Modular multi-degree of freedom robot gripper

Abstract

This utility model discloses a modular multi-degree-of-freedom robotic gripper device, specifically relating to the field of robotic gripper technology. It includes a base, a support column on the top of the base, a fixed frame hinged to one side of the support column, and an adjustment mechanism on the top of the base. The adjustment mechanism includes a stepper motor fixedly installed inside the base, a rotating rod fixedly mounted at the output end of the stepper motor, a rotating platform fixedly mounted at the top of the rotating rod, and first electric telescopic rods hinged to both sides of the support column. The output ends of the first electric telescopic rods are hinged to movable frames. This utility model achieves multi-degree-of-freedom adjustment of the overall rotation, pitch, and gripping mechanism position through multi-dimensional adjustment, breaking through the limitations of traditional single adjustment. It also enhances adaptability, flexibly adjusting the position and angle of the gripping mechanism to accommodate the grasping of objects of different sizes and shapes, thus expanding the application scenarios of robotic grippers.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a modular multi-degree-of-freedom robotic arm gripping device. Background Technology

[0002] With the rapid development of industrial automation, robotic arms are being used more and more widely in various fields. In industrial production, robotic arms need to complete various complex tasks such as gripping, handling and assembly. In the current era of rapid development of industrial automation, industries such as automobile manufacturing, machine tool processing and electronic assembly have put forward higher requirements for the precision, efficiency and flexibility of workpiece gripping, positioning and assembly.

[0003] Most existing robotic gripper devices cannot adjust the vertical position of the robotic arm, which means that in actual use, the gripping position cannot be changed according to the change of the gripped item, thus limiting the applicability of the robotic arm.

[0004] A search revealed that Chinese patent CN220719361U discloses a robotic gripper device. This structure utilizes an installation mechanism to mount the entire device at the desired location. When gripping is required, a drive cylinder is activated, and its output drives one end of a linkage bracket to move, causing the linkage bracket to rotate around a positioning axis. This allows the other ends of the two linkage brackets to move apart and then come together again, with the gripping ring on the mounting frame completing the gripping. Simultaneously, a working cylinder can drive a lifting slide and the gripping mechanism to slide up and down along a positioning groove, adjusting the relative position of the gripping mechanism. This allows the gripping position to be changed according to the object being gripped, making it more versatile. Furthermore, the mounting ring is fitted onto the outside of the mounting point, and multiple mounting studs are screwed in on both sides. The fastening washers at the ends of the mounting studs are used to press tightly against the outer wall of the mounting point, increasing friction and completing the installation.

[0005] However, in actual use, this structure mainly relies on the drive cylinder to drive the linkage bracket to rotate around the positioning axis to realize the opening and closing of the clamping ring, and the working cylinder to drive the lifting slide to slide up and down along the positioning groove. It can only realize vertical lifting and simple rotation around the positioning axis, lacking the ability to rotate horizontally and tilt at multiple angles. This results in insufficient freedom of movement, making it unable to move flexibly in all directions in three-dimensional space, and thus difficult to cover complex working areas. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides a modular multi-degree-of-freedom robotic gripper to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A modular multi-degree-of-freedom robotic gripper includes a base, a support column on the top of the base, a fixed frame hinged to one side of the support column, and an adjustment mechanism on the top of the base.

[0009] The adjustment mechanism includes a stepper motor fixedly installed inside the base. A rotating rod is fixedly installed at the output end of the stepper motor. A rotating platform is fixedly installed at the top of the rotating rod. First electric telescopic rods are hinged to both sides of the support column. A movable frame is hinged to the output end of the first electric telescopic rod. Multiple sliding grooves are opened on the surface of the fixed frame. The movable frame is slidably connected to the sliding grooves. A protruding strip is fixedly installed at the top of the fixed frame. The protruding strip is slidably connected to the movable frame.

[0010] A second electric telescopic rod is fixedly installed inside the fixed frame. An adjustment plate is fixedly installed at the output end of the second electric telescopic rod. The rotating platform is slidably connected to the base, and the adjustment plate is slidably connected to the fixed frame.

[0011] By adopting the above technical solution, the robot arm can rotate 360 ​​degrees freely. Moreover, the design of the first electric telescopic rod, slide, and protrusion helps the movable frame to achieve pitch adjustment, which not only greatly improves the robot arm's adaptability to complex environments and diverse tasks, but also enables precise positioning and stable grasping.

[0012] As a further description of the above technical solution: a connecting block is fixedly provided on one side of the adjusting plate, and a clamping mechanism is provided on one side of the connecting block. The clamping mechanism includes a first stepper motor fixedly installed on one side of the connecting block. A rotating shaft is fixedly provided at the output end of the first stepper motor. A connecting plate is fixedly provided on the surface of the rotating shaft. A stabilizing frame is fixedly provided at one end of the connecting plate.

