A robot gripper with adjustable force

Abstract

The utility model is suitable for robot clamp technical field provides a kind of robot clamp with force degree adjustable, including;Base;Multi-rotation rocker, the multi-rotation rocker is movably installed at the top of base;Rotary motor, the rotary motor is movably installed at the top of multi-rotation rocker;Rotary platform, the rotary platform is fixedly installed at the surface of rotary motor movable end;Tripod, the tripod is fixedly installed at the bottom of rotary platform;Rotary structure, the rotary structure is arranged at the surface of tripod.Compared with prior art, the beneficial effects of the utility model are: by setting flexible clamping structure in the inner end of traction arm, then when clamping, it can be adjusted according to the shape of the clamped article side, and then it is suitable for conveniently clamping a variety of different shape materials, so that the shape of clamping assembly is fixed in traditional technology, and different shape articles cannot be stably and effectively clamped and fixed.

Description

Technical Field

[0001] This utility model belongs to the field of robot gripper technology, and in particular relates to a robot gripper with adjustable force. Background Technology

[0002] A robot gripper is a device installed on an industrial robot for precise positioning and fixing of workpieces in automated production. It mainly enables efficient and stable workpiece gripping, handling and assembly operations.

[0003] However, existing robot grippers generally use clamping discs to hold and fix objects, resulting in a relatively simple structure. For example, in the prior art, patent application number CN202420194314.9 discloses an industrial robot gripper including a robotic arm and a socket. The socket is integrally set in the middle of the robotic arm, and a rod is set inside the socket. An annular groove is integrally set in the upper end of the rod. A drive assembly is sleeved on the upper part of the robotic arm, and a clamping assembly is set at the bottom of the drive assembly. This utility model, through the design of threaded self-locking force, can lock the state of the robotic arm and the rod after combination, thereby preventing the clamping assembly from loosening due to external force collisions to the drive assembly, which could cause the rod to detach from the robotic arm. This not only protects the rod but also reduces the probability of safety accidents.

[0004] Although the aforementioned patent can lock the state of the combined robotic arm and the plug to prevent the drive component from being loosened or falling off due to external impact, the fixed shape of the gripping component results in poor stability when gripping objects of different shapes, making it difficult to better guarantee the gripping effect of the robot gripper on the object and reducing the convenience of use.

[0005] Therefore, how to provide a robot gripper with adjustable force is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] The purpose of this invention is to provide a robot gripper with adjustable force, which aims to solve the problems mentioned in the background art.

[0007] This utility model is implemented as follows: a robot gripper with adjustable force, comprising;

[0008] Base;

[0009] A multi-rotation rocker arm, which is movably mounted on top of the base;

[0010] A rotary motor, which is movably mounted on the top of a multi-rotational rocker arm;

[0011] A rotating platform, which is fixedly mounted on the surface of the movable end of a rotating motor;

[0012] A tripod, which is fixedly installed on the bottom of the rotating platform;

[0013] A rotating structure, wherein the rotating structure is disposed on the surface of the tripod;

[0014] A positioning frame is movably mounted on a rotating structure, and an electric bidirectional screw is movably mounted in the middle. Traction arms are symmetrically arranged at both ends of the electric bidirectional screw, and a flexible clamping structure is provided at the inner end to clamp the material.

[0015] Preferably, a pressure measuring structure is provided on the outer side of the lower end of the traction arm. The pressure measuring structure includes a pressure display scroll, a groove, a magnetic pressure gauge, and an inflatable airbag. The groove is located on the outer side of the lower end of the traction arm and has a protective plate on its surface. The inflatable airbag is located at the lower end of the groove and has a magnetic plate fixedly installed on its top. The magnetic pressure gauge is located at the top of the groove and has the same magnetism as the magnetic plate. The pressure display scroll is located on the side of the tripod and is electrically connected to the magnetic pressure gauge. A ventilation hose is fixedly installed at the bottom of the inflatable airbag and is fixedly connected to the flexible clamping structure through the surface of the traction arm.

