the front surface of the bidirectional lead screw. A limit plate is fixedly connected to the side surface of the fixing frame.

[0006] According to the multidimensional adjustable robot gripper structure, there are two limiting plates distributed front and back, and four limiting slots in each case.

[0007] According to the multidimensional adjustable robot gripper structure, the inner surface of the limiting groove is slidably connected to the limiting block.

[0008] According to the multi-dimensional adjustable robot gripper structure, a dual-head motor is fixedly connected to the inner surface of the second groove, and a threaded rod is fixedly connected to the output end of the dual-head motor. The side surface of the threaded rod is threadedly connected to the second slider. By starting the dual-head motor, the threaded rod is driven to rotate, and the second slider on the threaded rod moves, causing the connecting block and the rotating plate to move, which can limit the left and right ends of the material.

[0009] According to the multi-dimensional adjustable robot gripper structure, a second connecting plate is fixedly connected to the side surface of the gripper plate, and an electric telescopic rod is fixedly connected to the lower surface of the second connecting plate.

[0010] According to the multi-dimensional adjustable robot gripper structure, a second movable plate is fixedly connected to the lower surface of the electric telescopic rod, and an anti-slip pad is fixedly connected to the end of the second movable plate away from the electric telescopic rod. By activating the electric telescopic rod, the second movable plate and the anti-slip pad can be moved, thereby limiting the upper and lower surfaces of the material.

[0011] According to the multi-dimensional adjustable robot gripper structure, the side surface of the second moving plate is slidably connected to the gripper plate, and the side surface of the anti-slip pad is slidably connected to the gripper plate. The movement of the second moving plate and the anti-slip pad can limit the upper and lower surfaces of materials of different thicknesses. The device is highly flexible in use. At the same time, when the gripper limits the material, it can limit the gripping by the upper and lower surfaces and the left and right ends, which can prevent the material from falling off during the gripping process.

[0012] The above-mentioned solution has the following beneficial effects:

[0013] 1. By setting a fixed frame, a first bearing, a rotating shaft, a second bearing, a first rotating handle, a limiting groove, a rotating block, a fixed block, an electric turntable, and a limiting component, the position of the gripper plate can be adjusted at multiple angles, allowing the gripper plate to adapt to objects at different placement angles and to fit the object surface. This structure provides high flexibility in the use of the gripper plate, and at the same time, there is no need to frequently replace the gripper plate or adjust the overall position of the robot during the process.

[0014] 2. By setting a limit plate, the rotating block can be rotated to a designated position, making it easier for the limit block to be inserted into the limit groove and avoiding damage to the limit groove due to improper insertion angle.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-dimensional adjustable robot gripper structure according to the present invention.

[0018] Figure 2 This is a partially exploded view of a multi-dimensional adjustable robot gripper structure according to the present invention.

[0019] Figure 3 This is a schematic diagram of the first fixing rod structure of a multi-dimensional adjustable robot gripper structure according to the present invention;

[0020] Figure 4 This is a schematic diagram of the second fixing rod structure of a multi-dimensional adjustable robot gripper structure according to this utility model.

[0021] Legend:

[0022] 1. Fixed frame; 2. First bearing; 3. Rotating shaft; 4. Second bearing; 5. First rotating handle; 6. Limiting groove; 7. Rotating block; 8. Fixed block; 9. Electric turntable; 10. First fixed rod; 11. Second fixed rod; 12. First groove; 13. First slider; 14. First moving plate; 15. Limiting block; 16. Bidirectional lead screw; 17. Second rotating handle; 18. Limiting plate; 19. Second groove; 20. Double-headed motor; 21. Threaded rod; 22. Second slider; 23. Connecting block; 24. Claw plate; 25. Second connecting plate; 26. Electric telescopic rod; 27. Second moving plate; 28. Anti-slip mat. Detailed Implementation