[0013] A second stepper motor is fixedly installed on one side of the stabilizing frame. A threaded rod is fixedly provided at the output end of the second stepper motor. A T-shaped internal thread block is threadedly connected to the surface of the threaded rod. The T-shaped internal thread block is slidably connected to the stabilizing frame.

[0014] By adopting the above technical solutions, the clamping mechanism combines the flexibility of angle adjustment with the precision of gripping action, effectively improving the robot's ability to grip and adapt to objects of different shapes and sizes. Whether it is precision assembly or heavy handling, it can operate efficiently and stably.

[0015] As a further description of the above technical solution: a movable block is fixedly provided on one side of the T-shaped internal thread block, a rubber pad is fixedly provided on one side of the movable block, and a buffer pad is provided at the bottom of the base, the buffer pad being made of polyurethane material.

[0016] By adopting the above technical solution: the setting of rubber pads, utilizing their high friction and elastic deformation characteristics, increases the frictional force when in contact with objects, which can firmly clamp objects of different surface materials, while avoiding scratch damage. Moreover, the polyurethane buffer pad is installed at the bottom of the base, which has good buffering performance and improves the overall operational stability.

[0017] The technical effects and advantages of this utility model are as follows:

[0018] 1. By setting up an adjustment mechanism, compared with existing technologies, in terms of flexibility, the stepper motor drives the rotating rod to drive the rotating platform, realizing the overall 360-degree rotation. Moreover, the first electric telescopic rod controls the movable frame to realize the pitch angle adjustment, which can cover the working area in all directions. Secondly, in terms of precision, the second electric telescopic rod drives the adjustment plate, which can make fine adjustments to the position of the clamping mechanism to ensure accurate gripping action. In addition, through multi-dimensional adjustment, it can adapt to the gripping of objects of different shapes and sizes. In various scenarios such as industrial production and logistics sorting, it can not only efficiently complete standardized operations, but also flexibly cope with non-standard tasks, effectively improving work efficiency.

[0019] 2. By setting up a clamping mechanism, compared with existing technologies, it exhibits unique advantages through the collaborative operation of multiple components. In terms of precision and flexibility, the second electric telescopic rod and the first stepper motor can synchronously adjust the position and angle of the clamping mechanism, enabling quick and accurate alignment of objects in complex spaces, breaking through the limitations of traditional single adjustment. Moreover, in terms of reliable clamping, the second stepper motor drives the threaded rod transmission, which drives the rubber pad to stably grip the object through friction and deformation, preventing slippage. Compared with simple grippers, it is more reliable. Furthermore, its multi-degree-of-freedom adjustment characteristics are suitable for gripping and handling objects of different shapes and sizes, reducing the frequency of equipment replacement. In various scenarios such as industrial assembly and logistics sorting, it can further improve work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the overall frontal cross-sectional structure of this utility model.

[0022] Figure 3 This is a schematic diagram of the adjustment mechanism of this utility model.

[0023] Figure 4 This is a schematic diagram of the clamping mechanism of this utility model.

[0024] Figure 5 This is a cross-sectional structural diagram of the clamping mechanism of this utility model.

[0025] The attached figures are labeled as follows: 1. Base; 2. Support column; 3. Fixed frame; 4. Stepper motor; 5. Rotating rod; 6. Rotating platform; 7. First electric telescopic rod; 8. Movable frame; 9. Protruding strip; 10. Second electric telescopic rod; 11. Adjusting plate; 12. Connecting block; 13. First stepper motor; 14. Rotating shaft; 15. Connecting plate; 16. Stabilizing frame; 17. Second stepper motor; 18. Threaded rod; 19. T-shaped internal threaded block; 20. Moving block; 21. Rubber pad; 22. Buffer pad. Detailed Implementation

[0026] 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.

[0027] The embodiments disclosed in this application are as follows: Figure 1-5 The modular multi-degree-of-freedom robotic gripper shown includes a base 1, a support column 2 on the top of the base 1, a fixed frame 3 hinged to one side of the support column 2, and an adjustment mechanism on the top of the base 1.

[0028] The adjustment mechanism includes a stepper motor 4 fixedly installed inside the base 1. A rotating rod 5 is fixedly installed at the output end of the stepper motor 4. A rotating platform 6 is fixedly installed at the top of the rotating rod 5. A first electric telescopic rod 7 is hinged to both sides of the support column 2. A movable frame 8 is hinged to the output end of the first electric telescopic rod 7. Multiple sliding grooves are opened on the surface of the fixed frame 3. The movable frame 8 is slidably connected to the sliding grooves. A protruding strip 9 is fixedly installed at the top of the fixed frame 3. The protruding strip 9 is slidably connected to the movable frame 8.

