Robotic gripper

Abstract

The utility model relates to robot technical field discloses robot holds claw, including the base, the base inner wall rotation is connected with the connecting plate, the connecting plate outer wall one side is fixedly connected with lower connecting seat, the inside of lower connecting seat is provided with the clamping component, the clamping component includes upper clamp claw and lower clamp block, the lower connecting seat inner wall rotation is connected with upper connecting seat, the upper clamp claw sets up in the upper connecting seat inside, the hole groove no.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic gripper. Background Technology

[0002] Robot grippers, as the core component of end effectors in industrial robots, are widely used in automation fields such as material handling and precision assembly. Their performance directly affects the stability and safety of workpiece gripping. Especially when automating the handling of vulnerable parts, such as glass products and precision components, the adaptability of the gripping mechanism becomes a key technical challenge.

[0003] Current mainstream technologies mostly employ pneumatically or electrically driven rigid gripper structures, achieving gripping through the synchronous movement of two or three fingers along a preset trajectory. Typical solutions include parallel gripper mechanisms based on linear guides, using cylinders to drive the gripper arms to open and close linearly, or using rotary servo motors in conjunction with linkage mechanisms to achieve arc-shaped gripping movements. These structures typically rely on high-rigidity metal gripping surfaces in direct contact with the workpiece.

[0004] However, the above-mentioned rigid clamping method has certain drawbacks. When gripping curved workpieces or brittle materials, the fixed-shaped grippers can only produce point contact or line contact, resulting in stress concentration in local areas. This non-uniform pressure distribution can easily cause indentations or even structural damage to the workpiece surface, which seriously restricts its application in high-end manufacturing fields such as precision electronic components and optical glass. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robotic gripper, which aims to improve the problem of excessive stress concentration in rigid clamping.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robot gripper, including a base, a connecting plate rotatably connected to the inner wall of the base, a lower connecting seat fixedly connected to one side of the outer wall of the connecting plate, and a clamping assembly disposed inside the lower connecting seat;

[0007] The clamping assembly includes an upper jaw and a lower clamping block. The upper connecting seat is rotatably connected to the inner wall of the lower connecting seat. The upper jaw is disposed inside the upper connecting seat. A through slot is formed inside the upper jaw. The through slot is connected to the upper connecting seat by a long pin. A fixing block is disposed inside the lower connecting seat. The lower clamping block is slidably connected to the inner wall of the fixing block. The fixing block is connected to the lower connecting seat by a fixing pin. An adjustment assembly is disposed inside the fixing block.

[0008] Furthermore, the adjusting component includes a second slot and a second long pin. The outer wall of the second long pin is slidably connected to the inner wall of the fixed block. The second slot is opened through the interior of the lower clamping block. The outer wall of the second long pin is slidably connected to the inner wall of the second slot. A short pin is fixedly connected to one end of the second long pin. The outer wall of the short pin is slidably connected to the interior of the fixed block. The outer wall of the short pin is slidably connected to the inner wall of the second slot.

[0009] Furthermore, a locking rod is slidably connected to the inner wall of the fixing nail, the outer wall of the locking rod is slidably connected to the inner wall of the second long pin, and a pull ring is fixedly connected to one end of the locking rod.

[0010] Furthermore, a spring is sleeved on the outer wall of the clamp rod, and one end of the spring is fixedly connected to the outer wall of the fixing nail.

[0011] Furthermore, a hydraulic rod is rotatably connected to the inner wall of the lower connecting seat, and the output end of the hydraulic rod is rotatably connected to the inner wall of the upper connecting seat. A hydraulic pump is provided outside the base, and the hydraulic rod is hydraulically connected to the hydraulic pump. A limit rod is rotatably connected to the outer wall of the upper connecting seat, and the limit rod is engaged with the upper connecting seat.

[0012] Furthermore, a large gear is provided inside the base, and one side of the outer wall of the large gear is fixedly connected to the other side of the outer wall of the connecting plate. A small gear is provided inside the base, and the small gear meshes with the large gear.

[0013] Furthermore, a bearing plate is fixedly connected to the inner wall of the base, and a rotating shaft is fixedly connected to the other side of the outer wall of the large gear, with the rotating shaft located inside the bearing plate.

