An automatically positioning gripper

Abstract

The utility model relates to the technical field of gripper, concretely is a kind of automatic positioner gripper, including mounting seat, grab arm, adjusting mechanism, gripper and drive mechanism;Mounting seat top is provided with connecting seat;Two grab arms are provided, and grab arm is movably arranged on mounting seat;Adjusting mechanism is arranged on mounting seat, and the output of adjusting mechanism is connected with grab arm for adjusting the distance between two grab arms;Two grippers are provided and correspond to grab arm one by one, and gripper is rotatably connected with grab arm;Drive mechanism is arranged in mounting seat, and the output of drive mechanism is connected with gripper for adjusting the angle of gripper.The utility model is set up by the cooperation between grab arm, adjusting mechanism, gripper and drive mechanism, adjusting mechanism works and drives grab arm to move, and object is clamped and positioned from the both sides of object, drive mechanism works and drives gripper to rotate to the bottom of object to further position object, greatly reduce the risk of falling in the movement of object.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically to an automatic positioning gripper. Background Technology

[0002] A robotic gripper is a device that can mimic the movements of a human hand and arm to grasp, move objects, or operate tools. It can effectively reduce the workload of personnel and improve work efficiency, and is now widely used in fields such as machinery manufacturing, metallurgy, and electronics.

[0003] Chinese patent CN212655085U discloses a gripper including a base and at least two clamps. Each clamp is connected to the base via two parallel connecting plates. The two ends of the connecting plates are rotatably connected to the lower end of the clamp and the top of the two corners of the base via pivots. The inner connecting plate, located below the lower pivot, has a roller mounted on an extension plate. An electromagnetic pen is positioned below the base, with its top push rod pressing against the roller. A conical push rod is positioned above the roller. A support base is formed above the base, and the conical push rod is mounted on the support base via a thrust spring. This invention effectively controls the gripper's stroke and clamping force through electromagnet drive and elastic push rod control.

[0004] However, the above technical solution has the following shortcomings: In the process of grasping an object, the object is lifted and moved by relying solely on the friction between the object and the gripper. During the movement, due to factors such as the vibration of the robotic arm, the object is prone to slipping off the gripper, which not only damages the object but also poses certain safety risks. Utility Model Content

[0005] The purpose of this invention is to address the problems existing in the background technology by proposing an automatic positioning gripper.

[0006] The technical solution of this utility model: an automatic positioning gripper, comprising:

[0007] The mounting base has a connecting seat on its top;

[0008] There are two grab arms, which are movably mounted on the mounting base.

[0009] An adjustment mechanism is mounted on the mounting base. The output end of the adjustment mechanism is connected to the gripper arm to adjust the distance between the two gripper arms.

[0010] The gripper has two grippers, each corresponding to a gripper arm, and the gripper is rotatably connected to the gripper arm.

[0011] The drive mechanism is located inside the mounting base, and its output end is connected to the gripper to adjust the angle of the gripper.

[0012] Preferably, the adjustment mechanism includes an adjustment motor, a bidirectional threaded rod, and a threaded sleeve; the adjustment motor is fixedly connected to the mounting base, one end of the bidirectional threaded rod is connected to the output end of the adjustment motor, the other end of the bidirectional threaded rod extends into the mounting base, and two threaded sleeves are provided, with the two threaded sleeves threadedly connected to the bidirectional threaded rod.

[0013] Preferably, the drive mechanism includes a drive motor, a drive shaft, a transmission assembly, and an adjustment assembly; the drive motor is fixedly connected to the mounting base, the drive shaft is rotatably mounted in the mounting base, one end of the drive shaft is connected to the drive motor, two sets of transmission assemblies are provided and correspond one-to-one with threaded sleeves, one end of the transmission assembly is connected to the threaded sleeve, two sets of adjustment assemblies are provided and correspond one-to-one with grippers, one end of the adjustment assembly is connected to the gripper, and the other end of the adjustment assembly is connected to the transmission assembly.

[0014] Preferably, the transmission assembly includes a movable box, a bevel gear ring, a transmission rod, and a bevel gear; the movable box is movably disposed within the mounting base, the movable box is fixedly connected to the threaded sleeve, the drive shaft passes through the movable box, the bevel gear ring is disposed within the movable box, the bevel gear ring is rotatably connected to the movable box, the bevel gear ring is slidably connected to the drive shaft, the transmission rod passes through the movable box and is rotatably connected to the movable box, the bevel gear is disposed within the movable box, the bevel gear is fixedly connected to the transmission rod, and the bevel gear meshes with the bevel gear ring.

[0015] Preferably, the adjustment assembly includes an adjustment rod, an adjustment worm wheel, and an adjustment worm; the adjustment rod passes through the gripper arm and is rotatably connected to the gripper arm, the adjustment rod is fixedly connected to the gripper, the adjustment worm wheel is fixedly connected to the adjustment rod, the adjustment worm is fixedly connected to the transmission rod, and the adjustment worm and the adjustment worm wheel mesh with each other.

