Industrial robot gripper with anti-slip structure

Abstract

The utility model relates to industrial robot technical field, concretely is industrial robot clamp jaw with antiskid structure, including fixed component, fixed component includes fixed frame, clamping component sets up in fixed component one side, clamping component includes two clamping plates, and rubber pad is fixedly installed in clamping plate one side, and the surface of clamping plate one side is provided with multiple stepped slots of equal angle, and the piston rod is slidably inserted in the stepped slot, and the reinforcing component sets up in clamping plate one side, and the reinforcing component includes the rotating frame that is rotatably connected in clamping plate one side through bearing, and the L type fixed frame one end rotatably connects to have the push plate. In the utility model, through setting up multiple piston rods behind rubber pad, through the piston rod of different position and moving different distance, make the rubber pad of different position and the workpiece surface and produce the friction and clamping force of different range in different range deformation, when the rubber pad recess or its elastic performance attenuation, keep the rubber pad of different position and the workpiece between and produce greater, keep the clamping firmness of clamp jaw.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to an industrial robot gripper with an anti-slip structure. Background Technology

[0002] Industrial robotic arms, or robots, use at least two grippers to clamp products or workpieces. Then, through the movement of the robotic arm, the product is transferred to a processing platform. The grippers on the robotic arm mainly rely on static friction to hold the product.

[0003] When gripping workpieces, existing industrial robot grippers often use rubber as an anti-slip layer to improve gripping stability and firmness. However, under long-term load and cyclic compression, the surface of the rubber anti-slip layer will undergo plastic deformation and produce indentations, accompanied by the decay of the elastic properties inside the material, resulting in a decrease in its anti-slip effect and ultimately a decrease in the gripping firmness of the gripper. Utility Model Content

[0004] The purpose of this invention is to provide an industrial robot gripper with an anti-slip structure to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: Industrial robot grippers with anti-slip structures include: Fixed components, including a fixed frame; A clamping assembly is located on one side of the fixing assembly. The clamping assembly includes two clamping plates. A rubber pad is fixedly installed on one side of the clamping plate. Multiple stepped grooves are opened at equal angles on the surface of one side of the clamping plate. A piston rod is slidably inserted into the stepped groove. The reinforcement component is located on one side of the clamping plate. The reinforcement component includes a rotating frame that is rotatably connected to one side of the clamping plate via a bearing. Multiple L-shaped fixing frames are fixedly embedded at equal angles on the outer surface of the rotating frame. One end of each L-shaped fixing frame is rotatably connected to a lever.

[0006] Furthermore, a gear ring is fixedly installed on one side of the rotating frame, and a second motor is fixedly installed on the other side of the clamping plate. A gear that meshes and drives with the gear ring is fixedly installed at the output end of the second motor.

[0007] Furthermore, multiple arc-shaped elastic metal sheets are fixedly connected at equal intervals between one side surface of the L-shaped fixing frame and the lever plate.

[0008] Furthermore, the fixed frame is symmetrically slidably connected to a connecting plate that is fixedly connected to the clamping plate inside, and a two-way screw is rotatably connected to one side of the fixed frame. A sliding sleeve that is symmetrically screwed onto the outside of the two-way screw and fixedly connected to the connecting plate is also present.

[0009] Preferably, a worm gear is fixedly installed at one end of the bidirectional lead screw, a worm is rotatably connected to the fixed frame via a bracket and is connected to the worm gear for active meshing and transmission, a No. 1 motor capable of driving the worm to rotate is fixedly installed on one side of the fixed frame, and a protective shell is fixedly installed on one side of the fixed frame.

[0010] Furthermore, a cover plate is detachably connected to the other side of the clamping plate by screws, and multiple limit brackets are fixedly installed at equal angles on one side of the clamping plate, with the piston rod sliding through the limit brackets at the corresponding positions.

[0011] Preferably, a spring is movably sleeved inside the limiting frame on the outside of the piston rod, and the two ends of the spring are fixedly connected to the clamping plate and the piston rod, respectively.

