An adaptive rubber gripper

Abstract

This utility model discloses an adaptive rubber gripper, comprising a main frame, with fixed plates at the middle of both ends of one side of the main frame. A reduction gearbox is located above the upper fixed plate, and a servo motor is located above the reduction gearbox. The output end of the reduction gearbox passes through the fixed plate and is fixedly connected to a threaded rod. A movable block is provided on the threaded rod, and the movable block is fixedly connected to an upper frame on the side away from the main frame. Four spring buffer mechanisms are arranged in a matrix on the upper frame, and the lower part of the spring buffer mechanisms is fixedly connected to a pressure plate. This rubber gripper, through precise servo motor control and inductive switch feedback, achieves rapid and stable gripping of irregular rubber sheets, adapting to rubber sheets of different shapes and sizes. The elastic element effectively avoids damage to the rubber sheet during gripping.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, and in particular to an adaptive adhesive gripper. Background Technology

[0002] In the production and processing of rubber sheets, the irregularity and diversity of sheet shapes make it difficult for traditional mechanical grippers to achieve efficient and stable gripping. Especially on automated production lines, the rapid and accurate gripping and transfer of rubber sheets has become a pressing issue. Existing rubber grippers suffer from low gripping efficiency and poor stability, easily damaging the sheets during gripping. They also have poor adaptability to irregularly shaped sheets, requiring frequent fixture changes, which severely impacts production efficiency. Furthermore, the gripper's inaccurate gripping pressure control easily causes sheet deformation, affecting product quality. Therefore, we propose an adaptive rubber gripper. Utility Model Content

[0003] To address the aforementioned problems, this invention provides an adaptive rubber gripper. This invention solves the problems of existing rubber grippers, such as low gripping efficiency, poor stability, easy damage to rubber sheets during gripping, poor adaptability to irregularly shaped rubber sheets, the need for frequent fixture changes, severely impacting production efficiency, and inaccurate gripping pressure control, which easily causes rubber sheet deformation and affects product quality.

[0004] This utility model discloses an adaptive adhesive gripper, comprising a main frame, with fixed plates at the middle of both ends of one side of the main frame. A reduction gearbox is located above the upper fixed plate, and a servo motor is located above the reduction gearbox. The output end of the reduction gearbox passes through the fixed plate and is fixedly connected to a threaded rod. A movable block is located on the threaded rod, and the movable block is fixedly connected to an upper frame on the side away from the main frame. Four spring buffer mechanisms are arranged in a matrix on the upper frame, and the lower part of the spring buffer mechanisms is fixedly connected to a pressure plate. A reduction motor is located on one side of the lower end of the main frame, and the rotation shaft of the reduction motor is fixedly connected to a transmission rod. Four side plates are arranged in a matrix below the main frame. Multiple support rollers are arranged at equal intervals between two side plates on the same side of the main frame, and a transmission belt is located on the outer side of the support rollers.

[0005] In the above scheme, the transmission rod passes through the support roller shaft near the main frame and is movably connected to the main frame.

[0006] In the above scheme, the spring buffer mechanism includes a fixed ring, which is fixedly connected to the upper frame. The fixed ring is fixedly connected to a linear bearing at its lower part. A shaft is inserted into the middle of the linear bearing. The end of the shaft away from the linear bearing is fixedly connected to a shaft fixing seat. A spring is sleeved between the linear bearing and the shaft fixing seat. The shaft fixing seat is fixedly connected to a pressure plate.

[0007] In the above scheme, a proximity switch is provided in the middle of the upper frame, and a sensing plate matching the proximity switch is provided on the pressure plate.

[0008] In the above scheme, the upper frame is provided with sliders at both ends on the side near the main frame, and the main frame is provided with guide rails that match the sliders.

[0009] In the above scheme, the main frame is provided with a connecting flange on the side away from the upper frame.

