Mechanical gripper and robot

Abstract

The present invention discloses a mechanical gripper and a robot, and relates to the field of robot technology. The mechanical gripper includes: a rotating shaft, one end of which is used to connect with a robot, and the rotating shaft can rotate around its own axis; a base plate, the other end of which is connected between the two ends of the base plate, and the rotating shaft drives the base plate to rotate; a grasping mechanism, which is installed at one end of the base plate, and the grasping mechanism is used to grasp the end cover; a grasping fixture, which is installed at the other end of the base plate, and the grasping fixture is used to grasp the decorative strip. In an embodiment of the present invention, a grasping mechanism and a grasping fixture are provided in the mechanical gripper, which are used to grasp the end cover and the decorative strip respectively; the rotating shaft is driven to rotate to drive the base plate of the mechanical gripper to rotate, so as to realize the switching of the grasping mechanism and the grasping fixture. The mechanical gripper of this embodiment can grasp the end cover and the decorative strip, and complete the assembly and turnover process of the decorative strip and the end cover, which is beneficial to saving production line space, improving the space utilization rate of the production line, saving operating personnel, and reducing logistics costs.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical gripper and a robot. Background Art

[0002] In the related technology, each process after the production of decorative strips is independently circulated and assembled, and many operators are required, resulting in high labor and logistics costs and low utilization of production line space. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a mechanical gripper that can effectively improve the space utilization of the production line and reduce logistics costs.

[0004] The present invention also provides a robot having the mechanical gripper.

[0005] A mechanical gripper according to an embodiment of one aspect of the present invention includes: a rotating shaft, one end of which is used to connect to a robot and can rotate around its own axis; a base plate, the other end of which is connected between the two ends of the base plate and drives the base plate to rotate; a grasping mechanism installed at one end of the base plate and used to grasp the end cover; and a grasping jig installed at the other end of the base plate and used to grasp the decorative strip.

[0006] In some embodiments, the gripping mechanism includes a fixing plate and an end cap clamping mechanism, the fixing plate is mounted on the base plate, the end cap clamping mechanism is mounted on the fixing plate, and the end cap clamping mechanism is used to grip the first end cap.

[0007] In some embodiments, the end cap clamping mechanism includes a first finger cylinder and an end cap clamping claw, the first finger cylinder is mounted on the fixing plate, and the end cap clamping claw is connected to the first finger cylinder.

[0008] In some embodiments, the grabbing mechanism includes a rotary cylinder and an adsorption component, the fixed plate is connected to the rotary cylinder, the adsorption component is installed on the fixed plate, the rotary cylinder is used to drive the fixed plate to rotate, and the adsorption component is used to adsorb the second end cover.

[0009] In some embodiments, the adsorption component includes a vacuum adsorption head.

[0010] In some embodiments, the gripping mechanism further includes a first limit block and a second limit block, wherein the limit block is arranged on one side of the fixed plate, the fixed plate has a first limit portion and a second limit portion, the first limit block is used to abut against the first limit portion, and the second limit block is used to abut against the second limit portion.

[0011] In some embodiments, the gripping mechanism further includes a laser detection sensor, and the laser detection sensor is disposed on one side of the end cap clamping mechanism.

[0012] In some embodiments, the grasping fixture includes a second finger cylinder and a decorative strip clamp, and the decorative strip clamp is connected to the second finger cylinder.

[0013] In some embodiments, the grabbing jig includes a jig base plate and a mounting plate, the mounting plate is fixedly connected to the base plate, the mounting plate has a mounting groove, and the jig base plate is cooperatively connected to the mounting groove.

[0014] A robot according to another embodiment of the present invention has the mechanical gripper as described above.

[0015] The mechanical gripper of the embodiment of the present invention has at least the following beneficial effects: In the embodiment of the present invention, a gripping mechanism and a gripping fixture are provided on the mechanical gripper, which are used to grip the end cap and the decorative strip respectively; the rotation of the driving shaft drives the base plate of the mechanical gripper to rotate, so as to realize the switching of the gripping mechanism and the gripping fixture. The mechanical gripper of this embodiment can grip the end cap and the decorative strip, realize the assembly and turnover process of the decorative strip and the end cap, which is conducive to saving production line space and improving the space utilization rate of the production line; at the same time, the mechanical gripper of the embodiment of the present invention can realize the gripping and turnover of the end cap and the decorative strip, which is conducive to saving operators and reducing logistics costs.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 A schematic diagram of the structure of a mechanical gripper according to an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of another state of the mechanical gripper according to an embodiment of one aspect of the present invention;

[0020] Figure 3 A schematic diagram of the structure of a gripping mechanism in a mechanical gripper according to an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a gripping fixture gripping a decorative strip according to an embodiment of one aspect of the present invention;

[0022] Figure 5 Another schematic diagram of a gripping fixture gripping a decorative strip according to an embodiment of one aspect of the present invention;

[0023] Figure 6It is another schematic diagram of a gripping fixture gripping a decorative strip according to an embodiment of one aspect of the present invention;

[0024] Figure 7 The figure is a schematic diagram of the cooperation between the decorative strip clamp and the decorative strip according to an embodiment of one aspect of the present invention.