[0016] Preferably, a reinforcing arm is fixedly connected to the side of the gripper arm, and anti-slip pads are fixedly connected to the surfaces of both the gripper arm and the reinforcing arm.

[0017] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial technical effects:

[0018] This utility model utilizes the coordinated arrangement of a gripper arm, an adjustment mechanism, a gripper, and a drive mechanism. The adjustment mechanism moves the gripper arm to clamp and limit the object from both sides. As the object rises with the gripper arm, the drive mechanism rotates the gripper to the bottom of the object to further limit it, preventing the object from falling during the gripper's movement and greatly reducing the risk of the object falling during movement. Attached Figure Description

[0019] Figure 1 This is a perspective view of one embodiment of the present invention;

[0020] Figure 2 This is a cross-sectional view of the mounting base in one embodiment of the present invention;

[0021] Figure 3 This is a cross-sectional view of the movable box in one embodiment of the present invention;

[0022] Figure 4 This is a perspective view of the adjustment component in one embodiment of the present invention.

[0023] Reference numerals: 1. Mounting base; 2. Connecting base; 31. Adjusting motor; 32. Double-ended threaded rod; 33. Threaded sleeve; 41. Drive motor; 42. Drive shaft; 431. Adjusting rod; 432. Adjusting worm gear; 433. Adjusting worm; 441. Movable box; 442. Bevel gear ring; 443. Transmission rod; 444. Bevel gear; 5. Grab arm; 6. Grab handle; 7. Reinforcing arm; 8. Anti-slip mat. Detailed Implementation

[0024] Example 1

[0025] like Figure 1-4 As shown, the present invention proposes an automatic positioning gripper, which includes a mounting base 1, a gripping arm 5, an adjustment mechanism, a gripper 6, and a drive mechanism.

[0026] The top of the mounting base 1 is provided with a connecting base 2;

[0027] There are two gripping arms 5. The gripping arms 5 are movably mounted on the mounting base 1. A reinforcing arm 7 is fixedly connected to the side of the gripping arm 5. Anti-slip pads 8 are fixedly connected to the surfaces of both the gripping arm 5 and the reinforcing arm 7.

[0028] The adjustment mechanism is mounted on the mounting base 1, and the output end of the adjustment mechanism is connected to the gripper 5 to adjust the distance between the two grippers 5.

[0029] Two grippers 6 are provided, each corresponding to one of the grippers 5, and the grippers 6 are rotatably connected to the grippers 5;

[0030] The drive mechanism is installed in the mounting base 1, and the output end of the drive mechanism is connected to the gripper 6 to adjust the angle of the gripper 6.

[0031] Example 2

[0032] like Figure 1-2 As shown, the present invention proposes an automatic positioning gripper. Compared with Embodiment 1, this embodiment also specifically discloses the structure of the adjustment mechanism. The adjustment mechanism includes an adjustment motor 31, a bidirectional threaded rod 32, and a threaded sleeve 33. The adjustment motor 31 is fixedly connected to the mounting base 1. The adjustment motor 31 has forward and reverse rotation functions and is connected to the control system and power supply through wires. One end of the bidirectional threaded rod 32 is connected to the output end of the adjustment motor 31, and the other end of the bidirectional threaded rod 32 extends into the mounting base 1. Two threaded sleeves 33 are provided, and the two threaded sleeves 33 are threadedly connected to the bidirectional threaded rod 32.

[0033] Example 3

[0034] like Figure 1-4 As shown, the present invention discloses an automatic positioning gripper. Compared with Embodiment 1, this embodiment further discloses the structure of the drive mechanism. The drive mechanism includes a drive motor 41, a drive shaft 42, a transmission component, and an adjustment component. The drive motor 41 is fixedly connected to the mounting base 1 and has forward and reverse rotation functions. It is connected to the control system and power supply through wires. The drive shaft 42 is rotatably mounted in the mounting base 1. One end of the drive shaft 42 is connected to the drive motor 41. Two sets of transmission components are provided and correspond one-to-one with the threaded sleeves 33. One end of the transmission component is connected to the threaded sleeves 33. Two sets of adjustment components are provided and correspond one-to-one with the grippers 6. One end of the adjustment component is connected to the gripper 6, and the other end of the adjustment component is connected to the transmission component.

[0035] Example 4

[0036] like Figure 2-3 As shown, the present invention discloses an automatic positioning gripper. Compared with Embodiment 3, this embodiment further discloses the structure of the transmission assembly. The transmission assembly includes a movable box 441, a bevel gear ring 442, a transmission rod 443, and a bevel gear 444. The movable box 441 is movably disposed in the mounting base 1 and is fixedly connected to the threaded sleeve 33. The drive shaft 42 passes through the movable box 441. The bevel gear ring 442 is disposed in the movable box 441 and is rotatably connected to the movable box 441 through a connecting sleeve. The bevel gear ring 442 is slidably connected to the drive shaft 42 along the axial direction of the drive shaft 42 and rotates with the drive shaft 42. The transmission rod 443 passes through the movable box 441 and is rotatably connected to the movable box 441. The bevel gear 444 is disposed in the movable box 441 and is fixedly connected to the transmission rod 443. The bevel gear 444 meshes with the bevel gear ring 442.

