CN220680841U - Self-adaptive robot gripper - Google Patents
Self-adaptive robot gripper Download PDFInfo
- Publication number
- CN220680841U CN220680841U CN202322423112.5U CN202322423112U CN220680841U CN 220680841 U CN220680841 U CN 220680841U CN 202322423112 U CN202322423112 U CN 202322423112U CN 220680841 U CN220680841 U CN 220680841U
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- China
- Prior art keywords
- movable
- clamping jaw
- connecting plate
- framework
- jaw
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- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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Abstract
The utility model discloses a self-adaptive robot gripper, which relates to the technical field of mechanical grippers and comprises a framework, wherein the middle part of the framework is fixedly connected with a connecting plate, the connecting plate is in a frame shape, and the upper end of the connecting plate is provided with a quick-change disc connected with a robot; the upper end of the framework is provided with a guide rail, two sides of the upper end of the guide rail are symmetrically and slidably provided with movable frames, a servo motor is arranged in the connecting plate, and the servo motor drives the two movable frames to synchronously stretch out and draw back; the outer sides of the lower ends of the two movable frames are respectively provided with a movable clamping jaw, and the lower end of the connecting plate is provided with a fixed clamping jaw. The utility model provides the self-adaptive robot gripper, which takes the aluminum alloy section as a framework, and uses the aluminum alloy sheet for connection and fixation, so that the structural strength is ensured, and the overall weight is also considered; and through setting up three groups of clamping jaws, be middle fixed clamping jaw respectively, both ends activity clamping jaw, activity clamping jaw is driven by servo motor, and both ends synchronous flexible to adapt to the clamp of the work piece of different sizes and get.
Description
Technical Field
The utility model relates to the technical field of mechanical grippers, in particular to a self-adaptive robot gripper.
Background
The gripping type tongs of the big thing robot are mostly for stacking, the size is relatively fixed, and the top is provided with a plurality of fine tuning. In order to accommodate handling of large pieces of a wide range of sizes, a more compatible grip is required.
Disclosure of Invention
In view of the above, the present utility model provides an adaptive robot gripper. The gripper not only can be compatible with small-range size adjustment in the width direction of a workpiece, but also can meet the requirement of large-range size change in the length direction.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the self-adaptive robot gripper comprises a framework, wherein the middle part of the framework is fixedly connected with a connecting plate which is in a frame shape, and the upper end of the connecting plate is provided with a quick-change disc connected with a robot;
the upper end of the framework is provided with a guide rail, two sides of the upper end of the guide rail are symmetrically and slidably provided with movable frames, a servo motor is arranged in the connecting plate, and the servo motor drives the two movable frames to synchronously stretch out and draw back; the outer sides of the lower ends of the two movable frames are respectively provided with a movable clamping jaw, and the lower end of the connecting plate is provided with a fixed clamping jaw.
As a further improvement of the scheme, the movable clamping jaw and the fixed clamping jaw comprise a fixed clamping jaw and a movable clamping jaw, and the movable clamping jaw is driven by an air cylinder to approach the fixed clamping jaw to realize clamping action.
As a further improvement of the scheme, the heights of the lower ends of the movable clamping jaw and the fixed clamping jaw are consistent, and clamping synchronization is guaranteed to clamp a workpiece.
As a further improvement of the scheme, the framework and the movable frame are made of aluminum alloy sections.
As a further improvement of the scheme, the inner side surfaces of the movable clamping jaw and the fixed clamping jaw are made of nylon, so that the strength is good, and a workpiece is not easy to damage.
Compared with the prior art, the utility model has the beneficial effects that:
1. the utility model provides the self-adaptive robot gripper, which takes the aluminum alloy section as a framework, and uses the aluminum alloy sheet for connection and fixation, so that the structural strength is ensured, and the overall weight is also considered; the utility model is provided with three groups of clamping jaws which are respectively a middle fixed clamping jaw and two ends of the movable clamping jaw, wherein the movable clamping jaw is driven by a servo motor, and the two ends of the movable clamping jaw synchronously stretch out and draw back, so that the clamping device is suitable for clamping workpieces with different sizes;
2. in the width direction, one row of clamping jaws is fixed, and the other row is driven by an air cylinder to clamp;
3. nylon is selected as the contact part of the clamping jaw and the workpiece, so that the strength is good and the workpiece is not easy to be damaged;
4. the hand grip is connected with the robot in a quick disc changing mode;
5. the movable frame is installed by using a high-strength and high-precision linear guide rail.
Drawings
Fig. 1 is a schematic structural view of an adaptive robot hand grip.
Fig. 2 is a schematic structural view of an elongated state of the adaptive robot hand grip.
Fig. 3 is a right side view of the adaptive robot hand grip.
Fig. 4 is a movement diagram of a servo motor driven gantry of an adaptive robot gripper.