[0012] Compared with the prior art, the beneficial effects of this utility model are: The rotation of the second motor causes the rotating frame to rotate, and multiple L-shaped fixed frames drive the rotating plate to rotate. At this time, the elastic metal plate pushes the rotating plate, which in turn pushes the piston rod to move. This causes the piston rod to deform the rubber pad at that point. When the force on the piston rod from the workpiece is greater than the force from the elastic metal plate, the elastic metal plate bends and undergoes elastic deformation. This allows the piston rod at different positions to move different distances, causing the rubber pad at different positions to deform within different ranges. Even when the rubber pad is concave or its elasticity decreases, the system maintains a large friction and clamping force between the rubber pad at different positions and the workpiece, ensuring the clamping stability of the clamping assembly. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the connection between the bidirectional lead screw and the sliding sleeve in this utility model; Figure 3 This is a schematic diagram of the disassembled structure of the clamping component in this utility model; Figure 4 This is a schematic diagram of the structure of the clamping plate and reinforcing components in this utility model; Figure 5 This is a cross-sectional structural diagram of the reinforcement component in this utility model.

[0014] In the diagram: 1. Fixing assembly; 101. Fixing frame; 102. Protective shell; 103. Two-way lead screw; 104. Worm gear; 105. Worm; 106. Motor No. 1; 107. Sliding sleeve; 108. Connecting plate; 2. Clamping assembly; 201. Clamping plate; 202. Cover plate; 203. Rubber pad; 204. Step groove; 205. Limiting frame; 206. Piston rod; 207. Spring; 3. Reinforcing assembly; 301. Rotating frame; 302. Gear ring; 303. Motor No. 2; 304. Gear; 305. L-shaped fixing frame; 306. Pulley; 307. Arc-shaped elastic metal sheet. Detailed Implementation

[0015] 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.

[0016] Please see Figure 1-5 In this embodiment of the utility model, the industrial robot gripper with an anti-slip structure includes a fixing component 1, which includes a fixing frame 101. A clamping component 2 is disposed on one side of the fixing component 1 and includes two clamping plates 201. A rubber pad 203 is fixedly installed on one side of the clamping plate 201. Multiple stepped grooves 204 are opened at equal angles on one side surface of the clamping plate 201. A piston rod 206 is slidably inserted into the stepped groove 204. A reinforcing component 3 is disposed on one side of the clamping plate 201 and includes a rotating frame 301 rotatably connected to one side of the clamping plate 201 through a bearing. Multiple L-shaped fixing frames 305 are fixedly embedded at equal angles on the outer surface of the rotating frame 301. A lever 306 is rotatably connected to one end of the L-shaped fixing frame 305.

[0017] Specifically, the clamping component 2 is fixed to the robotic arm of the industrial robot by the fixing component 1, so that the robotic arm can drive the clamping component 2 to move and clamp the workpiece. Then, the rubber pad 203 is deformed towards the surface of the workpiece by the reinforcing component 3 to increase the friction between the rubber pad and the workpiece. Example 1

[0018] like Figure 1 and Figure 2 As shown, in this embodiment, a connecting plate 108 that is fixedly connected to the clamping plate 201 is symmetrically slidably connected inside the fixed frame 101. A bidirectional lead screw 103 is rotatably connected to one side of the fixed frame 101. A sliding sleeve 107 that is fixedly connected to the connecting plate 108 is symmetrically screwed onto the outside of the bidirectional lead screw 103. A worm gear 104 is fixedly installed at one end of the bidirectional lead screw 103. A worm 105 that is movably meshed and transmitted with the worm gear 104 is rotatably connected to one side of the fixed frame 101 through a bracket. A first motor 106 that can drive the worm 105 to rotate is fixedly installed on one side of the fixed frame 101. A protective shell 102 is fixedly installed on one side of the fixed frame 101.

[0019] In this embodiment, the No. 1 motor 106 operates, driving the worm gear 105 to rotate. Through the meshing transmission connection between the worm gear 105 and the worm wheel 104, the bidirectional lead screw 103 rotates. Through the screwing connection between the bidirectional lead screw 103 and the sliding sleeve 107, under the sliding limit of the connecting plate 108 and the fixed frame 101, the connecting plate 108 drives the two clamping plates 201 to move towards each other, clamping the workpiece. Example 2

[0020] like Figure 3-5 As shown, in this embodiment, a cover plate 202 is detachably connected to the other side surface of the clamping plate 201 by screws. Multiple limiting frames 205 are fixedly installed at equal angles on one side surface of the clamping plate 201. The piston rod 206 slides through the limiting frame 205 at the corresponding position. A spring 207 is movably sleeved inside the limiting frame 205 outside the piston rod 206. The two ends of the spring 207 are fixedly connected to the clamping plate 201 and the piston rod 206 respectively.

