CN114310993A - Robot tongs and robot - Google Patents
Robot tongs and robot Download PDFInfo
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- CN114310993A CN114310993A CN202111502730.8A CN202111502730A CN114310993A CN 114310993 A CN114310993 A CN 114310993A CN 202111502730 A CN202111502730 A CN 202111502730A CN 114310993 A CN114310993 A CN 114310993A
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- robot
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- gripper
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Abstract
The invention discloses a robot gripper and a robot, wherein the robot gripper is used for gripping objects, the gripper comprises a mounting seat, a gripping mechanism and a driving mechanism, the gripping mechanism comprises two gripping arms arranged at intervals along a first direction, the gripping arms extend along a second direction, and one ends of the two gripping arms are slidably mounted on the mounting seat along the first direction; the driving mechanism comprises a driving device, a driving block and two connecting rods arranged at intervals in the first direction, the driving block is movably arranged on the mounting seat in the second direction, the driving device drives the driving block to move, one end of each connecting rod is hinged to the corresponding driving block, and the other end of each connecting rod is hinged to the middle of the corresponding grabbing arm. The robot comprises the robot gripper. According to the technical scheme provided by the invention, the grabbing precision is improved, and the object is clamped more stably.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a robot gripper and a robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
In order to complete the grabbing function, the robot is provided with a grabbing device, wherein the robot gripper can simulate the actions of a human hand and an arm to grab and carry objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, and is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like.
The robot tongs generally clamp and loosen the article through the clamping arms to complete grabbing, before grabbing, the tongs can be aligned to the article to be grabbed, then the grabbing arms are closed to grab, when the size of the article to be grabbed is small, the grabbing arms rotate around a certain rotating point to open and close the tongs, the accurate alignment of the article to be grabbed is not facilitated, the article cannot be clamped or the proper position of the article cannot be clamped, and the article is easy to shake and loosen when being clamped.
Disclosure of Invention
The invention mainly aims to provide a robot gripper and a robot, aiming at improving gripping precision and enabling an article to be clamped more stably.
In order to achieve the purpose, the robot gripper provided by the invention is used for gripping an object and comprises a mounting seat, a gripping mechanism and a driving mechanism, wherein the gripping mechanism comprises two gripping arms arranged at intervals along a first direction, the gripping arms extend along a second direction, and one ends of the two gripping arms are slidably mounted on the mounting seat along the first direction; the driving mechanism comprises a driving device, a driving block and two connecting rods arranged at intervals in the first direction, the driving block is movably arranged on the mounting seat in the second direction, the driving device drives the driving block to move, one end of each connecting rod is hinged to the corresponding driving block, and the other end of each connecting rod is hinged to the middle of the corresponding grabbing arm.
Optionally, the mounting seat is formed with two sliding grooves arranged at intervals along a first direction, and one end of each of the two grabbing arms is provided with a sliding portion slidably mounted in the corresponding sliding groove.
Optionally, the grabbing arm comprises a connecting section and a grabbing section, and one end, far away from the connecting end, of the grabbing section is bent and extended along the first direction to form a side stop.
Optionally, the driving device includes a first driving motor and a screw, the screw is in threaded connection with the driving block, and the first driving motor drives the driving block to move through screw transmission.
The invention further provides a robot, and the robot comprises the robot gripper.
Optionally, the robot further comprises:
a frame base;
the first joint arm is arranged on the frame base, is rotatably connected with the frame base and rotates around a first rotating shaft along the second direction;
the second joint arm is arranged at the tail end of the first joint arm, is rotatably connected with the first joint arm and rotates around a second rotating shaft along the second direction;
and the lifting mechanism is arranged at the tail end of the second joint arm, is connected with the gripper and drives the gripper to move along the second direction.
Optionally, the robot further comprises:
the gear transmission mechanism is arranged on the frame base;
and the second driving motor is arranged on the frame base and is used for driving the first joint arm to rotate through the transmission of the gear transmission mechanism.
Optionally, the robot further comprises:
the synchronous belt transmission mechanism is arranged on the first joint arm;
and the third driving motor is arranged on the first articulated arm and used for driving the second articulated arm to rotate through the synchronous belt transmission mechanism.