[0016] Preferably, the flexible clamping structure includes a positioning plate and a rubber airbag plate. The positioning plate is fixedly installed on the inner side of the bottom of the traction arm, and the rubber airbag plate is movably installed on the inner side of the positioning plate to clamp the material. The outer side of the rubber airbag plate is fixedly connected to the ventilation hose.

[0017] Preferably, the rotating structure includes a rotating connecting plate and a positioning connecting plate. The rotating connecting plate is movably mounted on the side of the tripod, the positioning connecting plate is movably mounted on the surface of the rotating connecting plate, and the positioning frame is movably mounted on the surface of the positioning connecting plate.

[0018] Preferably, the tripod is arranged in an isosceles triangle shape, and the rotating connecting plates are symmetrically arranged on both sides of the tripod.

[0019] Preferably, the outer side of the rubber airbag plate is a hard surface, and the inner side of the rubber airbag plate is a soft surface.

[0020] Preferably, the two sides of the positioning plate are arc-shaped, and the two ends of the rubber airbag plate are located at the edges of the two sides of the positioning plate.

[0021] Compared with the prior art, the beneficial effects of this utility model are: when in use, by setting a flexible clamping structure at the inner end of the traction arm, the clamping can be adjusted according to the shape of the side of the clamped item, thus making it convenient to clamp various materials of different shapes. This avoids the problem in traditional technology where the shape of the clamping component is fixed, making it impossible to stably and effectively clamp and fix objects of different shapes.

[0022] Meanwhile, by setting a pressure measuring structure at the lower end of the traction arm and connecting it with the flexible clamping structure, when the flexible clamping structure is adjusted according to the shape of the material, the data of the object detected by the pressure measuring structure will change accordingly. This allows for real-time determination of the applied clamping force, facilitating adjustments by the operator, making it easier to use, and reducing damage to the material surface. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 A schematic diagram of the overall appearance of a robot gripper with adjustable force, provided for an embodiment of this utility model, from the left view.

[0025] Figure 2 A right-side view of the overall appearance of a robot gripper with adjustable force, provided for an embodiment of this utility model;

[0026] Figure 3 A schematic diagram of the front cross-sectional structure of a robot gripper with adjustable force provided for an embodiment of this utility model;

[0027] Figure 4 Provided for the embodiments of this utility model Figure 3 A magnified structural diagram of part A;

[0028] Figure 5 Provided for the embodiments of this utility model Figure 3 A magnified structural diagram of part B.

[0029] In the diagram: 1-base, 2-multi-rotation rocker arm, 3-rotary motor, 4-rotation platform, 5-triangle frame, 6-rotation connecting plate, 7-positioning connecting plate, 8-positioning frame, 9-electric bidirectional screw, 10-traction arm, 11-positioning plate, 12-rubber airbag plate, 13-groove, 14-magnetic pressure gauge, 15-magnetic plate, 16-inflation airbag, 17-protective plate, 18-ventilation hose, 19-pressure display scroll. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0031] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The diagram shown is a structural schematic of a robot gripper with adjustable force according to an embodiment of the present invention, comprising:

[0033] Base 1;

[0034] Multi-rotation rocker arm 2 is movably mounted on the top of base 1;

[0035] Rotary motor 3 is movably mounted on the top of multi-rotation rocker arm 2;

[0036] Rotating platform 4 is fixedly installed on the surface of the movable end of rotating motor 3;

[0037] Tripod 5 is fixedly installed at the bottom of rotating platform 4;

[0038] A rotating structure is provided on the surface of tripod 5;

[0039] The positioning frame 8 is movably mounted on the rotating structure, and an electric bidirectional screw 9 is movably mounted in the middle. Traction arms 10 are symmetrically arranged at both ends of the electric bidirectional screw 9, and a flexible clamping structure is provided at the inner end to clamp the material.

