Industrial robot and gripper thereof

Abstract

An industrial robot and a clamping gripper thereof, the industrial robot comprising a clamping gripper, the clamping gripper comprising: a base, connected to the end of the robot arm through a connecting flange; an angle α between the mounting surfaces at both ends of the connecting flange to avoid the occurrence of singular points in the clamping gripper during operation; a floating mechanism, mounted on the base, comprising a nylon block, a guide rod, a floating compression spring and a linear guide rail, the linear guide rail being mounted on the base, the nylon block being mounted on the linear guide rail; the guide rod passing through the nylon block and being arranged parallel to the linear guide rail; the floating compression spring being sleeved on the guide rod and symmetrically distributed on both sides of the nylon block; and a cutting knife, mounted on the floating mechanism and connected to the swinging mechanism, the center line of the cutting knife being perpendicular to the axis of the guide rod. The clamping gripper of the present invention has floating and swinging functions, and can change the cutting angle of the cutting tool at any time during the deboning process as the deboning path is planned.

Description

Technical Field

[0001] The invention relates to an industrial robot, in particular to an industrial robot and a clamping claw with a floating swing function. Background Art

[0002] With the continuous improvement of robot technology, human labor can be effectively reduced and production efficiency can be improved. Robot segmentation technology has received widespread attention when segmenting livestock and poultry carcasses. When deboning and segmenting livestock carcasses, the tool must be fixed to the robot wrist through a transition module, and the fixing module is the gripper. Using a bionic method to simulate the human hand holding the tool is an effective way to fix it. However, considering the particularity of the shape of livestock bones, the existing gripper that clamps and cuts the boning knife for deboning and segmenting cannot effectively avoid the protruding points on the bone, resulting in bone cutting or boning knife breakage. Therefore, this patent proposes a clamping gripper with a floating function that can effectively avoid when deboning and cutting bones. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an industrial robot and a gripping gripper thereof in view of the above-mentioned defects of the prior art.

[0004] In order to achieve the above object, the present invention provides a gripper of an industrial robot, which is installed at the end of a robot arm of the industrial robot and includes:

[0005] A base is connected to the end of the robot arm through a connecting flange; an angle α is formed between the mounting surfaces at both ends of the connecting flange to avoid singular points of the clamping claw during operation;

[0006] A floating mechanism, mounted on the base, comprising a nylon block, a guide rod, a floating compression spring and a linear guide rail, wherein the linear guide rail is mounted on the base, and the nylon block is mounted on the linear guide rail; the guide rod passes through the nylon block and is arranged parallel to the linear guide rail; the floating compression spring is sleeved on the guide rod and symmetrically distributed on both sides of the nylon block; and

[0007] The cutting knife is installed on the floating mechanism and connected with the swing mechanism, and the center line of the cutting knife is perpendicular to the axis of the guide rod.

[0008] In the above-mentioned clamping gripper of the industrial robot, the two ends of the guide rod are mounted on the base through side plates, and an adjusting nut is further provided between the side plate and the floating compression spring.

[0009] In the above-mentioned clamping claw of the industrial robot, a shoulder-type oil-free bushing is further provided at the connection between the end surface of the guide rod and the nylon block.

[0010] The above-mentioned gripper of the industrial robot, wherein the cutting knife comprises:

[0011] Knives;

[0012] The tool rod comprises a connecting rod and a tool connecting plate. A groove is arranged on one side of the tool connecting plate, and the tool is installed in the groove. The connecting rod is installed on the nylon block and connected to the swing mechanism.

[0013] In the above-mentioned clamping claw of the industrial robot, the connecting rod is sleeved with a copper alloy oil-free bushing, and the copper alloy oil-free bushing is installed in the nylon block and has an interference fit with the nylon block.

[0014] In the above-mentioned clamping claw of the industrial robot, an open type fixing ring is provided at the end of the connecting rod for fixing the copper alloy oil-free bushing and the connecting rod.

[0015] The above-mentioned clamping claw of the industrial robot, wherein the swing mechanism includes a buffer pressure plate, a buffer pressure sheet, a swing compression spring and a swing connecting piece, the buffer pressure plate is installed on the nylon block, and the swing connecting piece is installed on the buffer pressure plate; the swing compression spring is sleeved on the swing connecting piece, and the two ends of the swing compression spring are respectively abutted against the buffer pressure sheet and the buffer pressure plate; one end of the buffer pressure sheet is connected to the tool rod, and the other end of the buffer pressure sheet is in contact with the swing compression spring.

