A multifunctional robot gripper

Abstract

The utility model discloses a multifunctional robot clamping jaw, specifically relates to robot automatic fixture technical field, including mechanical arm, the lower part right side annular array of mechanical arm installs and fixes a plurality of inner clamping jaw parts, a plurality of inside fixedly connected with reset mechanism in guide mechanism, a plurality of annular array fixedly connected with positioning mechanism outside reset mechanism, a plurality of clamping jaw assemblies are all fixedly connected with the front side outside guide mechanism. The utility model discloses a multifunctional robot clamping jaw can be oriented and limited to the rotation adjustment of clamping jaw assembly through guide mechanism, and the effect that a plurality of positioning mechanisms are pushed outwards can be realized through reset mechanism, the angle of rotation of clamping jaw assembly can be locked under the action of positioning mechanism, and the effect that the quadrilateral and circular article clamping can be realized through clamping jaw assembly, improve the practicality and universality of device.

Description

Technical Field

[0001] This utility model relates to the field of robot automatic gripper technology, and in particular to a multifunctional robot gripper. Background Technology

[0002] The multi-functional robot gripper is an end effector that integrates high-precision sensing, adaptive gripping algorithms and multi-modal driving technology. It can dynamically adjust the gripping force and gripping strategy, and can be compatible with diverse operation needs from micro electronic components to large irregular workpieces. At the same time, it supports the replacement of end tools to realize extended functions such as welding, spraying and inspection. It is a key component for realizing human-machine collaboration and improving production efficiency in industrial automation and flexible manufacturing scenarios.

[0003] Chinese patent document CN211806203U discloses a multifunctional detachable robot gripper, including a housing. A mounting base is fixedly connected to the top of the housing. A first telescopic robotic arm is movably connected above the mounting base. A second telescopic robotic arm is movably mounted on the top of the first telescopic robotic arm. A first lifting robotic arm is connected to the telescopic end of the first telescopic robotic arm, and a second lifting robotic arm is connected to the telescopic end of the second telescopic robotic arm. Both the telescopic ends of the first and second lifting robotic arms are connected to a housing. Grippers are movably connected to both sides of the front of the housing. A rotating rod is provided at the bottom of the housing, and a push rod is provided on the surface of the rotating rod. Force-bearing plates are provided at both ends of the push rod. This invention solves the problem that traditional robotic arm housings are installed using bolts, making disassembly cumbersome and hindering timely repairs when problems arise.

[0004] While the aforementioned patent documents can facilitate maintenance during implementation, they cannot stably clamp objects of different shapes, making it easy for objects to fall off during clamping and transportation, thus affecting the efficiency of clamping and handling. Utility Model Content

[0005] The main purpose of this invention is to provide a multifunctional robot gripper that can effectively solve the problem of being unable to stably grip objects of different shapes.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A multifunctional robot gripper includes a robotic arm. Several inner gripper components are mounted and fixed in a circular array on the lower right side of the robotic arm. Several hydraulic drive components are mounted and fixed in a circular array on the lower left side of the robotic arm. The lower output ends of the hydraulic drive components are symmetrically provided with transmission mechanisms. The lower parts of the transmission mechanisms are rotatably connected to guide mechanisms. The guide mechanisms are fixedly connected to reset mechanisms inside. The reset mechanisms are fixedly connected to positioning mechanisms in a circular array outside. The front sides of the guide mechanisms are fixedly connected to gripper assemblies.

[0008] Preferably, the transmission mechanism includes a transmission plate, a limiting groove is formed in the middle of the lower end of the outer surface of the transmission plate, and the upper end of the outer surface of the transmission plate is fixedly connected to the lower output end of the corresponding hydraulic drive component.

[0009] Preferably, the guiding mechanism includes a rotating shaft, the upper end of which is fixedly connected to a limiting sleeve, and the limiting sleeve is rotatably connected to the inner cavity of the limiting groove.

[0010] Preferably, the reset mechanism includes a strong spring plate, and the outer surface sidewall of the strong spring plate has a plurality of receiving cavities arranged in a ring array, and the strong spring plate is installed and fixed in the inner cavity of the limiting sleeve.

[0011] Preferably, the positioning mechanism includes a fixed column, a hemispherical block is fixedly connected to the left end of the outer surface of the fixed column, and the right side of the outer surface of the fixed column is fixedly connected to the left wall of the corresponding receiving cavity.

