A flexible robot gripper adapted to the profile of a workpiece

Abstract

The utility model discloses a kind of flexible robot clamps suitable for workpiece profile, it is related to robot clamp technical field, including installation frame, spacing adjustment component and clamping component, spacing adjustment component is installed in the inside of installation frame, spacing adjustment component is connected with fixture plate in the downside, and the side of fixture plate is fixed with mounting bracket up and down, electric telescopic handle is installed in the side middle part of fixture plate, and one end of electric telescopic handle is fixed with moving frame, the front end of mounting bracket is fixed with fixed frame, moving frame, fixed frame are all "U" type structure, and moving frame and mounting bracket are slidingly connected, the inside of moving frame, fixed frame is all installed with clamping component. The flexible robot clamp suitable for workpiece profile, the clamping degree of two clamps inside moving frame, fixed frame can be adjusted correspondingly, and the memory cotton of clamp side is flexible structure simultaneously, so that it can be applicable to different shape profile workpiece.

Description

Technical Field

[0001] This utility model relates to the field of robot clamping technology, specifically a flexible robot clamping fixture that adapts to the contour of a workpiece. Background Technology

[0002] Robotic grippers are devices mounted on industrial robots for gripping and securing workpieces in automated equipment. They can move, grip, and release workpieces under the control of robotic arms or robots, and are widely used in automated unmanned factories for machine tool loading and unloading, workpiece destacking and palletizing, welding, grinding, and other tasks.

[0003] For example, the utility model application with application number 202020560870.5 discloses a robot gripper and a robot. The robot gripper similar to the above application still has the following shortcomings: although it is suitable for material boxes of various sizes, it is not convenient to adapt to workpieces of different sizes and shapes. Utility Model Content

[0004] The purpose of this invention is to provide a flexible robot gripper that adapts to the contour of a workpiece, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a flexible robot fixture adaptable to the contour of a workpiece, comprising a mounting frame, a spacing adjustment component, and a clamping component. The spacing adjustment component is mounted on the inner side of the mounting frame. A clamping plate is connected to the lower side of the spacing adjustment component, and a mounting frame is fixed to the upper and lower edges of one side of the clamping plate. An electric telescopic rod is mounted in the middle of one side of the clamping plate, and a movable frame is fixed to one end of the electric telescopic rod. A fixed frame is fixed to the front end of the mounting frame. Both the movable frame and the fixed frame are U-shaped structures, and the movable frame and the mounting frame are slidably connected. A clamping component is mounted on the inner side of both the movable frame and the fixed frame, and the clamping component includes a rotating shaft, a clamping plate, and memory foam. The clamping plate is rotatably mounted on the inner side of both the movable frame and the fixed frame via the rotating shaft, and memory foam is adhered to one side of the clamping plate.

[0006] Furthermore, the spacing adjustment assembly includes a bidirectional lead screw, a movable sleeve, and a connecting plate. The bidirectional lead screw is rotatably mounted on the inner side of the mounting frame, and two movable sleeves are symmetrically mounted on the outer side of the bidirectional lead screw. A connecting plate is fixed on the lower side of the movable sleeve.

[0007] Furthermore, the movable sleeve, connecting plate, and inner wall of the mounting frame are slidably connected, and a drive motor is installed on the outer side of the mounting frame.

[0008] Furthermore, the spacing adjustment assembly also includes a sliding block and a limiting support plate. The limiting support plate is fixed to the lower side of the mounting frame, and the sliding block is fixed to the lower side of the connecting plate. The sliding block is sleeved on the outside of the limiting support plate and slidably connected to the limiting support plate.

[0009] Furthermore, the connecting plate, sliding block, clamping plate, and mounting bracket are all provided in left and right sets, and the sliding block and clamping plate are fixedly connected.

[0010] Furthermore, the clamping assembly also includes a fixing plate and a miniature cylinder. The fixing plate is fixed inside the movable frame and the fixing frame, and a miniature cylinder is installed on one side of the fixing plate.

[0011] Furthermore, the clamping assembly also includes a push plate and a linkage frame. One end of the micro cylinder is fixed with a push plate, and linkage frames are provided on both the upper and lower sides of the push plate.

[0012] Furthermore, the upper and lower linkage frames are symmetrically arranged about the horizontal center line of the clamping plate, and the two ends of the linkage frames are rotatably connected to the clamping plate and the push plate respectively through movable shafts.