Optionally, the lifting mechanism comprises:
the gear rack transmission mechanism is arranged on the second joint arm;
and the fourth driving motor is arranged on the second joint arm and used for driving the hand grip to move through the gear and rack transmission mechanism.
Optionally, the frame base comprises a mounting base plate for fixedly mounting the robot.
According to the technical scheme, after the gripper positions an article to be gripped, in the gripping process, the driving device drives the driving block to move, and the connecting rod drives the gripping arm to slide relative to the mounting seat along the first direction, namely the gripping arm translates along the first direction without deflecting in angle, so that the gripping arm can accurately grip the article at the position where the article is positioned, the article is not prone to shaking and loosening during gripping, the gripping precision is improved, and the article is more stably gripped.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic front view of the robot gripper and the lifting mechanism of the robot of FIG. 1;
fig. 3 is a right-side schematic view of the robot gripper and the lifting mechanism of the robot of fig. 2.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
132 | |
| 1 | Gripper | 133 | Connecting |
| 11 | |
2 | |
| 111 | |
21 | Mounting base plate |
| 12 | Grabbing |
3 | First joint arm |
| 121 | Grabbing |
31 | |
| 1211 | Connecting |
32 | Second |
| 1212 | Grabbing |
4 | Second articulated |
| 12121 | |
41 | Synchronous |
| 13 | |
42 | |
| 131 | |
5 | |
| 1311 | |
51 | Gear |
| 1312 | Screw |
52 | Fourth drive motor |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In order to complete the grabbing function, the robot is provided with a grabbing device, wherein the robot gripper can simulate the actions of a human hand and an arm to grab and carry objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, and is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like. The robot gripper generally clamps and loosens the article through the grabbing arm to accomplish and snatchs, before snatching, the tongs will be treated and snatched article counterpoint, then closed grabbing arm snatchs, when the size of treating to snatch article is less to the grabbing arm is around the rotatory tongs that open and shut of a certain rotation point, is unfavorable for treating the accurate counterpoint of snatching article, can lead to the centre gripping not to reach article or the suitable position of centre gripping not to reach article, rocks easily and the pine when making article by the centre gripping.
In view of this, the present invention mainly provides a robot gripper and a robot, which aims to improve the gripping precision and stabilize the object clamping. Fig. 1 to 3 illustrate an embodiment of a robot according to the present invention. Referring to fig. 1 to 3, the robot 100 includes a robot gripper 1, and the main point of the present invention is to improve the robot gripper 1, and the robot gripper 1 will be mainly described with reference to the following detailed drawings.
The robot gripper 1 is used for gripping an article, the gripper 1 comprises a mounting seat 11, a gripping mechanism 12 and a driving mechanism 13, the gripping mechanism 12 comprises two gripping arms 121 arranged at intervals along a first direction, the gripping arms 121 extend along a second direction, and one ends of the two gripping arms 121 are slidably mounted on the mounting seat 11 along the first direction; the driving mechanism 13 includes a driving device 131, a driving block 132 and two connecting rods 133 arranged at intervals along the first direction, the driving block 132 is movably mounted on the mounting base 11 along the second direction, the driving device 131 drives the driving block 132 to move, one end of each of the two connecting rods 133 is hinged to the driving block 132, and the other end of each of the two connecting rods 133 is correspondingly hinged to the middle of each of the two grabbing arms 121.
After the gripper 1 aligns an object to be gripped, in the gripping process, the driving device 131 drives the driving block 132 to move, and the connecting rod 133 drives the gripping arm 121 to slide relative to the mounting base 11 along the first direction, that is, the gripping arm 121 translates along the first direction without angular deflection, so that the gripping arm 121 can accurately grip the aligned position of the object, the object is not easily shaken or loosened when being gripped, the gripping precision is improved, and the object is more stably gripped.
Further, in this embodiment, the mounting seat 11 is formed with two sliding grooves 111 spaced along the first direction, and one end of each of the two grabbing arms 121 is provided with a sliding portion slidably mounted corresponding to the sliding groove 111. Through the sliding part with the corresponding setting of spout 111, realize the arm 121 with the sliding connection of mount pad 11 snatchs, spout 111 sets up along first direction interval, right the activity of snatching arm 121 leads, guarantees that snatch arm 121 carries out the translation along first direction and can not produce the deflection on the angle, of course, snatch arm 121 with mount pad 11 can also realize sliding connection through other modes.