[0025] Reference numerals:

[0026] First end cover 1, second end cover 2, decorative strip 3, rotating shaft 10, base plate 20, grasping mechanism 30, rotary cylinder 31, fixing plate 32, first limiting part 321, second limiting part 322, end cover clamping mechanism 33, first finger cylinder 331, end cover clamping claw 332, cylinder output end 34, first limiting block 35, second limiting block 36, supporting plate 37, laser detection sensor 38, adsorption component 39, grasping fixture 40, second finger cylinder 41, decorative strip clamping claw 42, fixture base plate 43, mounting plate 44, photoelectric detection sensor 45, quick-spin embossed knob 46. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0028] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0030] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0031] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0032] See also Figures 1 to 7 As shown, an embodiment of the present invention discloses a mechanical gripper, which includes a rotating shaft 10, a substrate 20, a gripping mechanism 30 and a gripping fixture 40.

[0033] Specifically, one end of the rotating shaft 10 is used to connect with the robot, and the rotating shaft 10 can rotate around its own axis; the other end of the rotating shaft 10 is connected between the two ends of the substrate 20, and the rotating shaft 10 drives the substrate 20 to rotate; the grasping mechanism 30 is installed at one end of the substrate 20, and the grasping mechanism 30 is used to grasp the end cover; the grasping fixture 40 is installed at the other end of the substrate 20, and the grasping fixture 40 is used to grasp the decorative strip 3.

[0034] In the embodiment of the present invention, a gripping mechanism 30 and a gripping fixture 40 are provided on the mechanical gripper, which are used to grip the end cap and the decorative strip 3 respectively; the rotation shaft 10 is driven to rotate the base plate 20 of the mechanical gripper, so as to realize the switching of the gripping mechanism 30 and the gripping fixture 40. The mechanical gripper of this embodiment can grip the end cap and the decorative strip 3, realize the assembly and turnover process of the decorative strip 3 and the end cap, which is conducive to saving production line space and improving the space utilization rate of the production line; at the same time, the mechanical gripper of the embodiment of the present invention can realize the gripping and turnover of the end cap and the decorative strip 3, which is conducive to saving operators and reducing logistics costs.

[0035] In some embodiments, see Figure 1 and Figure 2 As shown, the grabbing mechanism 30 includes a fixing plate 32 and an end cap clamping mechanism 33 . The fixing seat is mounted on the base plate 20 , and the end cap clamping mechanism 33 is mounted on the fixing plate 32 . The end cap clamping mechanism 33 is used to grab the first end cap 1 .

[0036] In this embodiment, the end cap clamping mechanism 33 includes a first finger cylinder 331 and an end cap clamping claw 332. The first finger cylinder 331 is installed on the fixing plate 32, and the end cap clamping claw 332 is connected to the first finger cylinder 331. The first end cap 1 includes a base and a clamping portion, one end of the clamping portion is connected to the base, and the other end of the clamping portion protrudes from the base. When the end cap clamping claw 332 clamps the first end cap 1, the end cap clamping claw 332 cooperates with the clamping portion of the first end cap 1 to achieve clamping.

[0037] In some embodiments, the gripping mechanism 30 further includes a laser detection sensor 38, which is disposed on one side of the end cap clamping mechanism 33. The detection end of the laser detection sensor 38 is directly opposite to the center of the end cap clamping jaw 332 to detect whether the end cap clamping jaw 332 clamps the first end cap 1.

[0038] In some embodiments, the grabbing mechanism 30 includes a rotary cylinder 31 and an adsorption component 39, the rotary cylinder 31 is installed on the base plate 20, the fixed plate 32 is connected to the cylinder output end 34 of the rotary cylinder, the adsorption component 39 is installed on the fixed plate 32, the rotating mechanism is used to drive the fixed plate 32 to rotate, and the adsorption component 39 is used to adsorb the second end cover 2.

[0039] Specifically, the second end cap 2 has a smooth and flat surface, and does not have a clamping portion for the end cap clamping claw 332 to clamp, so the end cap clamping mechanism 33 cannot clamp the second end cap 2. In this embodiment, the first end cap 1 and the second end cap 2 are placed on the same end cap tray in front of the clamp for clamping by a mechanical gripper. Therefore, an adsorption component 39 for adsorbing the second end cap 2 is provided on the fixed plate 32, and at the same time, a rotary cylinder 31 is installed on the base plate 20 to realize the switching use of the end cap clamping mechanism 33 and the adsorption component 39. In this embodiment, the adsorption component 39 is a vacuum adsorption head, and the adsorption end of the vacuum adsorption head abuts against the smooth and flat surface of the second end cap 2 to achieve the clamping of the second end cap 2.