[0040] In this embodiment of the utility model, when in use, the multi-rotation rocker arm 2 on the base 1 and the rotary motor 3 work together to adjust the angle, direction, height and other aspects of the positioning frame 8 according to the work requirements to meet the work requirements. Then, the electric bidirectional screw 9 in the middle of the positioning frame 8 is activated, which causes the inner ends of the traction arms 10 on both sides of its surface to move closer and further away from each other, thereby clamping and fixing the material through the flexible clamping structure.

[0041] By setting a flexible clamping structure at the inner end of the traction arm 10, the clamping mechanism can be adjusted according to the shape of the side of the object being clamped, thus making it suitable for clamping various materials of different shapes. This avoids the problem in traditional technologies where the shape of the clamping components is fixed, making it impossible to stably and effectively clamp and fix objects of different shapes.

[0042] like Figure 3 and Figure 5 As shown, in a preferred embodiment of this utility model, a pressure measuring structure is provided on the outer side of the lower end of the traction arm 10. The pressure measuring structure includes a pressure display scroll 19, a groove 13, a magnetic pressure gauge 14, and an inflatable airbag 16. The groove 13 is located on the outer side of the lower end of the traction arm 10 and is provided with a protective plate 17 on its surface. The inflatable airbag 16 is located at the lower end of the groove 13 and is fixedly installed with a magnetic plate 15 on its top. The magnetic pressure gauge 14 is located at the top of the groove 13 and has the same magnetic properties as the magnetic plate 15 facing each other. The pressure display scroll 19 is located on the side of the tripod 5 and is electrically connected to the magnetic pressure gauge 14. A ventilation hose 18 is fixedly installed at the bottom of the inflatable airbag 16 and penetrates the surface of the traction arm 10 and is fixedly connected to the flexible clamping structure.

[0043] In this embodiment of the invention, when the shape of the rubber airbag plate 12 changes accordingly to the side of the material being contacted, the air inside it is transmitted to the expansion airbag 16 through the ventilation hose 18, causing the expansion airbag 16 to expand accordingly. This causes the magnetic plate 15 to rise accordingly, thereby reducing the distance between it and the magnetic pressure gauge 14. This increases the magnetic repulsive force on the magnetic pressure gauge 14, allowing the magnetic pressure gauge 14 to determine the force applied by the rubber airbag plate 12 to the side of the material based on the magnetic repulsive force. The applied force is then displayed on the pressure display scroll screen 19, making it convenient to adjust the clamping force of the material.

[0044] By setting a pressure measuring structure at the lower end of the traction arm 10 and connecting it with the flexible clamping structure, when the flexible clamping structure is adjusted according to the shape of the material, the object data detected by the pressure measuring structure will change accordingly. This allows for real-time determination of the applied clamping force, facilitating adjustments by the operator, making it easier to use, and reducing damage to the material surface.

[0045] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, in a preferred embodiment of the present invention, the flexible clamping structure includes a positioning plate 11 and a rubber airbag plate 12. The positioning plate 11 is fixedly installed on the inner side of the bottom of the traction arm 10, and the rubber airbag plate 12 is movably installed on the inner side of the positioning plate 11 to clamp the material. The outer side of the rubber airbag plate 12 is fixedly connected to the ventilation hose 18.

[0046] In this embodiment of the utility model, when in use, the electric bidirectional screw 9 in the middle of the positioning frame 8 is activated, which causes the inner ends of the traction arms 10 on both sides of its surface to move closer and further apart. Then, the rubber airbag plate 12 on the inner side of the positioning plate 11 at the inner end of the traction arm 10 first comes into contact with the material. As the traction arm 10 closes, the inner side of the rubber airbag plate 12 changes accordingly with the shape of the side in contact with the material.

[0047] By setting a flexible clamping structure, the inner side of the rubber airbag plate 12 can be changed according to the shape of the side of the material in contact, thus making it suitable for clamping various materials of different shapes.