[0029] A second electric telescopic rod 10 is fixedly installed inside the fixed frame 3. An adjustment plate 11 is fixedly installed at the output end of the second electric telescopic rod 10. The rotating platform 6 is slidably connected to the base 1, and the adjustment plate 11 is slidably connected to the fixed frame 3.

[0030] The polyurethane buffer pad 22 at the bottom of the base 1 provides stable support and absorbs vibration, reducing the impact of external interference on the operation of the device, and connects the stepper motor 4, the first electric telescopic rod 7, the second electric telescopic rod 10, the first stepper motor 13 and the second stepper motor 17 to an external power source.

[0031] When it is necessary to adjust the overall angle of the robot arm, the stepper motor 4 inside the base 1 starts, and its output end drives the rotating rod 5 to rotate. The rotation of the rotating rod 5 causes the rotating platform 6, which is fixedly connected to it, to slide on the base 1, thereby realizing the overall rotation adjustment of the robot arm and changing the working direction of the robot arm.

[0032] Next, the first electric telescopic rods 7 on both sides of the support column 2 are activated, and their output ends extend or shorten. The movement of the output ends of the first electric telescopic rods 7 drives the hinged movable frame 8. The movable frame 8 slides on the groove and protruding strip 9 on the surface of the fixed frame 3, thereby changing the position of the movable frame 8 and realizing the adjustment of the tilt angle or position of the robot within a certain range.

[0033] Reference Figure 2-3 As shown, a connecting block 12 is fixedly provided on one side of the adjusting plate 11, and a clamping mechanism is provided on one side of the connecting block 12. The clamping mechanism includes a first stepper motor 13 fixedly installed on one side of the connecting block 12. A rotating shaft 14 is fixedly provided at the output end of the first stepper motor 13. A connecting plate 15 is fixedly provided on the surface of the rotating shaft 14. A stabilizing frame 16 is fixedly provided at one end of the connecting plate 15.

[0034] A second stepper motor 17 is fixedly installed on one side of the stabilizing frame 16. A threaded rod 18 is fixedly provided at the output end of the second stepper motor 17. A T-shaped internal thread block 19 is threadedly connected to the surface of the threaded rod 18. The T-shaped internal thread block 19 is slidably connected to the stabilizing frame 16.

[0035] The second electric telescopic rod 10 inside the fixed frame 3 is activated, and its output end drives the adjustment plate 11 to slide inside the fixed frame 3. By sliding the adjustment plate 11, the position of the clamping mechanism connected to one side can be further adjusted to adapt to different work requirements.

[0036] At the same time, the first stepper motor 13 on one side of the connecting block 12 starts, and its output end drives the rotating shaft 14 to rotate. The rotation of the rotating shaft 14 causes the connecting plate 15 and the stabilizing frame 16 fixed on its surface to rotate together, thereby realizing the angle adjustment of the clamping mechanism and making it easier to align with the object to be clamped.

[0037] Then the second stepper motor 17 on one side of the stabilizing frame 16 starts, and its output end drives the threaded rod 18 to rotate. The rotation of the threaded rod 18 causes the T-shaped internal thread block 19, which is threaded to it, to slide inside the stabilizing frame 16. The T-shaped internal thread block 19 drives the moving block 20 and the rubber pad 21 to move.

[0038] Reference Figure 1 , 4 As shown in Figure 5, a movable block 20 is fixedly installed on one side of the T-shaped internal thread block 19, a rubber pad 21 is fixedly installed on one side of the movable block 20, and a buffer pad 22 is installed at the bottom of the base 1. The buffer pad 22 is made of polyurethane material.

[0039] The moving blocks 20 on both sides drive the rubber pads 21 to move closer together. By utilizing the friction and deformation of the rubber pads 21, the object is stably clamped. After being transported to the appropriate position, the second stepper motor 17 is started to rotate in the opposite direction to the clamping action, which drives the threaded rod 18 to reverse. The T-shaped internal threaded block 19, the moving block 20 and the rubber pad 21 move away from each other, thereby releasing the clamped object. In addition, the polyurethane buffer pad 22 at the bottom of the base 1 provides stable support and absorbs vibration, reducing the impact of external interference on the operation of the device.

[0040] Working principle of this utility model:

[0041] This utility model is a modular multi-degree-of-freedom robotic gripper. When in use, the polyurethane buffer pad 22 at the bottom of the base 1 provides stable support and absorbs vibration, reducing the impact of external interference on the operation of the device. The stepper motor 4, the first electric telescopic rod 7, the second electric telescopic rod 10, the first stepper motor 13 and the second stepper motor 17 are all connected to an external power source.