[0013] This utility model provides a flexible robot gripper that adapts to the contour of a workpiece, and has the following beneficial effects:

[0014] This utility model is equipped with a clamping assembly. The clamping plate is rotatably set by a rotating shaft. Therefore, the extension and retraction of the micro cylinder can drive the movement of the push plate, which in turn can drive the rotation of the clamping plate in conjunction with the upper and lower linkage frames. This allows for adjustment of the clamping degree in one direction, so that the two clamping plates on one side cooperate with each other to stably clamp one side of the workpiece. The clamping degree of the two clamping plates on the inner side of the moving frame and the fixed frame can be adjusted accordingly. At the same time, the memory foam on one side of the clamping plate is a flexible structure, which makes it suitable for workpieces with different shapes and contours.

[0015] This utility model is equipped with a spacing adjustment component, a clamping plate, and a mounting frame. The spacing adjustment component can adjust the spacing between the clamping plates on both sides, that is, adjust the spacing between the clamping components on both sides. The mounting frame on one side is equipped with a movable frame and a fixed frame. The movable frame can be moved by the extension and retraction of the electric telescopic rod to adjust the spacing between the movable frame and the fixed frame, that is, adjust the spacing between the two clamping components on one side, which is convenient for workpieces of different sizes. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a flexible robot gripper that adapts to the contour of a workpiece according to the present invention.

[0017] Figure 2 This is an exploded structural diagram of a flexible robot gripper that adapts to the contour of a workpiece according to the present invention.

[0018] Figure 3 This is a schematic diagram of the mounting frame structure of a flexible robot fixture that adapts to the contour of a workpiece according to the present invention.

[0019] Figure 4This is a schematic diagram of the clamping component structure of a flexible robot gripper that adapts to the contour of a workpiece according to this utility model.

[0020] In the diagram: 1. Mounting frame; 2. Spacing adjustment assembly; 201. Two-way lead screw; 202. Moving sleeve; 203. Connecting plate; 204. Sliding block; 205. Limiting support plate; 3. Drive motor; 4. Clamping plate; 5. Mounting frame; 6. Electric telescopic rod; 7. Moving frame; 8. Fixed frame; 9. Clamping assembly; 901. Rotating shaft; 902. Clamping plate; 903. Memory foam; 904. Fixed plate; 905. Miniature cylinder; 906. Push plate; 907. Linkage frame. Detailed Implementation

[0021] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0022] like Figures 1-2 As shown, a flexible robot gripper adapting to the contour of a workpiece includes a mounting frame 1, a spacing adjustment assembly 2, and a clamping assembly 9. The spacing adjustment assembly 2 is mounted on the inner side of the mounting frame 1. The spacing adjustment assembly 2 includes a bidirectional lead screw 201, a movable sleeve 202, and a connecting plate 203. The bidirectional lead screw 201 is rotatably mounted on the inner side of the mounting frame 1, and two movable sleeves 202 are symmetrically sleeved on the outer side of the bidirectional lead screw 201. The connecting plate 203 is fixed to the lower side of the movable sleeve 202. The movable sleeves 202 and the connecting plate 203 are slidably connected to the inner wall of the mounting frame 1. A drive motor 3 is mounted on the outer side of the mounting frame 1. The spacing adjustment assembly 2 also includes a sliding block 204 and a limiting support plate 205. A limiting support plate 205 is fixed to the lower side of the mounting frame 1, and a sliding block 204 is fixed to the lower side of the connecting plate 203. The sliding block 204 is sleeved on the outside of the limiting support plate 205 and slidably connected to the limiting support plate 205. The drive motor 3 facilitates the rotation of the bidirectional lead screw 201, which in turn drives the two moving sleeves 202 on the outside of the bidirectional lead screw 201 to move towards each other. This causes the moving sleeves 202 on both sides to drive the sliding blocks 204, the clamping plate 4, and the mounting frame 5 to move. The sliding of the sliding block 204 on the outside of the limiting support plate 205 can enhance the movement stability of the clamping plate 4. At the same time, the limiting support plate 205 can provide force support for the sliding block 204 and the clamping plate 4.

