A robot gripper with a buffering mechanism

Abstract

The utility model relates to industrial robot technical field especially is a kind of robot gripper with buffer mechanism, including mounting seat, the two sides of mounting seat below symmetry are provided with clamping arm, the side of two clamping arms mutually close is all provided with clamping plate, the inside of mounting seat is provided with the drive assembly for driving clamping arm to move, the two sides of two clamping arms are all provided with the buffer assembly for clamping plate buffer, the drive assembly includes the double-shaft motor being set in the middle part of the inner cavity of mounting seat, the output end of double-shaft motor two sides is all connected with screw rod, the end of two screw rods away from double-shaft motor is respectively rotationally connected with the two sides inner wall of mounting seat, the outer wall of two screw rods is all connected with moving block, the top of two clamping plates is all extended to the inside of mounting seat and is fixedly connected with the bottom of two moving blocks, prevent clamping strength too big and lead to product damage, ensure the integrity and security of product.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a robot gripper with a buffer mechanism. Background Technology

[0002] Robotic grippers are common industrial devices for transferring products. After gripping a product, the gripper can move it to a designated position, thereby adjusting the product's position, reducing the workload of workers, and improving the efficiency of subsequent processing and production.

[0003] The utility model patent application with publication number CN218984841U discloses a robot gripper with a clamping buffer structure, which can minimize the impact of clamping force on the surface of an object, thereby preventing damage to the object.

[0004] Although the aforementioned grippers have a certain buffering function, the degree of buffering is limited. When the gripper exerts excessive clamping force on the product, it cannot control the gripper's movement in time, which may still lead to product damage. Utility Model Content

[0005] The purpose of this invention is to provide a robot gripper with a buffer mechanism to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A robot gripper with a buffer mechanism includes a mounting base, with gripping arms symmetrically arranged on both sides below the mounting base, and a gripping plate provided on the side of each of the two gripping arms that is close to each other. The mounting base is provided with a drive assembly for driving the gripping arms to move, and a buffer assembly for buffering the gripping plates is provided on both sides of the two gripping arms.

[0008] The drive assembly includes a dual-axis motor disposed in the middle of the inner cavity of the mounting base. Both output ends of the dual-axis motor are connected to lead screws. The ends of the two lead screws away from the dual-axis motor are rotatably connected to the inner walls of the two sides of the mounting base, respectively. The outer walls of the two lead screws are connected to moving blocks. The top ends of the two clamping plates extend into the interior of the mounting base and are fixedly connected to the bottom of the two moving blocks.

[0009] As a preferred embodiment of this utility model, the dual-axis motor is connected to the top of the mounting base cavity via a motor frame, and the inner walls of the two moving blocks are provided with internal threads. The two moving blocks are connected to the outer walls of the two lead screws via internal threads.

[0010] As a preferred embodiment of this utility model, a controller is fixedly connected to the center of the bottom of the mounting base, and the controller is electrically connected to the dual-axis motor.

[0011] As a preferred embodiment of this utility model, the buffer assembly includes a mounting housing disposed on the side of the two clamping arms that are far apart from each other. The outer walls of the two mounting housings are respectively fixedly connected to the surfaces of the two clamping arms. Extension rods are fixedly connected to the upper and lower ends of the two clamping plates on the side near the clamping arms.

[0012] As a preferred embodiment of this utility model, the ends of the four extension rods away from the clamping plates pass through the two clamping arms respectively and extend into the interior of the two mounting housings. The ends of the four extension rods away from the clamping plates are all fixedly connected to trapezoidal blocks. The trapezoidal blocks on the same side are symmetrically arranged. The middle of the two clamping plates near the clamping arms is fixedly connected to buffer springs. The other ends of the two buffer springs are fixedly connected to the surfaces of the two clamping arms respectively.

[0013] Through the above technical solution, the setting of telescopic springs and buffer springs can effectively buffer the clamping plate, prevent excessive clamping force from damaging the product, and ensure the integrity and safety of the product.