[0042] When it is necessary to adjust the overall angle of the robot arm, the stepper motor 4 inside the base 1 starts, and its output end drives the rotating rod 5 to rotate. The rotation of the rotating rod 5 causes the rotating platform 6, which is fixedly connected to it, to slide on the base 1, thereby realizing the overall rotation adjustment of the robot arm and changing the working direction of the robot arm.

[0043] Then the first electric telescopic rods 7 on both sides of the support column 2 are activated, and their output ends extend or shorten. The movement of the output ends of the first electric telescopic rods 7 drives the hinged movable frame 8. The movable frame 8 slides on the groove and protruding strip 9 on the surface of the fixed frame 3, thereby changing the position of the movable frame 8 and realizing the adjustment of the tilt angle or position of the robot within a certain range.

[0044] Then the second electric telescopic rod 10 inside the fixed frame 3 is activated, and its output end drives the adjustment plate 11 to slide inside the fixed frame 3. By sliding the adjustment plate 11, the position of the clamping mechanism connected to one side can be further adjusted to adapt to different work requirements.

[0045] At the same time, the first stepper motor 13 on one side of the connecting block 12 starts, and its output end drives the rotating shaft 14 to rotate. The rotation of the rotating shaft 14 causes the connecting plate 15 and the stabilizing frame 16 fixed on its surface to rotate together, thereby realizing the angle adjustment of the clamping mechanism and making it easier to align with the object to be clamped.

[0046] Then the second stepper motor 17 on one side of the stabilizing frame 16 starts, and its output end drives the threaded rod 18 to rotate. The rotation of the threaded rod 18 causes the T-shaped internal thread block 19 connected to it to slide in the stabilizing frame 16. The T-shaped internal thread block 19 drives the moving block 20 and the rubber pad 21 to move.

[0047] Moreover, the moving blocks 20 on both sides drive the rubber pads 21 to move closer to each other. By utilizing the friction and deformation of the rubber pads 21, the object is stably clamped. After being transported to the appropriate position, the second stepper motor 17 is started to rotate in the opposite direction to the clamping action, which drives the threaded rod 18 to reverse. The T-shaped internal threaded block 19, the moving block 20 and the rubber pad 21 move away from each other, thereby releasing the clamped object.

[0048] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A modular multi-degree-of-freedom robot gripper device comprising a base (1), characterized in that: The base (1) is provided with a support column (2) at the top, and a fixing frame (3) is hinged to one side of the support column (2). The base (1) is provided with an adjustment mechanism at the top. The adjustment mechanism includes a stepper motor (4) fixedly installed inside the base (1), a rotating rod (5) fixedly installed at the output end of the stepper motor (4), a rotating platform (6) fixedly installed at the top of the rotating rod (5), and a first electric telescopic rod (7) hinged to both sides of the support column (2), and a movable frame (8) hinged to the output end of the first electric telescopic rod (7). The surface of the fixed frame (3) is provided with multiple sliding grooves, the movable frame (8) is slidably connected to the sliding grooves, and a protruding strip (9) is fixedly provided on the top of the fixed frame (3), the protruding strip (9) is slidably connected to the movable frame (8).

2. The modular multi-degree-of-freedom robotic gripper of claim 1, wherein: The second electric telescopic rod (10) is fixedly installed inside the fixed frame (3). An adjustment plate (11) is fixedly installed at the output end of the second electric telescopic rod (10). The rotating platform (6) is slidably connected to the base (1). The adjustment plate (11) is slidably connected to the fixed frame (3).

3. The modular multi-degree-of-freedom robotic gripper of claim 2, wherein: A connecting block (12) is fixedly provided on one side of the adjusting plate (11), and a clamping mechanism is provided on one side of the connecting block (12). The clamping mechanism includes a first stepper motor (13) fixedly installed on one side of the connecting block (12). A rotating shaft (14) is fixedly provided at the output end of the first stepper motor (13). A connecting plate (15) is fixedly provided on the surface of the rotating shaft (14), and a stabilizing frame (16) is fixedly provided at one end of the connecting plate (15).

4. The modular multi-degree-of-freedom robotic gripper of claim 3, wherein: A second stepper motor (17) is fixedly installed on one side of the stabilizing frame (16). A threaded rod (18) is fixedly provided at the output end of the second stepper motor (17). A T-shaped internal thread block (19) is threadedly connected to the surface of the threaded rod (18). The T-shaped internal thread block (19) is slidably connected to the stabilizing frame (16).

5. The modular multi-degree-of-freedom robotic gripper of claim 4, wherein: A movable block (20) is fixedly provided on one side of the T-shaped internal thread block (19), and a rubber pad (21) is fixedly provided on one side of the movable block (20).

6. The modular multi-degree-of-freedom robotic gripper of claim 1, wherein: The base (1) is provided with a cushioning pad (22) at its bottom, and the cushioning pad (22) is made of polyurethane material.

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