Robot paw clamp with flexible clamping and fixing function

Abstract

The invention discloses a robot paw clamp with flexible clamping and fixing functions. The bottom of a mounting plate is connected with a sucker device whose working surface is downward. The top of the mounting plate is parallelly screwed with a left connecting shaft and a right connecting shaft. Two ends of the left connecting shaft are respectively vertically and fixedly connected with the middle parts of two parallel left connecting rods, and are respectively vertically and fixedly connected with ends of left connecting plates. Two ends of the right connecting shaft are respectively vertically and fixedly connected with the middle parts of two right connecting rods, and are vertically and fixedly connected with ends of right connecting plates. Top ends of the left connecting rod and theright connecting rod are respectively hinged with two ends of a linear driving device. The other ends of the left connecting plates and the right connecting plates are hinged with pull rods. A left air bag shaft which is parallel with the left connecting shaft is arranged between the bottom ends of the two left connecting rods. One side of the left air bag plate is fixedly connected with the leftair bag shaft, and one surface is fixedly provided with a left clamping air bag. A right air bag shaft which is parallel with the right connecting shaft is arranged between the bottom ends of the tworight connecting rods. One side of the right air bag plate is fixedly connected with the right air bag shaft, and is parallel with the left air bag plate. The robot paw clamp is characterized by compact structure, stable and reliable clamping, good adaptive capacity, and accurate positioning.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a robot gripper clamp with flexible clamping and fixing functions, which has the advantages of compact structure, stable and reliable clamping, strong adaptability and precise positioning. Background technique [0002] With the improvement of mechatronics technology, more and more robots are used in modern warehousing, logistics and packaging lines to complete unstacking, palletizing and handling operations according to given procedures, trajectories and requirements. Especially in harsh environments such as high temperature, high pressure, dusty, flammable, explosive, and radioactive, as well as heavy, monotonous, and frequent operations, robots are used to replace humans to complete operations, which has the advantages of safety, reliability, high efficiency, and low cost. The handling robots in the prior art generally use general-purpose robots combined w...

AI Technical Summary

Problems solved by technology

[0003] Under normal circumstances, in order to prevent the vacuum degree from weakening, the object moving at a high speed, or the vacuum from being accidentally disconnected from falling when grabbing and handling items such as boxes, the structure of clamping on both sides or the bottom of the bottom is usually combined with the suction cup. , but when clamping on both sides, if the box is not in the middle of the gripper, the box will be displaced during clamping, causing greater friction between the box and the vacuum suction cup, resulting in loss of the vacuum suction cup and is very likely A gap will be created between the suction cup and the clamped box, destroying the vacuum, and thus affecting the entire grabbing work; and the use of the bottom pocket structure will not only cause a large vertical height, but also cause inconvenience to the more compact shelves, which restricts its use. range; in addition, the bottom structure generally uses pallets to hold materials from below and clamp objects from above. Due to the existence of pallets at the bottom and the connection structure at the side, the goods can only be grasped sequentially from the side inward, resulting in It cannot be grabbed from the top arbitrarily as needed, which also limits the scope of use

In addition, for the vacuum chucks in the prior art, for objects that are not planar, a special vacuum chuck with a corresponding structure must be selected according to the surface structure and contour of the workpiece, which cannot be applied to the needs of customers for packaging shapes, packaging materials, and cost savings.

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