[0016] In the above-mentioned clamping claw of the industrial robot, the buffer pressing plate is an L-shaped plate.

[0017] The above-mentioned gripping claw of the industrial robot, wherein the angle α is 0-90°.

[0018] In order to better achieve the above-mentioned purpose, the present invention also provides an industrial robot, which includes the above-mentioned clamping claw.

[0019] The technical effects of the present invention are:

[0020] The clamping claw of the present invention is installed at the end of the robot arm, has floating and swinging functions, and is used to clamp the cutting tool to complete the deboning and segmentation of the livestock carcass. During the deboning process, the cutting angle of the cutting tool can be changed at any time according to the planned deboning path, and the meat and bones can be separated smoothly and flexibly along the planned cutting deboning route.

[0021] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1A schematic diagram of the structure of an industrial robot according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a clamping claw according to an embodiment of the present invention;

[0024] Figure 3 for Figure 2 A top view of

[0025] Figure 4 for Figure 2 Side view of

[0026] Figure 5 for Figure 3 AA section view;

[0027] Figure 6 for Figure 3 BB cross-sectional view;

[0028] Figure 7 This is a schematic diagram of the connecting flange structure according to an embodiment of the present invention;

[0029] Figure 8 A schematic diagram of a knife bar structure according to an embodiment of the present invention;

[0030] Fig. 9 The figure is a schematic diagram of a buffer pressing structure according to an embodiment of the present invention.

[0031] Among them, the reference numerals

[0032] 1. Robot body

[0033] 2Robot Arm

[0034] 3 gripping claws

[0035] 31 Base

[0036] 311 base plate

[0037] 312 ribs

[0038] 313 vertical board

[0039] 32 Swing mechanism

[0040] 321 Buffering Tablet

[0041] 322 Swing Compression Spring

[0042] 323 buffer pressure plate

[0043] 324 Swing Connector

[0044] 33 floating mechanism

[0045] 331 Nylon Block

[0046] 332 guide rod

[0047] 333 side panel

[0048] 334 Shoulder Type Oil-free Bushing

[0049] 335 floating compression spring

[0050] 336 Adjusting nut

[0051] 337 connecting plate

[0052] 338 Linear Guide

[0053] 34 cutting knife

[0054] 341 Tool bar

[0055] 3411 connecting rod

[0056] 3412 tool connection plate

[0057] 3413 groove

[0058] 3414 Copper Alloy Oil-free Bushing

[0059] 3415 open type fixing ring

[0060] 342 Knives

[0061] 343 gland

[0062] 4Connection flange DETAILED DESCRIPTION

[0063] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0064] See also Figure 1 , Figure 1 Schematic diagram of the structure of an industrial robot according to an embodiment of the present invention. The industrial robot of the present invention comprises a robot body 1, a robot arm 2 and a clamping gripper 3, wherein the robot arm 2 is mounted on the robot body 1 and the clamping gripper 3 is mounted at the end of the robot arm 2. The composition, structure, relative positional relationship, connection relationship, control relationship and function of other parts of the industrial robot are all relatively mature prior arts, so they will not be described here in detail. Only the clamping gripper 3 of the present invention will be described in detail below.

[0065] See also Figure 2-Figure 6 , Figure 2 This is a schematic diagram of the structure of a clamping claw 3 according to an embodiment of the present invention. Figure 3 for Figure 2 A top view of Figure 4 for Figure 2 Side view of Figure 5 for Figure 3 AA section view, Figure 6 for Figure 3 BB sectional view. The clamping gripper 3 of the present invention is installed at the end of the robot arm 2 of the industrial robot, and comprises: a base 31, connected to the end of the robot arm 2 through a connecting flange 4; an angle α is formed between the mounting surfaces at both ends of the connecting flange 4 to avoid the occurrence of singular points in the clamping gripper 3 during operation; a floating mechanism 33, installed on the base 31, comprising a nylon block 331, a guide rod 332, a floating compression spring 335 and a linear guide rail 338, wherein the linear guide rail 338 is installed on the base 31, and the nylon block 331 is installed on the linear guide rail 338; the guide rod 332 passes through the nylon block 331 and is arranged parallel to the linear guide rail 338; the floating compression spring 335 is sleeved on the guide rod 332 and symmetrically distributed on both sides of the nylon block 331; and a cutting knife 34, installed on the floating mechanism 33 and connected to the swinging mechanism 32, wherein the center line of the cutting knife 34 is perpendicular to the axis of the guide rod 332.