[0012] Preferably, the gripper assembly includes a loading plate, a square gripper is fixedly connected to the lower left part of the outer surface of the loading plate, an arc-shaped gripper is fixedly connected to the lower right part of the outer surface of the loading plate, and the upper part of the outer surface of the loading plate is fixedly connected to the lower end of the outer surface of the rotating shaft.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. This utility model uses a transmission mechanism to enable two transmission mechanisms to move closer together and clamp objects under the drive of a hydraulic drive component. At the same time, a guide mechanism can guide and limit the rotation adjustment of the gripper assembly, improving the practicality of the device. A reset mechanism can push several positioning mechanisms outward. Under the action of the positioning mechanism, the rotation angle of the gripper assembly can be locked. Furthermore, the gripper assembly can clamp square and round objects, improving the practicality and versatility of the device.

[0015] 2. When it is necessary to clamp objects of different shapes, the two sets of square and arc-shaped clamping claws can be rotated to change their positions. After rotating the square and arc-shaped clamping claws by °, the rebound force of the strong spring plate itself can cause several hemispherical blocks to pop outward until the several hemispherical blocks are respectively locked in the positioning grooves corresponding to the inner wall of the limiting groove. Thus, it is possible to conveniently clamp objects of different shapes from the outside, improving the practicality and universality of the device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the transmission mechanism and gripper assembly of this utility model;

[0018] Figure 3 This is a schematic diagram of the guiding mechanism, reset mechanism, and positioning mechanism of this utility model.

[0019] In the diagram: 1. Robotic arm; 2. Inner gripper assembly; 3. Hydraulic drive assembly; 4. Transmission mechanism; 41. Transmission plate; 42. Limiting groove; 5. Guide mechanism; 51. Rotating shaft; 52. Limiting sleeve; 6. Reset mechanism; 61. Strong spring plate; 62. Receiving cavity; 7. Positioning mechanism; 71. Fixed column; 72. Hemispherical block; 8. Gripper assembly; 81. Loading plate; 82. Square part gripper; 83. Arc-shaped part gripper. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0021] like Figure 1 As shown, a multifunctional robot gripper includes a robotic arm 1. Several inner gripper components 2 are fixedly mounted in a circular array on the lower right side of the robotic arm 1. Several hydraulic drive components 3 are fixedly mounted in a circular array on the lower left side of the robotic arm 1. Each of the hydraulic drive components 3 has a symmetrically arranged transmission mechanism 4 at its lower output end. This mechanism allows the two transmission mechanisms 4 to move closer together under the drive of the hydraulic drive components 3 to grip the object. Each of the transmission mechanisms 4 is rotatably connected to a guide mechanism 5, which guides and limits the rotation adjustment of the gripper assembly 8. Each of the guide mechanisms 5 has a reset mechanism 6 fixedly connected inside, which pushes several positioning mechanisms 7 outwards. Each of the reset mechanisms 6 has a positioning mechanism 7 fixedly connected in a circular array outside, which locks the rotation angle of the gripper assembly 8. Each of the guide mechanisms 5 has a gripper assembly 8 fixedly connected to its front side, enabling the gripping of square and round objects.

[0022] To achieve the goal of clamping the object by bringing the two transmission mechanisms 4 closer together under the drive of the hydraulic drive component 3, refer to... Figure 2 The transmission mechanism 4 includes a transmission plate 41. A limiting groove 42 is provided in the middle of the lower end of the outer surface of the transmission plate 41, which can guide and limit the rotation of the limiting sleeve 52. The upper end of the outer surface of the transmission plate 41 is fixedly connected to the lower output end of the corresponding hydraulic drive component 3.

[0023] To guide and limit the rotation adjustment of the gripper assembly 8, please refer to... Figure 3 The guide mechanism 5 includes a rotating shaft 51, with a limiting sleeve 52 fixedly connected to the upper end of the rotating shaft 51, which can guide the rotation of the loading plate 81, and the limiting sleeve 52 is rotatably connected to the inner cavity of the limiting groove 42.

[0024] To achieve the goal of ejecting several positioning mechanisms 7 outwards, refer to... Figure 3 The reset mechanism 6 includes a strong spring plate 61. The outer surface of the strong spring plate 61 has a number of receiving cavities 62 arranged in a ring array on the side wall, which can accommodate the corresponding fixed column 71. The strong spring plate 61 is installed and fixed in the inner cavity of the limiting sleeve 52.