[0023] like Figures 2-3As shown, the lower side of the spacing adjustment component 2 is connected to the clamping plate 4, and the upper and lower edges of one side of the clamping plate 4 are fixed with mounting brackets 5. The connecting plate 203, sliding block 204, clamping plate 4, and mounting bracket 5 are all provided in two sets, left and right. The sliding block 204 and clamping plate 4 are fixedly connected. An electric telescopic rod 6 is installed in the middle of one side of the clamping plate 4, and a movable frame 7 is fixed at one end of the electric telescopic rod 6. A fixed frame 8 is fixed at the front end of the mounting bracket 5. The movable frame 7 and the fixed frame 8 are both "U" shaped structures, and the movable frame 7 and the mounting bracket 5 are slidably connected. The spacing adjustment component 2 can adjust the spacing between the clamping plates 4 on both sides, that is, adjust the spacing between the clamping components 9 on both sides. The mounting bracket 5 on one side is equipped with both the movable frame 7 and the fixed frame 8. The extension and retraction of the electric telescopic rod 6 facilitates the movement of the movable frame 7 to adjust the spacing between the movable frame 7 and the fixed frame 8, that is, adjust the spacing between the two clamping components 9 on one side, which is convenient for workpieces of different sizes.

[0024] like Figures 3-4 As shown, clamping components 9 are installed on the inner sides of both the movable frame 7 and the fixed frame 8. Each clamping component 9 includes a rotating shaft 901, a clamping plate 902, and memory foam 903. The clamping plate 902 is rotatably mounted on the inner side of both the movable frame 7 and the fixed frame 8 via the rotating shaft 901, and memory foam 903 is adhered to one side of the clamping plate 902. The clamping component 9 also includes a fixing plate 904 and a miniature cylinder 905. The fixing plate 904 is also fixed inside the movable frame 7 and the fixed frame 8, and a miniature cylinder 905 is installed on one side of the fixing plate 904. The clamping component 9 also includes a push plate 906 and a linkage frame 907. One end of the miniature cylinder 905 is fixed to the push plate 906, and linkage frames 907 are provided on both the upper and lower sides of the push plate 906. The clamping plates 902 are symmetrically arranged along their horizontal center lines, and the two ends of the linkage frame 907 are rotatably connected to the clamping plates 902 and the push plate 906 via movable shafts. The clamping plates 902 are rotatably arranged via the rotating shaft 901. Therefore, the extension and retraction of the micro cylinder 905 can drive the push plate 906 to move, thereby enabling the push plate 906 to cooperate with the upper and lower linkage frames 907 to drive the clamping plates 902 to rotate, so as to adjust the clamping degree in a single direction. This allows the two clamping plates 902 on one side to cooperate with each other to stably clamp one side of the workpiece. The clamping degree of the two clamping plates 902 on the inner side of the moving frame 7 and the fixed frame 8 can be adjusted accordingly. At the same time, the memory foam 903 on one side of the clamping plates 902 is a flexible structure, making it suitable for workpieces with different shapes and contours.

[0025] In summary, as Figures 1-4As shown, this flexible robot fixture that adapts to the workpiece contour can be used by first moving the mounting frame 1 to one side of the workpiece, so that the workpiece is located between the mounting frames 5 on both sides. Then, the drive motor 3 drives the rotation of the bidirectional lead screw 201, which in turn drives the two moving sleeves 202 on the outer side of the bidirectional lead screw 201 to move towards each other. This causes the moving sleeves 202 on both sides to drive the sliding blocks 204, the fixture plate 4, and the mounting frame 5 on both sides to move. This allows the distance between the two fixture plates 4 on both sides to be adjusted, that is, the distance between the clamping components 9 on both sides to be adjusted. During this process, the sliding block 204 sliding on the outer side of the limiting support plate 205 can enhance the movement stability of the fixture plate 4. At the same time, the limiting support plate 205 can provide force support for the sliding block 204 and the fixture plate 4.