[0023] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0024] Reference Figure 1-4This utility model discloses a multi-dimensional adjustable robot gripper structure, comprising: a fixed frame 1, a first bearing 2 disposed inside the fixed frame 1, a rotating shaft 3 fixedly connected to the inner surface of the first bearing 2, a second bearing 4 disposed inside the fixed frame 1, the first bearing 2 and the second bearing 4 being configured to make the rotating shaft 3 rotate more flexibly, the inner surface of the second bearing 4 being fixedly connected to the rotating shaft 3, a first rotating handle 5 fixedly connected to the left end of the rotating shaft 3, four limiting grooves 6 disposed inside the rotating shaft 3, the inner surface of the limiting grooves 6 being slidably connected to limiting blocks 15, a rotating block 7 fixedly connected to the side surface of the rotating shaft 3, and a fixed block 8 fixedly connected to the side surface of the rotating block 7, the rotating shaft 3, the rotating block 7, and the fixed block 8 being rotated by rotating the first rotating handle 5, and an electric turntable 9 fixedly connected to the lower surface of the fixed block 8. The lower surface of the robot is fixedly connected to a first fixed rod 10. By starting the electric turntable 9, the first fixed rod 10 is rotated, which can adjust the position of the claw plate 24 on the first fixed rod 10. At the same time, the rotating shaft 3 rotates to adjust the rotating block 7, the fixed block 8, and the first fixed rod 10, which can adjust the claw plate 24 to rotate flexibly. This structure can adjust the position of the claw plate 24 at multiple angles, so that the claw plate 24 can adapt to objects with different placement angles. The claw plate 24 has high flexibility of use, and there is no need to frequently replace the claw plate 24 or adjust the overall position of the robot during the process. The first fixed rod 10 has a second groove 19 inside. The inner surface of the second groove 19 is slidably connected to a second slider 22. The lower surface of the second slider 22 is fixedly connected to a connecting block 23, and the lower surface of the connecting block 23 is fixedly connected to the claw plate 24.

[0025] A second fixing rod 11 is fixedly connected to the side surface of the fixing frame 1. A first groove 12 is provided inside the second fixing rod 11. A first slider 13 is slidably connected to the inner surface of the first groove 12. A first moving plate 14 is fixedly connected to the lower surface of the first slider 13. A limit block 15 is fixedly connected to the side surface of the first moving plate 14. A bidirectional lead screw 16 is threadedly connected to the inner surface of the first slider 13. A second rotating handle 17 is fixedly connected to the front surface of the bidirectional lead screw 16. By rotating the second rotating handle 17, the bidirectional lead screw 16 is driven to rotate. The first slider 13, the first moving plate 14, and the limit block 15 on the bidirectional lead screw 16 move in opposite directions to both ends, causing the limit block 15 to move in opposite directions. 5. Once the rotating shaft 3 leaves the limiting groove 6, it is no longer limited. The operator can adjust the rotating shaft 3 by rotating the first handle 5. The side surface of the fixed frame 1 is fixedly connected to the limiting plate 18. There are two limiting plates 18, which are distributed front and back. When the side surface of the rotating block 7 contacts the limiting plate 18, the operator holds one end of the claw plate 24 with one hand and rotates the second handle 17 with the other hand. The first slider 13, the first moving plate 14, and the limiting block 15 on the bidirectional screw 16 move in opposite directions toward the center, so that the limiting block 15 enters the limiting groove 6 and limits the rotating shaft 3. A brake is provided at one end of the bidirectional screw 16 to prevent the bidirectional screw 16 from reversing.

[0026] A dual-head motor 20 is fixedly connected to the inner surface of the second groove 19. A threaded rod 21 is fixedly connected to the output end of the dual-head motor 20. The side surface of the threaded rod 21 is threadedly connected to the second slider 22. By starting the dual-head motor 20, the threaded rod 21 is driven to rotate. The second slider 22 on the threaded rod 21 moves, which drives the claw plate 24 to move, so that materials of different sizes can be gripped. A second connecting plate 25 is fixedly connected to the side surface of the claw plate 24. An electric telescopic rod 26 is fixedly connected to the lower surface of the second connecting plate 25. A second moving plate 27 is fixedly connected to the lower surface of the electric telescopic rod 26. An anti-slip pad 28 is fixedly connected to the end of the second moving plate 27 away from the electric telescopic rod 26. The side surface of the second moving plate 27 is slidably connected to the claw plate 24. The side surface of the anti-slip pad 28 is slidably connected to the claw plate 24. Starting the electric telescopic rod 26 drives the second moving plate 27 and the anti-slip pad 28 to move, which can limit the material and prevent the material from falling off or moving during the gripping process.