[0021] In practice, the piston rod 206 is movably inserted into the stepped groove 204, and its end is a hemispherical structure, which facilitates the movement of the lever 306. When the piston rod 206 is moved, it abuts against the rubber pad 203, causing the rubber pad 203 to deform on the surface of the workpiece, increasing its friction. Through the reset action of the spring 207, the piston rod 206 can quickly reset, making it easier to push the rubber pad 203 to deform the next time. Example 3

[0022] like Figure 4 and Figure 5 As shown, in this embodiment, a gear ring 302 is fixedly installed on one side surface of the rotating frame 301, and a second motor 303 is fixedly installed on the other side surface of the clamping plate 201. A gear 304 that meshes and drives with the gear ring 302 is fixedly installed at the output end of the second motor 303. Multiple arc-shaped elastic metal plates 307 are fixedly connected at equal intervals between one side surface of the L-shaped fixing frame 305 and the lever plate 306.

[0023] In practice, motor 303 operates, driving gear 304 to rotate. Through the meshing transmission of gear 304 and gear ring 302, rotating frame 301 rotates, causing multiple L-shaped fixed frames 305 to drive the lever plate 306 to rotate. At this time, the arc-shaped elastic metal sheet 307 pushes the lever plate 306, giving the lever plate 306 the force to move piston rod 206. This causes piston rod 206 to deform the rubber pad 203 at that location. When the force on piston rod 206 from the workpiece is greater than the force on arc-shaped elastic metal sheet 307, arc-shaped elastic metal sheet 307 bends and undergoes elastic deformation. This allows piston rod 206 at different positions to move different distances, causing rubber pad 203 at different positions to deform within different ranges. Even when rubber pad 203 is concave or its elasticity decreases, it maintains a large friction and clamping force between rubber pad 203 at different positions and the workpiece, ensuring the clamping firmness of clamping assembly 2.

[0024] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0025] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An industrial robot gripper with an anti-slip structure, characterized in that, include: Fixing component (1), the fixing component (1) includes a fixing frame (101); The clamping assembly (2) is located on one side of the fixing assembly (1). The clamping assembly (2) includes two clamping plates (201). A rubber pad (203) is fixedly installed on one side of the clamping plate (201). Multiple stepped grooves (204) are opened at equal angles on one side surface of the clamping plate (201). A piston rod (206) is slidably inserted into the stepped groove (204). The reinforcement component (3) is set on one side of the clamping plate (201). The reinforcement component (3) includes a rotating frame (301) rotatably connected to one side of the clamping plate (201) via a bearing. Multiple L-shaped fixing frames (305) are fixedly embedded at equal angles on the outer surface of the rotating frame (301). One end of the L-shaped fixing frame (305) is rotatably connected to a lever plate (306).

2. The industrial robot gripper with an anti-slip structure according to claim 1, characterized in that, A gear ring (302) is fixedly installed on one side of the rotating frame (301), and a second motor (303) is fixedly installed on the other side of the clamping plate (201). A gear (304) that meshes and drives with the gear ring (302) is fixedly installed at the output end of the second motor (303).

3. The industrial robot gripper with an anti-slip structure according to claim 1, characterized in that, Multiple arc-shaped elastic metal sheets (307) are fixedly connected at equal intervals between one side surface of the L-shaped fixing frame (305) and the lever plate (306).

4. The industrial robot gripper with an anti-slip structure according to claim 1, characterized in that, The fixed frame (101) is symmetrically slidably connected to a connecting plate (108) which is fixedly connected to the clamping plate (201). A two-way screw (103) is rotatably connected to one side of the fixed frame (101). A sliding sleeve (107) which is fixedly connected to the connecting plate (108) is symmetrically screwed onto the outside of the two-way screw (103).

5. The industrial robot gripper with an anti-slip structure according to claim 4, characterized in that, One end of the bidirectional lead screw (103) is fixedly installed with a worm gear (104). The fixed frame (101) is rotatably connected to a worm (105) that is in active meshing with the worm gear (104) via a bracket. A motor (106) capable of driving the worm (105) to rotate is fixedly installed on one side of the fixed frame (101). A protective shell (102) is fixedly installed on one side of the fixed frame (101).

6. The industrial robot gripper with an anti-slip structure according to claim 1, characterized in that, The other side surface of the clamp (201) is detachably connected to a cover plate (202) by screws. Multiple limit frames (205) are fixedly installed at equal angles on one side surface of the clamp (201). The piston rod (206) slides through the limit frame (205) at the corresponding position.

7. The industrial robot gripper with an anti-slip structure according to claim 6, characterized in that, The limiting frame (205) is equipped with a spring (207) inside, which is located outside the piston rod (206). The two ends of the spring (207) are fixedly connected to the clamping plate (201) and the piston rod (206) respectively.

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