[0014] As a preferred embodiment of this utility model, the outer walls of the four extension rods are all fitted with telescopic springs, and the two ends of the telescopic springs are respectively fixedly connected to the clamping plate and the clamping arm on the side close to each other. Movable rods are provided on both sides of the inner cavity of the mounting housing.

[0015] As a preferred embodiment of this utility model, the ends of the two movable rods that are far apart from each other are inclined, and the inclination angle of the inclined ends of the two movable rods is the same as the inclination angle of the inclined surfaces of the two trapezoidal blocks. Limiting plates are fixedly connected to the outer walls of the two movable rods, and fixing plates are provided on both sides inside the mounting shell. The side walls of the two fixing plates are fixedly connected to the inner wall of the mounting shell.

[0016] As a preferred embodiment of this utility model, the ends of the two movable rods that are close to each other pass through the two fixed plates and are fixedly connected to the pressing plates. The outer walls of the two movable rods that are close to each other are fitted with guide sleeves. The inner walls of the two guide sleeves are slidably connected to the surfaces of the two movable rods. The ends of the two guide sleeves that are far apart from each other are fixedly connected to the surfaces of the two fixed plates.

[0017] As a preferred embodiment of this utility model, a return spring is sleeved on the outer wall of the two moving rods on the side away from each other. One end of the two return springs is fixedly connected to the two limiting plates, and the other end of the two return springs is fixedly connected to the surface of the two fixing plates. A bidirectional pressure sensor is provided between the two pressing plates, and the internal structure of the two mounting shells is symmetrically arranged.

[0018] Through the above technical solution, the bidirectional pressure sensor can monitor the clamping force in real time and transmit the signal to the controller. When the clamping force exceeds the preset value, the controller can control the dual-axis motor to reverse and reduce the clamping force in time, thereby further protecting the product from damage.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. In this utility model, the extension spring and the buffer spring can effectively buffer the clamping plate, prevent excessive clamping force from damaging the product, and ensure the integrity and safety of the product.

[0021] 2. In this utility model, the extension rod moves into the housing after the clamping plate contacts the product. The trapezoidal block and the moving rod push the pressing plate to squeeze the bidirectional pressure sensor. The bidirectional pressure sensor can monitor the clamping force in real time and transmit the signal to the controller. When the clamping force exceeds the preset value, the controller can control the dual-axis motor to reverse and reduce the clamping force in time, thereby further protecting the product from damage. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 This is a cross-sectional structural diagram of the mounting base of this utility model;

[0024] Figure 3 This is a cross-sectional structural diagram of the buffer assembly of this utility model;

[0025] Figure 4 This is an enlarged structural diagram of point A in this utility model.

[0026] In the diagram: 1. Mounting base; 2. Clamping arm; 3. Clamping plate; 4. Drive assembly; 5. Buffer assembly; 401. Dual-axis motor; 402. Lead screw; 403. Moving block; 404. Controller; 501. Mounting housing; 502. Extension rod; 503. Telescopic spring; 504. Buffer spring; 505. Trapezoidal block; 506. Moving rod; 507. Fixing plate; 508. Limiting plate; 509. Return spring; 510. Guide sleeve; 511. Pressing plate; 512. Bidirectional pressure sensor. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0028] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, and several embodiments of the utility model will be provided. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and complete.