[0048] like Figure 1 , Figure 3 and Figure 4 As shown, in a preferred embodiment of the present invention, the rotating structure includes a rotating connecting plate 6 and a positioning connecting plate 7. The rotating connecting plate 6 is movably mounted on the side of the tripod 5, the positioning connecting plate 7 is movably mounted on the surface of the rotating connecting plate 6, and the positioning frame 8 is movably mounted on the surface of the positioning connecting plate 7.

[0049] In this embodiment of the utility model, when in use, the positioning connecting plate 7 is installed on the rotating connecting plate 6 through the pre-set connecting holes on the surface of the rotating connecting plate 6, and then the positioning frame 8 is installed on the surface of the positioning connecting plate 7 through the pre-set connecting holes on the surface of the positioning connecting plate 7.

[0050] By setting up a rotating structure, different functional units can be easily installed on the rotating connecting plate 6 via the positioning connecting plate 7, thus facilitating their use.

[0051] like Figure 1 , Figure 2 and Figure 3 As shown, in a preferred embodiment of the present invention, the tripod 5 is arranged in an isosceles triangle shape, and the rotating connecting plate 6 is symmetrically arranged on both sides of the tripod 5.

[0052] In this embodiment of the utility model, when in use, the tripod 5 is arranged in an isosceles triangle shape, and the rotating connecting plate 6 is symmetrically arranged on both sides of the tripod 5. Thus, when in use, multiple functional units with different functions can be installed as needed, thereby facilitating the multi-process processing of materials.

[0053] like Figure 3 and Figure 5 As shown, in a preferred embodiment of the present invention, the outer side of the rubber airbag plate 12 is provided as a hard surface, and the inner side of the rubber airbag plate 12 is provided as a soft surface.

[0054] In this embodiment of the utility model, when in use, by setting the outer side of the rubber airbag plate 12 as a hard surface and the inner side of the rubber airbag plate 12 as a soft surface, it is convenient for the rubber airbag plate 12 to clamp the material and to facilitate the air discharge from the rubber airbag plate 12 for pressure detection.

[0055] like Figure 3 and Figure 5 As shown, in a preferred embodiment of the present invention, the two sides of the positioning plate 11 are arranged in an arc shape, and the two ends of the rubber airbag plate 12 are arranged at the edges of the two sides of the positioning plate 11.

[0056] In this embodiment of the utility model, when in use, by setting the two sides of the positioning plate 11 in an arc shape and setting the two ends of the rubber airbag plate 12 at the edges of the two sides of the positioning plate 11, the two sides of the middle part of the rubber airbag plate 12 are suspended, which facilitates the clamping and fixing of materials.

[0057] The above embodiments of this utility model provide a robot gripper with adjustable force. When in use, the positioning connecting plate 7 is installed on the rotating connecting plate 6 through the pre-set connecting holes on the surface of the rotating connecting plate 6, and then the positioning frame 8 is installed on the surface of the positioning connecting plate 7 through the pre-set connecting holes on the surface of the positioning connecting plate 7.

[0058] Subsequently, through the cooperation of the multi-rotation rocker arm 2 on the base 1 and the rotary motor 3, the angle, direction, height, and other aspects of the positioning frame 8 can be adjusted according to the work requirements to suit the work requirements.

[0059] When clamping, the electric bidirectional screw 9 in the middle of the positioning frame 8 is activated, which causes the inner ends of the traction arms 10 on both sides of its surface to move closer and further apart.

[0060] This causes the rubber airbag plate 12 on the inner side of the positioning plate 11 at the inner end of the traction arm 10 to contact the material first. Then, as the traction arm 10 closes, the inner side of the rubber airbag plate 12 changes according to the shape of the side that contacts the material, thus making it suitable for clamping various materials of different shapes.