[0014] Furthermore, a drive shaft is fixedly connected to the outer wall of the pinion, and a motor is provided outside the base, with the output end of the motor fixedly connected to one end of the drive shaft.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, the opening and closing angle of the upper jaw is precisely controlled by the hydraulic drive system, and a synergistic clamping force field is formed by the longitudinal sliding of the lower jaw block. The adaptive characteristics of the double jaws can accommodate complex contours such as cylinders and irregularly shaped parts. There is no slippage during the clamping process and the pressure distribution is uniform. It has a higher workpiece protection rate than traditional rigid jaws, and is especially suitable for non-destructive gripping of fragile objects such as glass products and precision parts.

[0017] 2. In this utility model, the spring locking mechanism enables single-handed operation and adjustment. After pulling the pull ring to unlock, the lower clamping block can slide freely to the required tilt angle. The cooperation between the long pin and the slot ensures accurate positioning at multiple angles. Releasing the pull ring will automatically lock the mechanism. Compared with the traditional tool adjustment method, it significantly shortens the tooling switching time and meets the high-efficiency gripping needs of workpieces of various specifications. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the robot gripper proposed in this utility model;

[0019] Figure 2 This is a schematic diagram of the lower connecting seat structure of the robot gripper proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the large gear structure of the robot gripper proposed in this utility model.

[0021] Figure 4 This is a schematic diagram of the upper connecting seat structure of the robot gripper proposed in this utility model;

[0022] Figure 5 This is a schematic diagram of the fixing block structure of the robot gripper proposed in this utility model.

[0023] Legend:

[0024] 1. Base; 2. Hydraulic pump; 3. Motor; 4. Drive shaft; 5. Pinion; 6. Gear; 7. Bearing plate; 8. Rotating shaft; 9. Connecting plate; 10. Lower connecting seat; 11. Upper connecting seat; 12. Upper gripper; 13. Hydraulic rod; 14. Limiting rod; 15. Hole slot one; 16. Long pin one; 17. Fixing block; 18. Lower clamping block; 19. Hole slot two; 20. Fixing nail; 21. Long pin two; 22. Short pin; 23. Locking rod; 24. Pull ring; 25. Spring. Detailed Implementation

[0025] 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.

[0026] Reference Figures 1-5This utility model provides an embodiment of a robot gripper, including a base 1. The rigid frame design of the base 1 ensures overall stability. A connecting plate 9 is rotatably connected to the inner wall of the base 1, allowing the connecting plate 9 to rotate horizontally and expand the working range of the gripper. A lower connecting seat 10 is fixedly connected to one side of the outer wall of the connecting plate 9. A clamping assembly is provided inside the lower connecting seat 10, including an upper gripper 12 and a lower clamping block 18. The two grippers work together to achieve three-dimensional clamping, adapting to various workpiece contours. An upper connecting seat 11 is rotatably connected to the inner wall of the lower connecting seat 10, and the hinged structure allows the upper gripper to... 12 has pitch freedom. The upper gripper 12 is located inside the upper connecting seat 11. The upper gripper 12 has a through slot 15. The long slot structure provides a sliding track for the opening and closing of the gripper. The slot 15 is connected to the upper connecting seat 11 by a long pin 16. The lower connecting seat 10 has a fixing block 17 inside. The fixing block 17 serves as a guide base for the lower clamping block 18. The lower clamping block 18 is slidably connected to the inner wall of the fixing block 17. The detachable connection facilitates maintenance and replacement. The fixing block 17 is connected to the lower connecting seat 10 by a fixing pin 20. The fixing block 17 has an adjustment component inside.

[0027] The adjustment assembly includes a slot 19 and a long pin 21. The outer wall of the long pin 21 is slidably connected to the inner wall of the fixed block 17. The slot 19 is formed through the lower clamping block 18, and multiple slots 19 allow for multi-level height adjustment. The outer wall of the long pin 21 is slidably connected to the inner wall of the slot 19. A short pin 22 is fixedly connected to one end of the long pin 21. The double pin structure enhances locking stability and avoids stress concentration at a single point. The outer wall of the short pin 22 is slidably connected to the fixed block 17. Internally, the outer wall of the short pin 22 is slidably connected to the inner wall of the slot 2 19, and the inner wall of the fixing pin 20 is slidably connected to the locking rod 23. The outer wall of the locking rod 23 is slidably connected to the inner wall of the long pin 21. The pin-type locking prevents accidental dislocation. One end of the locking rod 23 is fixedly connected to the pull ring 24, and the outer wall of the locking rod 23 is fitted with a spring 25. The spring 25 provides the locking force for the locking rod 23 to automatically reset. One end of the spring 25 is fixedly connected to the outer wall of the fixing pin 20. The inner wall of the lower connecting seat 10 is rotatably connected to a liquid... A hydraulic rod 13 is rotatably connected to the inner wall of the upper connecting seat 11 at its output end. A hydraulic pump 2 is installed outside the machine base 1 to provide hydraulic power to the hydraulic rod 13. The hydraulic rod 13 is hydraulically connected to the hydraulic pump 2. A limit rod 14 is rotatably connected to the outer wall of the upper connecting seat 11. The limit rod 14 is engaged with the upper connecting seat 11 and locks it when the upper connecting seat 11 is lowered to prevent it from loosening during rotation. A large gear 6 is installed inside the machine base 1. One side of the outer wall of the large gear 6 is fixedly connected to the other side of the outer wall of the connecting plate 9. A small gear 5 is installed inside the machine base 1 and meshes with the large gear 6. A bearing plate 7 is fixedly connected to the inner wall of the machine base 1 to disperse the impact force of the gear rotation. A rotating shaft 8 is fixedly connected to the other side of the outer wall of the large gear 6. The rotating shaft 8 is located inside the bearing plate 7. A transmission shaft 4 is fixedly connected to the outer wall of the small gear 5. A motor 3 is installed outside the machine base 1 for easy installation or replacement. The output end of the motor 3 is fixedly connected to one end of the transmission shaft 4.