[0037] Example 5

[0038] like Figure 3-4 As shown, the present invention discloses an automatic positioning gripper. Compared with embodiment four, this embodiment also specifically discloses the structure; the adjustment component includes an adjustment rod 431, an adjustment worm gear 432, and an adjustment worm 433; the adjustment rod 431 passes through the gripper arm 5 and is rotatably connected to the gripper arm 5, the adjustment rod 431 is fixedly connected to the gripper 6, the adjustment worm gear 432 is fixedly connected to the adjustment rod 431, the adjustment worm 433 is fixedly connected to the transmission rod 443, and the adjustment worm 433 and the adjustment worm gear 432 mesh with each other.

[0039] The adjusting motor 31 drives the bidirectional threaded rod 32 to rotate. The rotation of the bidirectional threaded rod 32 drives the gripper arm 5 to move through the threaded sleeve 33, clamping the object from both sides. During the movement of the threaded sleeve 33, the transmission components also move together. After the object is raised with the gripper arm 5, the drive motor 41 drives the bevel gear ring 442 to rotate through the drive shaft 42. The rotation of the bevel gear ring 442 drives the bevel gear 444, the transmission rod 443 and the adjusting worm 433 to rotate together through meshing. The rotation of the adjusting worm 433 drives the adjusting worm wheel 432 to rotate through meshing. The rotation of the adjusting worm wheel 432 drives the gripper 6 to rotate to the bottom of the object through the adjusting rod 431, further limiting the object and preventing it from falling during the movement of the gripper.

[0040] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. An automatic positioning gripper, characterized in that, include: Mounting base (1), with a connecting base (2) on its top; There are two grippers (5), which are movably mounted on the mounting base (1); An adjustment mechanism is provided on the mounting base (1). The output end of the adjustment mechanism is connected to the gripping arm (5) to adjust the distance between the two gripping arms (5). There are two grippers (6) that correspond one-to-one with the gripper (5). The grippers (6) are rotatably connected to the gripper (5). The drive mechanism is located in the mounting base (1), and the output end of the drive mechanism is connected to the gripper (6) to adjust the angle of the gripper (6).

2. The automatic positioning gripper according to claim 1, characterized in that, The adjustment mechanism includes an adjustment motor (31), a bidirectional threaded rod (32), and a threaded sleeve (33). The adjustment motor (31) is fixedly connected to the mounting base (1). One end of the bidirectional threaded rod (32) is connected to the output end of the adjustment motor (31), and the other end of the bidirectional threaded rod (32) extends into the mounting base (1). There are two threaded sleeves (33), and the two threaded sleeves (33) are threadedly connected to the bidirectional threaded rod (32).

3. The automatic positioning gripper according to claim 2, characterized in that, The drive mechanism includes a drive motor (41), a drive shaft (42), a transmission assembly, and an adjustment assembly. The drive motor (41) is fixedly connected to the mounting base (1), and the drive shaft (42) is rotatably mounted in the mounting base (1). One end of the drive shaft (42) is connected to the drive motor (41). Two sets of transmission assemblies are provided and correspond one-to-one with the threaded sleeves (33). One end of the transmission assembly is connected to the threaded sleeves (33). Two sets of adjustment assemblies are provided and correspond one-to-one with the grippers (6). One end of the adjustment assembly is connected to the grippers (6), and the other end of the adjustment assembly is connected to the transmission assembly.

4. An automatic positioning gripper according to claim 3, characterized in that, The transmission assembly includes a movable box (441), a bevel gear ring (442), a transmission rod (443), and a bevel gear (444). The movable box (441) is movably disposed in the mounting base (1). The movable box (441) is fixedly connected to the threaded sleeve (33). The drive shaft (42) passes through the movable box (441). The bevel gear ring (442) is disposed in the movable box (441). The bevel gear ring (442) is rotatably connected to the movable box (441). The bevel gear ring (442) is slidably connected to the drive shaft (42). The transmission rod (443) passes through the movable box (441) and is rotatably connected to the movable box (441). The bevel gear (444) is disposed in the movable box (441). The bevel gear (444) is fixedly connected to the transmission rod (443). The bevel gear (444) meshes with the bevel gear ring (442).

5. An automatic positioning gripper according to claim 4, characterized in that, The adjustment assembly includes an adjustment rod (431), an adjustment worm wheel (432), and an adjustment worm (433); the adjustment rod (431) passes through the gripper arm (5) and is rotatably connected to the gripper arm (5); the adjustment rod (431) is fixedly connected to the gripper (6); the adjustment worm wheel (432) is fixedly connected to the adjustment rod (431); the adjustment worm (433) is fixedly connected to the transmission rod (443); and the adjustment worm (433) and the adjustment worm wheel (432) mesh with each other.

6. An automatic positioning gripper according to claim 1, characterized in that, A reinforcing arm (7) is fixedly connected to the side of the grab arm (5), and anti-slip pads (8) are fixedly connected to the surfaces of both the grab arm (5) and the reinforcing arm (7).

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