[0025] To achieve the purpose of locking the rotation angle of the gripper assembly 8, see [link / reference]. Figure 3 The positioning mechanism 7 includes a fixed post 71, and a hemispherical block 72 is fixedly connected to the left end of the outer surface of the fixed post 71. Under the rebound force of the strong spring plate 61, the hemispherical block 72, which is rotated to the required angle, can be locked and fixed in the positioning groove corresponding to the inner wall of the limiting groove 42. The right part of the outer surface of the fixed post 71 is fixedly connected to the left wall of the inner cavity of the corresponding receiving cavity 62.

[0026] To achieve the purpose of clamping square and round objects, refer to Figure 2 The gripper assembly 8 includes a loading plate 81. A square gripper 82 is fixedly connected to the lower left part of the outer surface of the loading plate 81, which can clamp square objects. An arc-shaped gripper 83 is fixedly connected to the lower right part of the outer surface of the loading plate 81, which can clamp arc-shaped objects. The upper part of the outer surface of the loading plate 81 is fixedly connected to the lower part of the outer surface of the rotating shaft 51.

[0027] The working principle of this utility model is as follows: When this utility model is working, the hydraulic drive component 3 drives the output end, which drives the transmission plate 41 fixedly connected to it to move, so that the two transmission plates 41 move closer to each other. During this process, the limiting sleeve 52 at the upper end of the rotating shaft 51 rotates in the limiting groove cavity 42 of the transmission plate 41, thereby achieving guidance and limiting. At the same time, the strong spring plate 61 will push the fixed column 71, so that when the hemispherical blocks 72 rotate to the required angle, they will be stuck into the corresponding positioning groove on the side wall of the limiting groove 42 under the action of the rebound force, thereby locking the rotation angle of the gripper assembly 8. The square gripper 82 at the lower left of the loading plate 81 can hold square objects, and the arc-shaped gripper 83 at the lower right can hold arc-shaped objects.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multifunctional robotic gripper, comprising a robotic arm (1), characterized in that: The lower right side of the robotic arm (1) is equipped with several inner gripper components (2) in a circular array. The lower left side of the robotic arm (1) is equipped with several hydraulic drive components (3) in a circular array. The lower output ends of the hydraulic drive components (3) are symmetrically provided with transmission mechanisms (4). The lower part of the transmission mechanisms (4) is rotatably connected to guide mechanisms (5). The guide mechanisms (5) are fixedly connected to reset mechanisms (6) inside. The reset mechanisms (6) are fixedly connected to positioning mechanisms (7) in a circular array outside. The front side of the guide mechanisms (5) is fixedly connected to gripper assemblies (8).

2. The multifunctional robot gripper according to claim 1, characterized in that: The transmission mechanism (4) includes a transmission plate (41), a limiting groove (42) is provided in the middle of the lower end of the outer surface of the transmission plate (41), and the upper end of the outer surface of the transmission plate (41) is fixedly connected to the lower output end of the corresponding hydraulic drive component (3).

3. The multifunctional robot gripper according to claim 2, characterized in that: The guide mechanism (5) includes a rotating shaft (51), the upper end of which is fixedly connected to a limiting sleeve (52), and the limiting sleeve (52) is rotatably connected to the inner cavity of the limiting groove (42).

4. A multifunctional robot gripper according to claim 3, characterized in that: The reset mechanism (6) includes a strong spring plate (61), and the outer surface sidewall of the strong spring plate (61) is provided with a plurality of receiving cavities (62) in an annular array, and the strong spring plate (61) is installed and fixed in the inner cavity of the limiting sleeve (52).

5. A multifunctional robot gripper according to claim 4, characterized in that: The positioning mechanism (7) includes a fixed column (71), a hemispherical block (72) is fixedly connected to the left end of the outer surface of the fixed column (71), and the right side of the outer surface of the fixed column (71) is fixedly connected to the left wall of the corresponding receiving cavity (62).

6. A multifunctional robot gripper according to claim 3, characterized in that: The gripper assembly (8) includes a loading plate (81), a square gripper (82) is fixedly connected to the lower left part of the outer surface of the loading plate (81), an arc-shaped gripper (83) is fixedly connected to the lower right part of the outer surface of the loading plate (81), and the upper part of the outer surface of the loading plate (81) is fixedly connected to the lower part of the outer surface of the rotating shaft (51).

Images