[0010] The advantages and beneficial effects of this utility model are as follows: This utility model provides an adaptive rubber gripper. Through the transmission of the movable block, the upper frame also moves accordingly. When the pressure plate and the transmission belt clamp the rubber sheet, the spring is compressed, thereby buffering the pressure on the rubber sheet through the spring force. At the same time, the pressure plate moves upward relative to the upper frame, the proximity switch is triggered by the induction plate, the servo motor stops working, and the rubber sheet is grasped by the gripper. After the robot drives the gripper to the designated position, the reduction motor drives the transmission rod to rotate. The rotating transmission rod drives the support roller shaft near one end of the main frame to rotate. Through the cooperation between multiple support roller shafts, the transmission belt also rotates, and the rotating transmission belt allows the rubber sheet to be moved to the designated position. This type of rubber sheet gripper, through precise servo motor control and induction switch feedback, achieves fast and stable grasping of irregular rubber sheets, adapting to rubber sheets of different shapes and sizes. The setting of elastic elements effectively avoids damage to the rubber sheet during the grasping process. Attached Figure Description

[0011] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0012] Figure 1 This is a schematic diagram of the structure of this utility model;

[0013] Figure 2 This is a top view of the present invention;

[0014] Figure 3 This is a cross-sectional view of the spring buffer mechanism of this utility model;

[0015] Figure 4 This is a schematic diagram of part A of the present invention.

[0016] In the diagram: 1. Main frame; 2. Fixed plate; 3. Gearbox; 4. Servo motor; 5. Threaded rod; 6. Movable block; 7. Upper frame; 8. Spring buffer mechanism; 81. Fixed ring; 82. Linear bearing; 83. Shaft; 84. Spring; 85. Shaft fixing seat; 9. Pressure plate; 10. Gear motor; 11. Transmission rod; 12. Side plate; 13. Support roller shaft; 14. Transmission belt; 15. Proximity switch; 16. Sensing plate; 17. Slider; 18. Guide rail; 19. Connecting flange. Detailed Implementation

[0017] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0018] like Figure 1-4 As shown, this utility model is an adaptive adhesive gripper, including a main frame 1. Fixed plates 2 are located at the middle of both ends of one side of the main frame 1. A reduction gearbox 3 is located above the upper fixed plate 2, and a servo motor 4 is located above the reduction gearbox 3. The output end of the reduction gearbox 3 passes through the fixed plate 2 and is fixedly connected to a threaded rod 5. Both ends of the threaded rod 5 are movably connected to the fixed plate 2. A movable block 6 is provided on the threaded rod 5, and the movable block 6 is threadedly connected to the threaded rod 5. The side of the movable block 6 away from the main frame 1 is fixedly connected to an upper frame 7. When the servo motor 4 is working, it drives the internal transmission components of the reduction gearbox 3 to rotate. Through the transmission of the output shaft of the reduction gearbox 3, the threaded rod 5 also rotates. When the threaded rod 5 rotates, the movable block 6 on the threaded rod 5 can move vertically on the threaded rod 5. Through the transmission of the movable block 6, the upper frame 7 also moves accordingly. The upper frame 7 is equipped with four matrix-arranged spring buffer mechanisms 8, which are fixedly connected to the pressure plate 9 below. The spring buffer mechanisms 8 can buffer the pressure plate 9. A reduction motor 10 is provided on one side of the lower end of the main frame 1. The rotation shaft of the reduction motor 10 is fixedly connected to the transmission rod 11. Four matrix-arranged side plates 12 are provided below the main frame 1. Multiple equidistant support rollers 13 are provided between two side plates 12 on the same side of the main frame 1. The two ends of the support rollers 13 are movably connected to the side plates 12. A transmission belt 14 is provided on the outside of the support rollers 13. When the reduction motor 10 is working, the reduction motor 10 drives the transmission rod 11 to rotate. The rotating transmission rod 11 drives the support rollers 13 near one end of the main frame 1 to rotate. Through the mutual cooperation between the multiple support rollers 13, the transmission belt 14 also rotates.

[0019] The transmission rod 11 passes through the support roller shaft 13 near the main frame 1 and is movably connected to the main frame 1.

[0020] The spring buffer mechanism 8 includes a fixed ring 81, which is fixedly connected to the upper frame 7. The fixed ring 81 is fixedly connected to a linear bearing 82 at its lower end. A shaft 83 is inserted into the middle of the linear bearing 82. The shaft 83 can move vertically on the fixed ring 81 and the linear bearing 82. The end of the shaft 83 away from the linear bearing 82 is fixedly connected to a shaft fixing seat 85. A spring 84 is sleeved between the shaft 83 and the linear bearing 82 and the shaft fixing seat 85. Both ends of the spring 84 are fixedly connected to the linear bearing 82 and the shaft fixing seat 85. The shaft fixing seat 85 is fixedly connected to a pressure plate 9. When the pressure plate 9 contacts the film, the spring 84 is compressed, thereby buffering the pressure on the film through the elastic force of the spring 84.