[0040] As one of the working modes, after the end cap clamp 332 clamps the first end cap 1, the rotary cylinder 31 rotates to drive the fixed plate 32 to rotate, so that the vacuum adsorption head is directly opposite to the adsorption surface of the second end cap 2, and then the second end cap 2 is adsorbed and fixed on the vacuum adsorption head. After the first end cap 1 is assembled, the assembly of the second end cap 2 can be continued by driving the rotary cylinder 31 to rotate. The mechanical gripper of this embodiment can grasp the first end cap 1 and the second end cap 2 at the same time, avoiding the time wasted by the robot needing to clamp the end caps twice, and effectively improving the assembly efficiency of the end caps. In addition, the end cap clamp 332 and the vacuum adsorption head are simultaneously provided in the grasping mechanism 30, and the clamping work of different types of end caps can be completed by a mechanical gripper, which improves the integration of the equipment, helps to save equipment space, and reduces equipment costs.

[0041] It should be understood that the adsorption component 39 can be replaced with an end cap clamping mechanism 33, so that the grasping mechanism 30 can grasp multiple first end caps 1 at the same time, thereby improving the grasping efficiency.

[0042] In some embodiments, the gripping mechanism 30 further includes a first limit block 35 and a second limit block 36, the limit block is disposed on one side of the fixed plate 32, the fixed plate 32 has a first limit portion 321 and a second limit portion 322, the first limit block 35 is used to abut against the first limit portion 321, and the second limit block 36 is used to abut against the second limit portion 322. The first limit block 35 and the second limit block 36 are installed on the rotary cylinder 31 through the support plate 37. The first limit block 35 and the second limit block 36 are used to abut against the first limit portion 321 and the second limit portion 322 of the fixed plate 32, respectively, which is conducive to ensuring the accuracy of the rotary cylinder 31 rotating into place.

[0043] In some embodiments, see Figure 1 and Figure 2 As shown, the gripping fixture 40 includes a second finger cylinder 41 and a trim jaw 42 . The trim jaw 42 is connected to the second finger cylinder 41 . The second finger cylinder 41 drives the trim jaw 42 to clamp or release the trim 3 through opening and closing movements.

[0044] In some embodiments, see Figure 1 As shown, the gripping jig 40 includes a jig substrate 4320 and a mounting plate, the mounting plate is fixedly connected to the substrate 20, the mounting plate has a mounting groove, and the jig substrate 4320 is cooperatively connected to the mounting groove. Specifically, the setting of the mounting groove can facilitate the positioning and installation of the jig substrate 4320, and effectively avoid the relative rotation between the jig substrate 4320 and the mounting groove in subsequent work to affect the positioning accuracy. In addition, the jig substrate 4320 is connected to the mounting groove by a quick-turn embossed knob 46, which is conducive to the rapid disassembly and assembly of the jig substrate 4320. Among them, a photoelectric detection sensor 45 is also provided on one side of the decorative strip clamp 42 for detecting the presence or absence of the decorative strip 3.

[0045] Another aspect of the present invention discloses a robot having the mechanical gripper as described above and having all the technical effects of the mechanical gripper.

[0046] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A mechanical gripper, characterized in that: include: A rotating shaft, one end of which is used to be connected to the robot, and the rotating shaft can rotate around its own axis; A base plate, wherein the other end of the rotating shaft is connected between the two ends of the base plate, and the rotating shaft drives the base plate to rotate; A gripping mechanism is installed at one end of the base plate, and the gripping mechanism is used to grip the end cover; A grabbing fixture is installed at the other end of the base plate, and the grabbing fixture is used to grab the decorative strip; The grabbing mechanism comprises a fixing plate and an end cap clamping mechanism, wherein the fixing plate is mounted on the base plate, the end cap clamping mechanism is mounted on the fixing plate, and the end cap clamping mechanism is used to grab the first end cap; The grabbing mechanism includes a rotary cylinder and an adsorption component, wherein the rotary cylinder is mounted on the base plate, the fixed plate is connected to the rotary cylinder, the adsorption component is mounted on the fixed plate, the rotary cylinder is used to drive the fixed plate to rotate, and the adsorption component is used to adsorb the second end cover; The adsorption component includes a vacuum adsorption head; The gripping mechanism also includes a first limit block and a second limit block, wherein the limit block is arranged on one side of the fixed plate, and the fixed plate has a first limit portion and a second limit portion, wherein the first limit block is used to abut against the first limit portion, and the second limit block is used to abut against the second limit portion.

2. The mechanical gripper according to claim 1, characterized in that: The end cover clamping mechanism comprises a first finger cylinder and an end cover clamping claw, wherein the first finger cylinder is mounted on the fixing plate, and the end cover clamping claw is connected to the first finger cylinder.

3. The mechanical gripper according to claim 1, characterized in that: The gripping mechanism further comprises a laser detection sensor, and the laser detection sensor is arranged on one side of the end cover clamping mechanism.

4. The mechanical gripper according to claim 1, characterized in that: The grabbing fixture comprises a second finger cylinder and a decorative strip clamp, and the decorative strip clamp is connected to the second finger cylinder.

5. The mechanical gripper according to claim 1, characterized in that: The grabbing jig comprises a jig base plate and a mounting plate, wherein the mounting plate is fixedly connected to the base plate, the mounting plate has a mounting groove, and the jig base plate is cooperatively connected to the mounting groove.

6. A robot, characterized in that: A mechanical gripper as claimed in any one of claims 1 to 5.

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