[0028] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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. A robot gripper, including a base (1), characterized in that: The inner wall of the base (1) is rotatably connected to a connecting plate (9), and a lower connecting seat (10) is fixedly connected to one side of the outer wall of the connecting plate (9). A clamping assembly is provided inside the lower connecting seat (10). The clamping assembly includes an upper clamping jaw (12) and a lower clamping block (18). The upper connecting seat (11) is rotatably connected to the inner wall of the lower connecting seat (10). The upper clamping jaw (12) is disposed inside the upper connecting seat (11). A slot (15) is provided through the upper clamping jaw (12). The slot (15) is connected to the upper connecting seat (11) by a long pin (16). A fixing block (17) is provided inside the lower connecting seat (10). The lower clamping block (18) is slidably connected to the inner wall of the fixing block (17). The fixing block (17) is connected to the lower connecting seat (10) by a fixing pin (20). An adjustment assembly is provided inside the fixing block (17).

2. The robot gripper according to claim 1, characterized in that: The adjustment assembly includes a second slot (19) and a second long pin (21). The outer wall of the second long pin (21) is slidably connected to the inner wall of the fixing block (17). The second slot (19) is opened through the interior of the lower clamping block (18). The outer wall of the second long pin (21) is slidably connected to the inner wall of the second slot (19). A short pin (22) is fixedly connected to one end of the second long pin (21). The outer wall of the short pin (22) is slidably connected to the interior of the fixing block (17). The outer wall of the short pin (22) is slidably connected to the inner wall of the second slot (19).

3. The robot gripper according to claim 2, characterized in that: The inner wall of the fixing nail (20) is slidably connected to a locking rod (23), the outer wall of the locking rod (23) is slidably connected to the inner wall of the long pin (21), and one end of the locking rod (23) is fixedly connected to a pull ring (24).

4. The robot gripper according to claim 3, characterized in that: A spring (25) is fitted on the outer wall of the clamp (23), and one end of the spring (25) is fixedly connected to the outer wall of the fixing nail (20).

5. The robot gripper according to claim 1, characterized in that: A hydraulic rod (13) is rotatably connected to the inner wall of the lower connecting seat (10). The output end of the hydraulic rod (13) is rotatably connected to the inner wall of the upper connecting seat (11). A hydraulic pump (2) is provided outside the base (1). The hydraulic rod (13) is hydraulically connected to the hydraulic pump (2). A limit rod (14) is rotatably connected to the outer wall of the upper connecting seat (11). The limit rod (14) is engaged with the upper connecting seat (11).

6. The robotic gripper according to claim 1, characterized in that: The base (1) is provided with a large gear (6), one side of the outer wall of the large gear (6) is fixedly connected to the other side of the outer wall of the connecting plate (9), and the base (1) is provided with a small gear (5), which meshes with the large gear (6).

7. The robotic gripper according to claim 6, characterized in that: The inner wall of the base (1) is fixedly connected to a bearing plate (7), and the other side of the outer wall of the large gear (6) is fixedly connected to a rotating shaft (8), which is located inside the bearing plate (7).

8. The robot gripper according to claim 7, characterized in that: The outer wall of the small gear (5) is fixedly connected to the transmission shaft (4), and the base (1) is provided with a motor (3) on the outside. The output end of the motor (3) is fixedly connected to one end of the transmission shaft (4).

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