[0066] like Figure 6 As shown, in this embodiment, both ends of the guide rod 332 are mounted on the base 31 through side plates 333, and an adjusting nut 336 is further provided between the side plates 333 and the floating compression spring 335. A shoulder-type oil-free bushing 334 is further provided at the end surface connection between the guide rod 332 and the nylon block 331. Both ends of the guide rod 332 are fixed to the side plates 333 by screw connection, and the side plates 333 at both ends are fixed to the bottom plate 311 by screws. The shoulder-type oil-free bushing 334, the floating compression spring 335, and the adjusting nut 336 are all sleeved on the guide rod 332 and symmetrically distributed on both sides of the nylon block 331, and the nylon block 331 is fixed to the linear guide 338 by screws through the connecting plate 337. The linear guide rail 338 is arranged in parallel with the guide rod 332, and the linear guide rail 338 plays a role in guiding and positioning. When one side of the cutter 342 encounters resistance, the floating mechanism 33 will drive the cutter 342 to move along the guide rod 332 to the other side, changing the cutting angle of the cutter 342 to avoid the concentration of force, causing bone cutting or the fracture of the bone removal cutter 342. The adjustment nuts 336 on both sides are used to adjust the elasticity of the floating compression spring 335 to adapt to the cutting resistance encountered during the cutting process.

[0067] See also Figure 7 , Figure 7The figure is a schematic diagram of the structure of the connecting flange 4 of an embodiment of the present invention. The angle α is preferably 0-90°. The base 31 includes a bottom plate 311, a rib plate 312 and a vertical plate 313, which are respectively connected to each other by screws. The vertical plate 313 is connected and fixed to the end of the robot arm 2 by connecting screws through the connecting flange 4, and becomes one with the end of the robot arm 2. As the final actuator of the robot, it can separate and cut the bones and meat of livestock and poultry along the planned and taught cutting route, wherein the mounting surfaces at both ends of the connecting flange 4 are non-parallel surfaces, and there is an angle α between the two mounting surfaces to avoid singular points during the operation of the robot. The range of the angle α can be 0-90°, and the optimal value can be set according to the actual application scenario when cutting livestock and poultry.

[0068] See also Figure 8 , Figure 8 The schematic diagram of the structure of the knife bar 341 of an embodiment of the present invention. The cutting knife 34 of this embodiment includes: a knife 342; a knife bar 341, which is preferably a welded workpiece. The knife bar 341 includes a connecting rod 3411 and a knife connecting plate 3412. A groove 3413 is provided on one side of the knife connecting plate 3412 for placing the cutting and deboning knife 342. The knife 342 is installed in the groove 3413 and is fixed by screws through a pressure cover 343. The connecting rod 3411 is installed on the nylon block 331 and connected to the swing mechanism 32. Copper alloy oil-free bushings 3414 are set on both sides of the rod end of the connecting rod 3411. The copper alloy oil-free bushings 3414 are installed in the nylon block 331 and have an interference fit with the nylon block 331. An open-type fixing ring 3415 is provided at the end of the connecting rod 3411 for fixing the copper alloy oil-free bushing 3414 and the connecting rod 3411.

[0069] See also Fig. 9 , Fig. 9 The structure diagram of the buffer pressing plate 321 of an embodiment of the present invention is shown in FIG. The swing mechanism 32 of this embodiment includes a buffer pressing plate 323, a buffer pressing plate 321, a swing compression spring 322 and a swing connecting member 324. The buffer pressing plate 323 is mounted on the nylon block 331, and the swing connecting member 324 is mounted on the buffer pressing plate 323, preferably a long screw; the swing compression spring 322 is sleeved on the swing connecting member 324, and the two ends of the swing compression spring 322 are respectively in contact with the buffer pressing plate 321 and the buffer pressing plate 323; one end of the buffer pressing plate 321 is connected to the knife rod 341, and the other end of the buffer pressing plate 321 is in contact with the swing compression spring 322. The buffer pressing plate 321 is preferably an L-shaped plate.