[0027] Working principle: The operator rotates the second handle 17 to drive the bidirectional lead screw 16 to rotate. The first slider 13, the first moving plate 14, and the limiting block 15 on the bidirectional lead screw 16 move in opposite directions to both ends, causing the limiting block 15 to leave the limiting groove 6 and no longer limit the rotating shaft 3. The operator can then rotate the first handle 5 to drive the rotating shaft 3, rotating block 7, fixed block 8, and first fixed rod 10 to rotate, thereby adjusting the position of the pawl plate 24 on the first fixed rod 10. When the side surface of the rotating block 7 contacts the limiting plate 18, the operator holds one end of the pawl plate 24 with one hand and rotates the second handle 17 with the other hand. The first slider 13, the first moving plate 14, and the limiting block 15 on the bidirectional lead screw 16 move in opposite directions to the center, causing the limiting block 15 to enter the limiting groove 6 and thus limit the rotating shaft. 3. Limiting is performed by starting the electric turntable 9 to drive the first fixed rod 10 to rotate, thereby adjusting the position of the claw plate 24 on the first fixed rod 10. In conjunction with the rotation of the rotating block 7, the claw plate 24 is moved. This structure allows for multi-angle adjustment of the position of the claw plate 24. The limiting plate 18 contacts the surface of the rotating block 7, facilitating the better entry of the limiting block 15 into the limiting groove 6. This structure allows for multi-angle adjustment of the position of the claw plate 24, enabling it to adapt to objects at different placement angles. The claw plate 24 is highly flexible in use, and there is no need to frequently replace the claw plate 24 or adjust the overall position of the robot during the process. It also allows the rotating block 7 to rotate to the designated position, facilitating the insertion of the limiting block 15 into the limiting groove 6 and preventing damage to the limiting groove 6 due to improper insertion angle.

[0028] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A multi-dimensional adjustable robot gripper structure, characterized in that, include: A fixed frame (1) is provided with a first bearing (2) inside the fixed frame (1). A rotating shaft (3) is fixedly connected to the inner surface of the first bearing (2). A second bearing (4) is provided inside the fixed frame (1). The inner surface of the second bearing (4) is fixedly connected to the rotating shaft (3). A first rotating handle (5) is fixedly connected to the left end of the rotating shaft (3). A limit groove (6) is provided inside the rotating shaft (3). A rotating block (7) is fixedly connected to the side surface of the rotating shaft (3). A fixed block (8) is fixedly connected to the side surface of the rotating block (7). An electric turntable (9) is fixedly connected to the lower surface of the fixed block (8). A first fixed rod (10) is fixedly connected to the lower surface of the electric turntable (9). A second groove (19) is provided inside the first fixed rod (10). A second slider (22) is slidably connected to the inner surface of the second groove (19). A connecting block (23) is fixedly connected to the lower surface of the second slider (22). A claw plate (24) is fixedly connected to the lower surface of the connecting block (23). The side surface of the fixed frame (1) is fixedly connected to a second fixed rod (11), the inside of the second fixed rod (11) is provided with a first groove (12), the inner surface of the first groove (12) is slidably connected to a first slider (13), the lower surface of the first slider (13) is fixedly connected to a first moving plate (14), the side surface of the first moving plate (14) is fixedly connected to a limit block (15), the inner surface of the first slider (13) is threadedly connected to a bidirectional lead screw (16), the front surface of the bidirectional lead screw (16) is fixedly connected to a second rotating handle (17), and the side surface of the fixed frame (1) is fixedly connected to a limit plate (18).

2. The multi-dimensional adjustable robot gripper structure according to claim 1, characterized in that, There are two limiting plates (18) distributed front and back, and four limiting grooves (6).

3. The multi-dimensional adjustable robot gripper structure according to claim 1, characterized in that, The inner surface of the limiting groove (6) is slidably connected to the limiting block (15).

4. The multi-dimensional adjustable robot gripper structure according to claim 1, characterized in that, A dual-head motor (20) is fixedly connected to the inner surface of the second groove (19), and a threaded rod (21) is fixedly connected to the output end of the dual-head motor (20). The side surface of the threaded rod (21) is threadedly connected to the second slider (22).

5. The multi-dimensional adjustable robot gripper structure according to claim 1, characterized in that, The side surface of the claw plate (24) is fixedly connected to a second connecting plate (25), and the lower surface of the second connecting plate (25) is fixedly connected to an electric telescopic rod (26).

6. The multi-dimensional adjustable robot gripper structure according to claim 5, characterized in that, A second movable plate (27) is fixedly connected to the lower surface of the electric telescopic rod (26), and an anti-slip pad (28) is fixedly connected to the end of the second movable plate (27) away from the electric telescopic rod (26).

7. The multi-dimensional adjustable robot gripper structure according to claim 6, characterized in that, The side surface of the second movable plate (27) is slidably connected to the claw plate (24), and the side surface of the anti-slip pad (28) is slidably connected to the claw plate (24).

Images