[0029] For examples, please refer to Figure 1-4 This utility model provides a technical solution:

[0030] A robot gripper with a buffer mechanism includes a mounting base 1. Gripping arms 2 are symmetrically arranged on both sides below the mounting base 1. Gripping plates 3 are provided on the sides of the two gripping arms 2 that are close to each other. A drive assembly 4 for moving the gripping arms 2 is provided inside the mounting base 1. Buffer assemblies 5 for buffering the gripping plates 3 are provided on both sides of the two gripping arms 2. The drive assembly 4 includes a dual-axis motor 401 located in the middle of the inner cavity of the mounting base 1. Lead screws 402 are connected to the output ends of both sides of the dual-axis motor 401. The ends of the two lead screws 402 away from the dual-axis motor 401 are rotatably connected to the inner walls of both sides of the mounting base 1. Moving blocks 403 are connected to the outer walls of both lead screws 402. The top ends of the two gripping plates 3 extend into the interior of the mounting base 1 and are fixedly connected to the bottoms of the two moving blocks 403.

[0031] The dual-axis motor 401 is connected to the top of the inner cavity of the mounting base 1 via a motor frame. The inner walls of the two moving blocks 403 are threaded, and the two moving blocks 403 are threaded to the outer walls of the two lead screws 402 via the internal threads. A controller 404 is fixedly connected to the middle of the bottom of the mounting base 1. The controller 404 is electrically connected to the dual-axis motor 401. The buffer assembly 5 includes a mounting housing 501 located on the side of the two clamping arms 2 that are far apart from each other. The outer walls of the two mounting housings 501 are fixedly connected to the surfaces of the two clamping arms 2 respectively. The dual-axis motor 401 can drive the lead screws 402 on both sides to rotate, thereby causing the two moving blocks 403 to drive the clamping arms 2 to move closer to each other, and to firmly clamp the product through the clamping plate 3.

[0032] Extension rods 502 are fixedly connected to the upper and lower ends of the two clamping plates 3 near the clamping arms 2. The ends of the four extension rods 502 away from the clamping plates 3 pass through the two clamping arms 2 and extend into the interior of the two mounting shells 501. Trapezoidal blocks 505 are fixedly connected to the ends of the four extension rods 502 away from the clamping plates 3. The trapezoidal blocks 505 on the same side are symmetrically arranged. Buffer springs 504 are fixedly connected to the middle of the two clamping plates 3 near the clamping arms 2. The other ends of the two buffer springs 504 are fixedly connected to the surfaces of the two clamping arms 2. Telescopic springs 503 are sleeved on the outer walls of the four extension rods 502. The two ends of the telescopic springs 503 are fixedly connected to the sides of the clamping plates 3 and the clamping arms 2 that are close to each other. The telescopic springs 503 and the buffer springs 504 have a buffering effect, reducing the impact of the clamping force on the product.

[0033] Movable rods 506 are provided on both sides of the inner cavity of the mounting housing 501. The ends of the two movable rods 506 that are far apart from each other are inclined. The inclination angle of the inclined ends of the two movable rods 506 is the same as the inclination angle of the inclined surfaces of the two trapezoidal blocks 505. After the clamping plate 3 comes into contact with the product, it is subjected to a reaction force, which drives the extension rod 502 to move into the mounting housing 501 and pushes the trapezoidal blocks 505 to move synchronously. Due to the inclined surface design of the trapezoidal blocks 505, the inclined ends of the movable rods 506 are squeezed, causing the movable rods 506 to move to the other side. This allows the clamping force between the clamping plate 3 and the product to be further adjusted, ensuring that the buffering action is performed within the set range.

[0034] Limiting plates 508 are fixedly connected to the outer walls of the two moving rods 506. Fixing plates 507 are provided on both sides inside the mounting housing 501. The side walls of the two fixing plates 507 are fixedly connected to the inner wall of the mounting housing 501. The ends of the two moving rods 506 that are close to each other pass through the two fixing plates 507 and are fixedly connected to pressing plates 511. Guide sleeves 510 are fitted on the outer walls of the sides of the two moving rods 506 that are close to each other. The inner walls of the two guide sleeves 510 are slidably connected to the surfaces of the two moving rods 506. The ends of the two guide sleeves 510 that are far apart from each other are fixedly connected to the surfaces of the two fixing plates 507. Return springs 509 are fitted on the outer walls of the sides of the two moving rods 506 that are far apart from each other. One end of the two return springs 509 is fixedly connected to the two limiting plates 508. The other end of the two return springs 509 is fixedly connected to the surfaces of the two fixing plates 507. A bidirectional pressure sensor 512 is provided between the two pressing plates 511. The internal structures of the two mounting housings 501 are symmetrically arranged.