[0070] The length direction of the connecting rod 3411 of the knife bar 341 is perpendicular to the length direction of the linear guide rail 338 and the guide rod 332. One end of the L-shaped buffer pressure plate 321 is fixed to the knife bar 341 by screws, and the surface of the other end is in contact with the swing compression spring 322. The swing compression spring 322 is sleeved on the long screw, and the long screw is fixed on the buffer pressure plate 323. The buffer pressure plate 323 is fixed to the nylon block 331 by screws. One end of the swing compression spring 322 is in contact with the L-shaped buffer pressure plate 321, and the other end is in contact with the buffer pressure plate 323. The swing mechanism 32 has the function of making the deboning tool 342 fixed on the knife bar 341 rotate and swing slightly left and right along the axis of the connecting rod 3411 of the knife bar 341. When one side of the deboning tool 342 is blocked by the protruding point during the cutting process, the deboning tool 342 fixed on the knife bar 341 will swing slightly to the other side along the axis of the connecting rod 3411 of the knife bar 341.

[0071] The clamping claw 3 of the present invention has a floating mechanism 33 and a swinging mechanism 32 that act simultaneously, making the industrial robot more flexible and smooth when deboning and dividing along a specified cutting route, close to the bionic function of a human hand, avoiding the occurrence of broken bones and broken knives, and improving cutting efficiency.

[0072] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A gripper of an industrial robot, mounted at the end of a robot arm of the industrial robot, characterized in that: include: A base is connected to the end of the robot arm through a connecting flange; an angle α is formed between the mounting surfaces at both ends of the connecting flange to avoid singular points of the clamping claw during operation; The floating mechanism is installed on the base, and comprises a nylon block, a guide rod, a floating compression spring and a linear guide rail. The linear guide rail is installed on the base, and the nylon block is installed on the linear guide rail. The guide rod passes through the nylon block and is arranged parallel to the linear guide rail. The floating compression spring is sleeved on the guide rod and symmetrically distributed on both sides of the nylon block. as well as A cutting knife is mounted on the floating mechanism and connected to the swing mechanism, wherein the center line of the cutting knife is perpendicular to the axis of the guide rod; The cutting knife comprises: Knives; A knife bar, the knife bar comprising a connecting rod and a knife connecting plate, one side of the knife connecting plate is provided with a groove, the knife is installed in the groove; the connecting rod is installed on the nylon block and connected to the swing mechanism; The swing mechanism includes a buffer pressure plate, a buffer pressure sheet, a swing compression spring and a swing connecting piece, wherein the buffer pressure plate is mounted on the nylon block, and the swing connecting piece is mounted on the buffer pressure plate; the swing compression spring is sleeved on the swing connecting piece, and the two ends of the swing compression spring are respectively in contact with the buffer pressure sheet and the buffer pressure plate; one end of the buffer pressure sheet is connected to the knife rod, and the other end of the buffer pressure sheet is in contact with the swing compression spring.

2. The gripper of an industrial robot according to claim 1, characterized in that: The two ends of the guide rod are mounted on the base through side plates, and an adjusting nut is also arranged between the side plate and the floating compression spring.

3. The gripper of an industrial robot according to claim 2, characterized in that: A shoulder-type oil-free bushing is also provided at the connection between the guide rod and the end surface of the nylon block.

4. The gripping gripper of an industrial robot according to claim 1, characterized in that: The connecting rod is sleeved with a copper alloy oil-free bushing, which is installed in the nylon block and has an interference fit with the nylon block.

5. The gripping claw of an industrial robot according to claim 4, characterized in that: An open type fixing ring is provided at the end of the connecting rod for fixing the copper alloy oil-free bushing and the connecting rod.

6. The gripper of an industrial robot according to claim 1, characterized in that: The buffer pressing sheet is an L-shaped plate.

7. The gripper of an industrial robot according to claim 1, characterized in that: The angle α is 0-90°.

8. An industrial robot, characterized in that: The invention comprises the clamping claw as described in any one of claims 1 to 7.

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