[0021] The upper frame 7 is provided with a proximity switch 15 in the middle, and the pressure plate 9 is provided with a sensing plate 16 that matches the proximity switch 15. When the spring 84 is compressed, the pressure plate 9 moves upward relative to the upper frame 7, and the proximity switch 15 is triggered by the sensing plate 16. At this time, the servo motor 4 stops working.

[0022] The upper frame 7 is provided with sliders 17 at both ends near the main frame 1. The main frame 1 is provided with guide rails 18 that match the sliders 17. The sliders 17 can slide on the guide rails 18. Through the cooperation between the sliders 17 and the guide rails 18, the movement stability of the upper frame 7 is effectively improved.

[0023] The main frame 1 is provided with a connecting flange 19 on the side away from the upper frame 7, through which the gripper can be installed on the robot.

[0024] Specifically, in this utility model, when the servo motor 4 is working, it drives the internal transmission component of the gearbox 3 to rotate. Through the transmission of the output shaft of the gearbox 3, the threaded rod 5 also rotates. When the threaded rod 5 rotates, the movable block 6 on the threaded rod 5 can move vertically on the threaded rod 5. Through the transmission of the movable block 6, the upper frame 7 also moves. When the pressure plate 9 and the transmission belt 14 clamp the film, the spring 84 is compressed, so the elastic force of the spring 84 can buffer the pressure on the film. At the same time, the pressure plate 9 moves upward relative to the upper frame 7, the proximity switch 15 is triggered by the sensing plate 16, the servo motor 4 stops working, and the film is grasped by the gripper. After the robot drives the gripper to move to the designated position, the geared motor 10 drives the transmission rod 11 to rotate. The rotating transmission rod 11 drives the support roller shaft 13 near one end of the main frame 1 to rotate. Through the mutual cooperation between multiple support roller shafts 13, the transmission belt 14 also rotates. Through the rotation of the transmission belt 14, the film can be moved to the designated position.

[0025] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive compound gripper comprising a main frame (1), characterized in that, The main frame (1) has fixed plates (2) at the middle of both ends on one side. A gearbox (3) is located above the upper fixed plate (2). A servo motor (4) is located above the gearbox (3). The output end of the gearbox (3) passes through the fixed plate (2) and is fixedly connected to the threaded rod (5). A movable block (6) is provided on the threaded rod (5). The movable block (6) is fixedly connected to the upper frame (7) on the side away from the main frame (1). The upper frame (7) has four spring buffers arranged in a matrix. The structure (8) is fixedly connected to the pressure plate (9) below the spring buffer mechanism (8). A reduction motor (10) is provided on one side of the lower end of the main frame (1). The rotation shaft of the reduction motor (10) is fixedly connected to the transmission rod (11). Four side plates (12) are arranged in a matrix below the main frame (1). Multiple support rollers (13) are arranged at equal intervals between two side plates (12) on the same side of the main frame (1). A transmission belt (14) is provided on the outside of the support rollers (13).

2. A self-adapting glue gripper according to claim 1, characterized in that, The transmission rod (11) passes through the support roller shaft (13) on the side near the main frame (1) and is movably connected to the main frame (1).

3. A self-adapting glue gripper according to claim 1, characterized in that, The spring buffer mechanism (8) includes a fixed ring (81), which is fixedly connected to the upper frame (7). The fixed ring (81) is fixedly connected to the linear bearing (82) below. A shaft (83) is inserted into the middle of the linear bearing (82). The end of the shaft (83) away from the linear bearing (82) is fixedly connected to the shaft fixing seat (85). A spring (84) is sleeved between the linear bearing (82) and the shaft fixing seat (85). The shaft fixing seat (85) is fixedly connected to the pressure plate (9).

4. A self-adapting glue gripper according to claim 1, characterized in that, The upper frame (7) is provided with a proximity switch (15) in the middle, and the pressure plate (9) is provided with a sensing plate (16) that matches the proximity switch (15).

5. A self-adapting glue gripper according to claim 1, wherein, The upper frame (7) is provided with sliders (17) at both ends on the side near the main frame (1), and the main frame (1) is provided with guide rails (18) that match the sliders (17).

6. A self-adapting glue gripper according to claim 1, wherein, The main frame (1) is provided with a connecting flange (19) on the side away from the upper frame (7).

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