[0035] The pressure sensor 512 monitors the clamping force in real time and transmits a signal to the controller 404. When the clamping force exceeds the preset value, the controller 404 controls the dual-axis motor 401 to reverse and drives the lead screw 402 to rotate in the opposite direction, so that the moving block 403 drives the clamping arms 2 to move away from each other, thereby reducing the clamping force and preventing product damage.

[0036] Among them, the telescopic spring 503 and the buffer spring 504 have a buffering effect, reducing the impact of the clamping force on the product.

[0037] In this embodiment, after the clamping plate 3 contacts the product, it is subjected to a reaction force, which drives the extension rod 502 to move into the mounting housing 501, and pushes the trapezoidal block 505 to move synchronously. Due to the inclined design of the trapezoidal block 505, it squeezes the inclined end of the moving rod 506, causing the moving rod 506 to move to the other side, which drives the pressing plate 511 to squeeze the bidirectional pressure sensor 512. The bidirectional pressure sensor 512 monitors the clamping force in real time and transmits a signal to the controller 404. When the clamping force exceeds the preset value, the controller 404 controls the dual-axis motor 401 to reverse, driving the lead screw 402 to rotate in the opposite direction, so that the moving block 403 drives the clamping arms 2 to move away from each other, reducing the clamping force and preventing damage to the product.

[0038] The working process of this utility model is as follows: During use, the dual-axis motor 401 drives the lead screws 402 on both sides to rotate, causing the two moving blocks 403 to move the clamping arms 2 closer together. The clamping plate 3 clamps the product. During clamping, when the clamping plate 3 contacts the product, it experiences a reaction force from the product, causing the extension rod 502 to move inwards towards the mounting housing 501. The movement of the extension rod 502 pushes the trapezoidal block 505 to move synchronously. Due to the inclined design of the trapezoidal block 505, it presses against the inclined end of the moving rod 506, causing the moving rod 506 to move to the other side. The movement of lever 506 causes pressing plate 511 to press against bidirectional pressure sensor 512. Bidirectional pressure sensor 512 can monitor the clamping force in real time and transmit the signal to controller 404. When the clamping force exceeds the preset value, controller 404 will control dual-axis motor 401 to reverse, thereby driving lead screw 402 to rotate in the opposite direction, so that moving block 403 drives clamping arms 2 to move away from each other, thereby reducing the clamping force in time and preventing product damage. At the same time, during the movement of clamping plate 3, telescopic spring 503 and buffer spring 504 will be compressed, producing a buffering effect, further reducing the impact of clamping force on the product.

[0039] The dual-axis motor 401, controller 404, and bidirectional pressure sensor 512 used in this utility model are all existing known electrical devices, and all can be purchased and used directly on the market. Their structure, circuit, and control principle are all existing known technologies. Therefore, the structure, circuit, and control principle of the dual-axis motor 401, controller 404, and bidirectional pressure sensor 512 will not be described in detail here.

[0040] All standard parts used in this application can be purchased from the market. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art and are also general components, which are common knowledge in this field.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot gripper with a buffering mechanism, comprising a mounting base (1), characterized in that: The mounting base (1) is provided with symmetrical clamping arms (2) on both sides below it. The two clamping arms (2) are provided with clamping plates (3) on the side that is close to each other. The mounting base (1) is provided with a drive assembly (4) for driving the clamping arms (2) to move. The two clamping arms (2) are provided with a buffer assembly (5) for buffering the clamping plates (3) on both sides. The drive assembly (4) includes a dual-axis motor (401) disposed in the middle of the inner cavity of the mounting base (1). Both output ends of the dual-axis motor (401) are connected to lead screws (402). The ends of the two lead screws (402) away from the dual-axis motor (401) are respectively rotatably connected to the inner walls of the two sides of the mounting base (1). The outer walls of the two lead screws (402) are connected to moving blocks (403). The top ends of the two clamping plates (3) extend into the interior of the mounting base (1) and are fixedly connected to the bottom of the two moving blocks (403).