[0026] Since the mounting frame 5 on one side is equipped with both a movable frame 7 and a fixed frame 8, the movable frame 7 can be moved by extending and retracting the electric telescopic rod 6 to adjust the distance between the movable frame 7 and the fixed frame 8, that is, to adjust the distance between the two clamping components 9 on one side, making it suitable for workpieces of different sizes. Then, the extension and retraction of the micro cylinder 905 can drive the push plate 906 to move, which in turn causes the push plate 906 to work with the upper and lower linkage frames 907 to drive the clamping plate 902 to rotate under the action of the rotating shaft 901, thereby adjusting the clamping degree in one direction. This allows the two clamping plates 902 on one side to cooperate with each other to stably clamp one side of the workpiece. At this time, the clamping degree of the two clamping plates 902 on the inner side of the movable frame 7 and the fixed frame 8 can be adjusted accordingly. At the same time, the memory foam 903 on one side of the clamping plate 902 is a flexible structure, which makes it suitable for workpieces with different shapes and contours. This completes the use process of the flexible robot fixture that adapts to the contour of the workpiece.

[0027] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A flexible robot gripper adapted to the profile of a workpiece, comprising a mounting frame (1), a spacing adjustment assembly (2) and a gripping assembly (9), characterized in that, The inner side of the mounting frame (1) is equipped with a spacing adjustment component (2). The lower side of the spacing adjustment component (2) is connected to a clamp plate (4). The upper and lower sides of one side of the clamp plate (4) are fixed with mounting brackets (5). The middle of one side of the clamp plate (4) is equipped with an electric telescopic rod (6). One end of the electric telescopic rod (6) is fixed with a movable frame (7). The front end of the mounting bracket (5) is fixed with a fixed frame (8). The movable frame (7) and the fixed frame (8) are both "U" shaped structures. The movable frame (7) and the mounting bracket (5) are slidably connected. The inner side of the movable frame (7) and the fixed frame (8) are equipped with clamping components (9). The clamping components (9) include a rotating shaft (901), a clamping plate (902), and memory foam (903). The inner side of the movable frame (7) and the fixed frame (8) are rotatably equipped with a clamping plate (902) through the rotating shaft (901). Memory foam (903) is glued to one side of the clamping plate (902).

2. The flexible robot gripper that adapts to the profile of a workpiece of claim 1, wherein, The spacing adjustment assembly (2) includes a bidirectional lead screw (201), a movable sleeve (202) and a connecting plate (203). The bidirectional lead screw (201) is rotatably provided on the inner side of the mounting frame (1), and two movable sleeves (202) are symmetrically sleeved on the outer side of the bidirectional lead screw (201). The connecting plate (203) is fixed on the lower side of the movable sleeve (202).

3. A flexible robot gripper adapting to the contour of a workpiece according to claim 2, characterized in that, The movable sleeve (202), the connecting plate (203) and the inner wall of the mounting frame (1) are slidably connected, and a drive motor (3) is installed on the outer side of the mounting frame (1).

4. A flexible robot gripper adapting to the contour of a workpiece according to claim 2, characterized in that, The spacing adjustment component (2) further includes a sliding block (204) and a limiting support plate (205). The lower side of the mounting frame (1) is fixed with the limiting support plate (205), and the lower side of the connecting plate (203) is fixed with the sliding block (204). The sliding block (204) is sleeved on the outside of the limiting support plate (205) and slidably connected to the limiting support plate (205).

5. A flexible robot gripper adapting to the contour of a workpiece according to claim 4, characterized in that, The connecting plate (203), sliding block (204), clamp plate (4), and mounting bracket (5) are all provided with two sets on the left and right sides, and the sliding block (204) and clamp plate (4) are fixedly connected.

6. A flexible robot gripper adapting to the contour of a workpiece according to claim 1, characterized in that, The clamping assembly (9) also includes a fixing plate (904) and a miniature cylinder (905). The fixing plate (904) is also fixed inside the moving frame (7) and the fixing frame (8), and a miniature cylinder (905) is installed on one side of the fixing plate (904).

7. A flexible robot gripper adapting to the contour of a workpiece according to claim 6, characterized in that, The clamping assembly (9) also includes a push plate (906) and a linkage frame (907). One end of the micro cylinder (905) is fixed with the push plate (906), and linkage frames (907) are provided on both the upper and lower sides of the push plate (906).

8. A flexible robot gripper adapting to the contour of a workpiece according to claim 7, characterized in that, The two linkage frames (907) are symmetrically arranged about the horizontal center line of the clamping plate (902), and the two ends of the linkage frame (907) are rotatably connected to the clamping plate (902) and the push plate (906) respectively through movable shafts.

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