[0061] Meanwhile, as the shape of the rubber airbag plate 12 changes accordingly with the side of the material it contacts, the air inside it is transmitted through the ventilation hose 18 to the expansion airbag 16 in the groove 13 at the lower end of the traction arm 10, causing the expansion airbag 16 to expand accordingly. This causes the magnetic plate 15 on the top of the expansion airbag 16 to rise accordingly, thereby reducing the distance between it and the magnetic pressure gauge 14. As a result, the magnetic repulsive force on the magnetic pressure gauge 14 increases accordingly. This allows the magnetic pressure gauge 14 to determine the force applied by the rubber airbag plate 12 to the side of the material based on the magnetic repulsive force, thus facilitating the traction arm 10 to adjust the force applied to the material according to the properties of the material.

[0062] The applied force is displayed on the pressure display scrolling screen 19, which allows operators to manually adjust the clamping force of the material.

[0063] 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 and improvements 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. A robot gripper with adjustable force, characterized in that, include; Base (1); A multi-rotation rocker arm (2) is movably mounted on the top of the base (1); A rotary motor (3) is movably mounted on the top of a multi-rotational rocker arm (2); A rotating platform (4) is fixedly installed on the surface of the movable end of the rotating motor (3); Tripod (5), which is fixedly installed on the bottom of the rotating platform (4); A rotating structure is disposed on the surface of the tripod (5); The positioning frame (8) is movably mounted on the rotating structure, and an electric bidirectional screw (9) is movably mounted in the middle. The electric bidirectional screw (9) has traction arms (10) symmetrically arranged at both ends, and a flexible clamping structure is provided at the inner end to clamp the material.

2. The robot gripper with adjustable force according to claim 1, characterized in that, A pressure measuring structure is provided on the outer side of the lower end of the traction arm (10). The pressure measuring structure includes a pressure display scroll (19), a groove (13), a magnetic pressure gauge (14), and an inflatable airbag (16). The groove (13) is located on the outer side of the lower end of the traction arm (10) and is provided with a protective plate (17) on its surface. The inflatable airbag (16) is located at the lower end of the groove (13) and is fixedly installed with a magnetic plate (15) on its top. The magnetic pressure gauge (14) is located at the top of the groove (13) and has the same magnetic properties as the magnetic plate (15). The pressure display scroll (19) is located on the side of the tripod (5) and is electrically connected to the magnetic pressure gauge (14). A ventilation hose (18) is fixedly installed at the bottom of the inflatable airbag (16) and is fixedly connected to the flexible clamping structure through the surface of the traction arm (10).

3. A robot gripper with adjustable force according to claim 2, characterized in that, The flexible clamping structure includes a positioning plate (11) and a rubber airbag plate (12). The positioning plate (11) is fixedly installed on the inner side of the bottom of the traction arm (10), and the rubber airbag plate (12) is movably installed on the inner side of the positioning plate (11) to clamp the material. The outer side of the rubber airbag plate (12) is fixedly connected to the ventilation hose (18).

4. A robot gripper with adjustable force according to claim 1, characterized in that, The rotating structure includes a rotating connecting plate (6) and a positioning connecting plate (7). The rotating connecting plate (6) is movably mounted on the side of the tripod (5). The positioning connecting plate (7) is movably mounted on the surface of the rotating connecting plate (6). The positioning frame (8) is movably mounted on the surface of the positioning connecting plate (7).

5. A robot gripper with adjustable force according to claim 4, characterized in that, The tripod (5) is arranged in an isosceles triangle shape, and the rotating connecting plate (6) is symmetrically arranged on both sides of the tripod (5).

6. A robot gripper with adjustable force according to claim 3, characterized in that, The outer side of the rubber airbag plate (12) is made of hard surface, and the inner side of the rubber airbag plate (12) is made of soft surface.

7. A robot gripper with adjustable force according to claim 3, characterized in that, The positioning plate (11) is arranged in an arc shape on both sides, and the two ends of the rubber airbag plate (12) are arranged on the edges of the positioning plate (11).

Images