In order to increase the clamping contact surface of the grabbing arm 121 to the article, avoid the article from shaking and loosening, and make the clamping of the article more stable, in this embodiment, the grabbing arm 121 includes a connecting section 1211 and a grabbing section 1212, and one end of the grabbing section 1212, which is far away from the connecting end, is bent and extended along the first direction to form a side stop 12121.
The specific form of the driving device 131 is not limited, in this embodiment, the driving device 131 includes a first driving motor 1311 and a screw 1312, the screw 1312 is in threaded connection with the driving block 132, and the first driving motor 1311 drives the driving block 132 to move through the transmission of the screw 1312, so that the movement of the driving block 132 along the second direction is more accurately controllable, the movement of the grabbing arm 121 is better controlled, and article dropping caused by the improper movement of the grabbing arm 121 or article clamping damage caused by the excessive movement of the grabbing arm 121 is avoided.
In this embodiment, referring to fig. 1, the robot 100 further includes a frame base 2, a first joint arm 3, a second joint arm 4, and a lifting mechanism 5, wherein the first joint arm 3 is disposed on the frame base 2, is rotatably connected to the frame base 2, and rotates around a first rotation axis along the second direction; the second joint arm 4 is arranged at the tail end of the first joint arm 3, is rotatably connected with the first joint arm 3 and rotates around a second rotating shaft along the second direction; the lifting mechanism 5 is arranged at the tail end of the second joint arm 4 and connected with the hand grip 1 to drive the hand grip 1 to move along the second direction. Through the first articulated arm 3 with the horizontal arm type structure of second articulated arm 4, self structure bears end device, does benefit to the structure auto-lock, avoids rocking and the pine of article to fall, makes the centre gripping of article more stable, through first articulated arm 3 winds first rotation axis is rotatory, second articulated arm 4 winds the second rotation axis is rotatory, elevating system 5 drives tongs 1 is followed the second direction removes, makes robot 100's snatchs route form is various, and the motion is nimble.
The driving devices and transmission mechanisms of the first joint arm 3, the second joint arm 4, and the lifting mechanism 5 are not limited, in this embodiment, the robot 100 further includes a gear transmission mechanism 31 and a second driving motor 32 that are disposed on the frame base 2, and the second driving motor 32 is disposed on the frame base 2, and is configured to drive the first joint arm 3 to rotate through the transmission of the gear transmission mechanism 31, so as to facilitate ensuring of transmission precision, achieving of the functions of speed reduction and distance increase, compact structure, and stable operation.
Further, in this embodiment, the robot 100 further includes a synchronous belt transmission mechanism 41 and a third driving motor 42 which are disposed on the first joint arm 3, the third driving motor 42 is disposed on the first joint arm 3, and is configured to drive the second joint arm 4 to rotate through the synchronous belt transmission mechanism 41, so that the transmission precision is ensured, the vibration can be absorbed, and the rotation of the second joint arm 4 is more stable, thereby reducing the shaking of the article and avoiding the falling of the article.
In this embodiment, the lifting mechanism 5 includes a rack and pinion transmission mechanism 51 and a fourth driving motor 52 that are disposed on the second joint arm 4, and the fourth driving motor 52 is disposed on the second joint arm 4 and is configured to drive the gripper 1 to move through the rack and pinion transmission mechanism 51, so that the operation is stable, the reliability is high, and stability of gripping an article is ensured.
In order to facilitate the installation of the robot 100, in the present embodiment, the frame base 2 includes an installation bottom plate 21, and the robot 100 can be fixedly installed at a desired position through the installation bottom plate 21, so that the adaptability of the robot 100 is strong, and the working range is wider.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robotic gripper for gripping an article, the gripper comprising:
a mounting seat;
the grabbing mechanism comprises two grabbing arms arranged at intervals along a first direction, the grabbing arms extend along a second direction, and one ends of the two grabbing arms are slidably mounted on the mounting seat along the first direction; and the number of the first and second groups,
the driving mechanism comprises a driving device, a driving block and two connecting rods arranged at intervals in the first direction, the driving block is movably arranged on the mounting seat in the second direction, the driving device drives the driving block to move, one end of each connecting rod is hinged to the corresponding driving block, and the other end of each connecting rod is hinged to the middle of the corresponding grabbing arm.