In the figure: 1. a skeleton; 2. a connecting plate; 3. fixing the clamping jaw; 4. a movable clamping jaw; 5. quick-change disc; 6. a guide rail; 7. a movable frame; 8. a cylinder; 9. a servo motor; 10. a gear; 11. a rack.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
1-4, the self-adaptive robot gripper comprises a framework 1, wherein the middle part of the framework 1 is fixedly connected with a connecting plate 2, the connecting plate 2 is in a frame shape, and the upper end of the connecting plate 2 is provided with a quick-change disc 5 connected with a robot; the upper end of the framework 1 is provided with a guide rail 6, two sides of the upper end of the guide rail 6 are symmetrically and slidably provided with movable frames 7, a servo motor 9 is arranged in the connecting plate 2, the output end of the servo motor 9 is provided with a gear 10, the opposite ends of the two movable frames 7 are respectively provided with a rack 11, the two racks 11 are respectively meshed with two sides of the gear 10, and the two movable frames 7 can be driven to synchronously stretch and retract through the servo motor 9; the outer sides of the lower ends of the two movable frames 7 are respectively provided with a movable clamping jaw 4, and the lower end of the connecting plate 2 is provided with a fixed clamping jaw 3.
The movable clamping jaw 4 and the fixed clamping jaw 3 comprise an immovable jaw and a movable jaw, the movable jaw is arranged on the movable frame 7 through a track, an air cylinder 8 is further arranged on the movable frame 7, the movable end of the air cylinder 8 is connected with the upper end of the movable jaw, and the movable jaw is driven by the air cylinder 8 to be close to the immovable jaw to achieve clamping action.
The heights of the lower ends of the movable clamping jaw 4 and the fixed clamping jaw 3 are consistent, so that clamping synchronization is ensured to clamp a workpiece.
Wherein, the framework 1 and the movable frame 7 are both made of aluminum alloy sections.
The inner side surfaces of the movable clamping jaw 4 and the fixed clamping jaw 3 are made of nylon, so that the strength is good and the workpiece is not easy to damage.
The working principle of the utility model is as follows:
when the workpiece is normally taken and placed, the robot is connected with the gripper through the quick-change disc 5 and moves to the workpiece grabbing position. The cylinder 8 drives the fixed clamping jaw 3 and the movable clamping jaw 4 to clamp the workpiece, and the robot acts to put the workpiece into a correct position. Then the clamping jaw loosens the workpiece, and the robot resets the clamping hand and releases the quick-change disc.
When the specification of the workpiece is changed, after the gripper is in butt joint with the robot, the servo motor 9 acts according to a system instruction to drive the two movable frames 7 to be far away or close to each other, so that the movable clamping jaw 4 is extended or retracted to a set length to stop, as shown in fig. 2; then the fixed clamping jaw 3 and the movable clamping jaw 4 are driven by the air cylinder 8 to grip the workpiece.
Claims (5)
1. The self-adaptive robot gripper comprises a framework (1) and is characterized in that a connecting plate (2) is fixedly connected to the middle of the framework (1), the connecting plate (2) is in a frame shape, and a quick-change disc (5) connected with a robot is arranged at the upper end of the connecting plate (2);
the upper end of the framework (1) is provided with a guide rail (6), two sides of the upper end of the guide rail (6) are symmetrically provided with movable frames (7) in a sliding mode, a servo motor (9) is arranged in the connecting plate (2), and the servo motor (9) drives the two movable frames (7) to synchronously stretch out and draw back; the outer sides of the lower ends of the two movable frames (7) are respectively provided with a movable clamping jaw (4), and the lower end of the connecting plate (2) is provided with a fixed clamping jaw (3).
2. The self-adaptive robot gripper according to claim 1, characterized in that the movable gripper jaw (4) and the fixed gripper jaw (3) comprise a stationary gripper jaw and a movable gripper jaw, and the movable gripper jaw is driven by an air cylinder (8) to approach the stationary gripper jaw to achieve the gripping action.
3. The adaptive robot hand according to claim 1, characterized in that the lower ends of the movable jaw (4) and the fixed jaw (3) are of uniform height.
4. The adaptive robot hand according to claim 1, characterized in that the skeleton (1) and the movable frame (7) are both made of aluminium alloy profiles.
5. The self-adaptive robot hand grip according to claim 1, characterized in that the inner sides of the movable clamping jaw (4) and the fixed clamping jaw (3) are both made of nylon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322423112.5U CN220680841U (en) | 2023-09-06 | 2023-09-06 | Self-adaptive robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322423112.5U CN220680841U (en) | 2023-09-06 | 2023-09-06 | Self-adaptive robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220680841U true CN220680841U (en) | 2024-03-29 |
Family
ID=90373654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322423112.5U Active CN220680841U (en) | 2023-09-06 | 2023-09-06 | Self-adaptive robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220680841U (en) |
-
2023
- 2023-09-06 CN CN202322423112.5U patent/CN220680841U/en active Active
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