2. The robot gripper with a buffering mechanism according to claim 1, wherein: The dual-axis motor (401) is connected to the top of the inner cavity of the mounting base (1) through the motor frame. The inner walls of the two moving blocks (403) are provided with internal threads, and the two moving blocks (403) are connected to the outer walls of the two lead screws (402) through the internal threads.

3. The robot gripper with a buffering mechanism according to claim 1, wherein: A controller (404) is fixedly connected to the center of the bottom of the mounting base (1), and the controller (404) is electrically connected to the dual-axis motor (401).

4. The robot gripper with a buffering mechanism according to claim 1, wherein: The buffer assembly (5) includes a mounting housing (501) disposed on the side of the two clamping arms (2) that are far apart from each other. The outer walls of the two mounting housings (501) are fixedly connected to the surfaces of the two clamping arms (2) respectively. Extension rods (502) are fixedly connected to the upper and lower ends of the two clamping plates (3) on the side close to the clamping arms (2).

5. A robot gripper with a buffer mechanism according to claim 4, characterized in that: The ends of the four extension rods (502) away from the clamping plate (3) pass through the two clamping arms (2) respectively and extend into the interior of the two mounting shells (501). The ends of the four extension rods (502) away from the clamping plate (3) are all fixedly connected to trapezoidal blocks (505). The trapezoidal blocks (505) on the same side are symmetrically arranged. The middle of the two clamping plates (3) near the clamping arms (2) is fixedly connected to buffer springs (504). The other ends of the two buffer springs (504) are fixedly connected to the surfaces of the two clamping arms (2) respectively.

6. The robot gripper with a buffering mechanism according to claim 5, wherein: The outer walls of the four extension rods (502) are fitted with telescopic springs (503), and the two ends of the telescopic springs (503) are fixedly connected to the clamping plate (3) and the clamping arm (2) respectively on the side close to each other. The inner cavities of the mounting housing (501) are provided with moving rods (506).

7. The robot gripper with a buffering mechanism according to claim 6, characterized in that: The ends of the two movable rods (506) that are far apart from each other are inclined. The inclination angle of the inclined ends of the two movable rods (506) is the same as the inclination angle of the inclined surfaces of the two trapezoidal blocks (505). Limiting plates (508) are fixedly connected to the outer walls of the two movable rods (506). Fixing plates (507) are provided on both sides inside the mounting shell (501). The side walls of the two fixing plates (507) are fixedly connected to the inner wall of the mounting shell (501).

8. The robot gripper with a buffering mechanism according to claim 7, characterized in that: The two movable rods (506) are close to each other at one end, and are respectively connected to two fixed plates (507) and a pressing plate (511). The outer walls of the two movable rods (506) close to each other are fitted with guide sleeves (510). The inner walls of the two guide sleeves (510) are slidably connected to the surfaces of the two movable rods (506). The two guide sleeves (510) are far apart from each other at one end, and are respectively fixedly connected to the surfaces of the two fixed plates (507).

9. The robot gripper with a buffering mechanism according to claim 8, characterized in that: The outer walls of the two moving rods (506) on opposite sides are each fitted with a return spring (509). One end of each return spring (509) is fixedly connected to the two limiting plates (508), and the other end of each return spring (509) is fixedly connected to the surfaces of the two fixing plates (507). A bidirectional pressure sensor (512) is provided between the two pressing plates (511). The internal structures of the two mounting housings (501) are symmetrically arranged.

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