2. A robot gripper as claimed in claim 1, wherein said mounting seat is formed with two slide grooves spaced apart in a first direction, and one end of each of said two gripper arms is provided with a slide portion slidably mounted in correspondence with said slide grooves.
3. The robotic gripper of claim 1 wherein the gripper arm includes a connecting section and a gripping section, and wherein an end of the gripping section distal from the connecting section is bent in the first direction to extend with a side stop.
4. The robotic gripper of claim 1 wherein the drive means includes a first drive motor and a threaded rod, the threaded rod being threadably connected to the drive block, the first drive motor driving the drive block to move via a threaded rod drive.
5. A robot, characterized in that the robot comprises a robot gripper according to any one of claims 1-4.
6. The robot of claim 5, further comprising:
a frame base;
the first joint arm is arranged on the frame base, is rotatably connected with the frame base and rotates around a first rotating shaft along the second direction;
the second joint arm is arranged at the tail end of the first joint arm, is rotatably connected with the first joint arm and rotates around a second rotating shaft along the second direction;
and the lifting mechanism is arranged at the tail end of the second joint arm, is connected with the gripper and drives the gripper to move along the second direction.
7. The robot of claim 6, further comprising:
the gear transmission mechanism is arranged on the frame base;
and the second driving motor is arranged on the frame base and is used for driving the first joint arm to rotate through the transmission of the gear transmission mechanism.
8. The robot of claim 6, further comprising:
the synchronous belt transmission mechanism is arranged on the first joint arm;
and the third driving motor is arranged on the first articulated arm and used for driving the second articulated arm to rotate through the synchronous belt transmission mechanism.
9. The robot of claim 6, wherein said lift mechanism comprises:
the gear rack transmission mechanism is arranged on the second joint arm;
and the fourth driving motor is arranged on the second joint arm and used for driving the hand grip to move through the gear and rack transmission mechanism.
10. A robot as claimed in claim 6, wherein the frame base includes a mounting base for fixedly mounting the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502730.8A CN114310993A (en) | 2021-12-09 | 2021-12-09 | Robot tongs and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502730.8A CN114310993A (en) | 2021-12-09 | 2021-12-09 | Robot tongs and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114310993A true CN114310993A (en) | 2022-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111502730.8A Pending CN114310993A (en) | 2021-12-09 | 2021-12-09 | Robot tongs and robot |
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| Country | Link |
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| CN (1) | CN114310993A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4723806A (en) * | 1987-02-27 | 1988-02-09 | Yuda Lawrence F | Parallel robotic gripper |
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN209440187U (en) * | 2018-12-14 | 2019-09-27 | 江苏惟德智能工程技术有限公司 | A kind of robotic arm stacking clamping device |
| CN111872924A (en) * | 2020-08-04 | 2020-11-03 | 熊祥 | Press from both sides and get stable manipulator device |
| CN213415544U (en) * | 2020-09-16 | 2021-06-11 | 无锡满夫智能装备科技有限公司 | Intelligence pile up neatly clamping structure |
| CN213796527U (en) * | 2020-10-29 | 2021-07-27 | 杭州宝虹科技有限公司 | Y-shaped pneumatic clamping jaw |
-
2021
- 2021-12-09 CN CN202111502730.8A patent/CN114310993A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4723806A (en) * | 1987-02-27 | 1988-02-09 | Yuda Lawrence F | Parallel robotic gripper |
| CN103624794A (en) * | 2013-04-27 | 2014-03-12 | 张家港诺信自动化设备有限公司 | Scara robot |
| CN107457777A (en) * | 2017-01-16 | 2017-12-12 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN209440187U (en) * | 2018-12-14 | 2019-09-27 | 江苏惟德智能工程技术有限公司 | A kind of robotic arm stacking clamping device |
| CN111872924A (en) * | 2020-08-04 | 2020-11-03 | 熊祥 | Press from both sides and get stable manipulator device |
| CN213415544U (en) * | 2020-09-16 | 2021-06-11 | 无锡满夫智能装备科技有限公司 | Intelligence pile up neatly clamping structure |
| CN213796527U (en) * | 2020-10-29 | 2021-07-27 | 杭州宝虹科技有限公司 | Y-shaped pneumatic clamping jaw |
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