一种多功能机器人抓取手结构

Abstract

本申请公开了一种多功能机器人抓取手结构，属于医疗辅助设备领域，该抓取手结构包括连接座以及设置在连接座的底部的抓手结构；抓手结构包括开设在连接座的下端的T型槽、转动插接在T型槽内的第一双向丝杆、设置在连接座上用于驱动第一双向丝杆转动的第一电机、对称螺纹套装在第一双向丝杆上并与T型槽的内壁相抵触的T型板以及对称设置在T型板内侧的两个抓取板，两个抓取板之间形成用于对圆柱物体夹持的夹持槽。本申请通过抓手结构的设计能够同时适应圆柱形和方形物体的抓取需求，大大提高了机器人的工作效率和应用范围。通过第一双向丝杆和T型板的配合，抓取板能够稳定、准确地移动至物体的两侧，确保抓取过程中的稳定性和安全性。

Claims

1. A multifunctional robot gripper structure, comprising a connecting base (1) and a gripper structure (2) disposed at the bottom of the connecting base (1); characterized in that The gripper structure (2) includes a T-slot (21) formed at the lower end of the connecting seat (1), a first bidirectional lead screw (22) rotatably inserted into the T-slot (21), a first motor (23) set on the connecting seat (1) for driving the first bidirectional lead screw (22) to rotate, a T-plate (24) symmetrically threaded on the first bidirectional lead screw (22) and in contact with the inner wall of the T-slot (21), and two gripping plates (25) symmetrically arranged on the inner side of the T-plate (24), with a gripping groove (26) formed between the two gripping plates (25) for clamping cylindrical objects. The gripping plate (25) is provided with an adjustment structure (4) for adjusting the distance between the two gripping plates (25). The adjustment structure (4) includes a guide groove (41) symmetrically opened on the outside of the gripping plate (25), a second bidirectional lead screw (42) rotatably inserted into one of the gripping plates (25), a threaded sleeve plate (43) symmetrically fitted on the second bidirectional lead screw (42) and abutting against the inner wall of the guide groove (41), and a second motor (44) provided on the gripping plate (25) for driving the second bidirectional lead screw (42) to rotate. The threaded sleeve plate (43) is rotatably connected to the hinge plate (242).

2. The multifunctional robotic gripper hand structure of claim 1, wherein: A silicone sleeve (251) is fixedly fitted on the gripping plate (25).

3. The multifunctional robotic gripper hand structure of claim 1, wherein: A fixing rod (241) is fixedly inserted into the bottom of the inner side of the T-shaped plate (24). Two hinge plates (242) are fitted on the fixing rod (241). The ends of the two hinge plates (242) on the same side are connected to the gripping plate (25).

4. The multifunctional robotic gripper hand structure of claim 1, wherein: The lower end of the connecting seat (1) is fixedly connected to the outer side of the T-shaped plate (24) with an arc plate (3). Guide rods (31) are symmetrically arranged between the two arc plates (3). The gripping plate (25) is slidably mounted on the guide rods (31).

5. The multifunctional robotic gripper hand structure of claim 1, wherein: The adjustment structure (4) also includes a guide rod (45) fixedly inserted into the other three gripping plates (25) and a slider (46) symmetrically mounted on the guide rod (45) and abutting against the inner wall of the guide groove (41), the slider (46) being rotatably connected to the hinge plate (242).

6. The multifunctional robotic gripper hand structure of claim 4, wherein: The adjustment structure (4) also includes an arc-shaped guide groove (47) formed inside the arc-shaped plate (3), and the end of the guide rod (31) is inserted into the arc-shaped guide groove (47).

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