Gripping assembly of a robot

Abstract

The application provides a gripping assembly of a mechanical hand, which comprises a connecting frame, a connecting rod, an adjusting rod and a suction disc piece, the connecting frame is connected with the terminal end of a movable arm, the connecting rod is adjustably connected at the bottom of the connecting frame, the suction disc piece is connected with the connecting rod through the adjusting rod, the connecting rod comprises a main rod and a movable rod movably connected with the main rod, and the main rod and the movable rod are both connected with the suction disc piece, the suction disc piece can form more various distribution patterns by changing the shape of the connecting rod, different specifications of products can be conveniently gripped, the compatibility of the gripped products is higher, the working efficiency is high, and the safety and reliability are high.

Description

[0001] This application is a divisional application. The original application has the application number "202210556116.8" and the application date is "May 20, 2022". The invention title is "Machining Loading and Unloading Robot and Corresponding Automated Machining System". Technical Field

[0002] This invention relates to the field of machining equipment, and in particular to a gripping component of a robotic arm. Background Technology

[0003] With the development of China's industrial manufacturing, many domestic products are manufactured using mechanical equipment. However, due to the diverse nature of these products, most machine tools still rely on manual loading and unloading, resulting in low efficiency and potential accidents that could injure operators.

[0004] Therefore, there is a need to provide a gripping component for a robotic arm to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a gripping component for a robotic arm to solve the problem that in the prior art, the loading and unloading of machine tools are all done manually, which is inefficient and prone to accidents.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: a gripping component of a robotic arm, comprising a connecting frame, a connecting rod, an adjusting rod, and a suction cup component. The connecting rod is adjustablely connected to the bottom of the connecting frame. The suction cup component is connected to the connecting rod through the adjusting rod. The connecting rod includes a main body rod and a movable rod movably connected to the main body rod. The suction cup component is connected to both the main body rod and the movable rod, so as to grip products of different specifications by changing the shape of the connecting rod.

[0007] The connecting frame includes a fixed rod, and a connecting protrusion is provided on one side of the fixed rod. The movable rod can switch to connect with the main rod or with the connecting protrusion to form a more diverse distribution pattern to grab products of different specifications.

[0008] In this invention, the connecting protrusion is a first connecting protrusion disposed on one side of the fixing rod;

[0009] The main body rod is rotatably connected to the movable rod by a first bolt. The axis of the first bolt is perpendicular to the suction points of the multiple suction cup components to form a gripping plane. The end of the movable rod away from the first bolt is rotatably connected to the first connecting protrusion by a second bolt. The axis of the second bolt is perpendicular to the suction points of the multiple suction cup components to form a gripping plane.

[0010] One end of the movable rod is provided with a first connecting hole for connecting with the first bolt, and the other end is provided with a second connecting hole for connecting with the second bolt. The main rod is provided with a third connecting hole for connecting with the first bolt, and the first connecting protrusion is provided with a fourth connecting hole for connecting with the second bolt. The distance between the first connecting hole and the second connecting hole is equal to the distance between the third connecting hole and the fourth connecting hole.

[0011] Controlling the movable rod to rotate around the first bolt allows one end of the movable rod to rotate to engage with the first connecting protrusion. Using the second bolt to connect the movable rod to the first connecting protrusion creates a connection state where the movable rod is only connected to the first connecting protrusion. The movable rod can rotate around the second bolt to switch the movable rod to be connected to the main rod.

[0012] In this invention, the fixing rod has a first connecting groove on both sides, the connecting rod has a second connecting groove, the connecting rod and the fixing rod are connected by a connector, and the two ends of the connector are respectively connected to the first connecting groove and the second connecting groove.

[0013] In this invention, the gripping component includes two sets of connecting rods, and the main rods of the two sets of connecting rods have different lengths.

[0014] In this invention, the gripping assembly includes two sets of connecting rods, and the suction cups on the two sets of connecting rods are respectively located at the ends of the corresponding adjusting rods that are far apart from each other.

[0015] In this invention, the connecting protrusion is a second connecting protrusion disposed on one side of the fixing rod;

[0016] The second connecting protrusion is provided with a first positioning groove, and both ends of the main body rod are provided with second positioning grooves. The movable rod is provided with a fixing block for connecting with the first positioning groove or the second positioning groove.

[0017] Each end of the main rod is connected to a movable rod, and a control rod is connected between the two movable rods. The control rod is slidably connected to the fixed rod.

[0018] Furthermore, the fixing rod is provided with a first locking hole and a second locking hole, and the control rod is provided with a locking post for engaging with the first locking hole or the second locking hole. When the locking post is connected to the first locking hole, the fixing block is connected to the first positioning groove. When the locking post is connected to the second locking hole, the fixing block is connected to the second positioning groove.

[0019] Furthermore, both ends of the control rod are elastically telescopically provided with locking posts, one side of each locking post is provided with an inclined surface, and the control rod is provided with a pressing rod. The two ends of the pressing rod are respectively connected to the locking posts at both ends. The pressing rod presses the inclined surface to compress the locking posts to slide inward into the control rod.

[0020] In this invention, the connecting frame further includes a reinforcing rod, which is connected between the two fixed rods, and a vacuum generator connected to the suction cup component is provided on the reinforcing rod.

[0021] Compared with the prior art, the beneficial effects of this invention are as follows: the connecting rod of the gripping component of the robot hand of this invention includes a main rod and a movable rod movably connected to the main rod. Suction cups are connected to both the main rod and the movable rod. By changing the shape of the connecting rod, the suction cups can form more diverse distribution patterns, which facilitates the gripping of products of different specifications, improves the compatibility of gripping products, increases work efficiency, and ensures safety and reliability. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of the present invention.

[0023] Figure 1 This is a schematic diagram of the gripping component of the robotic arm of the present invention applied to an automated processing system.

[0024] Figure 2 This is a schematic diagram of the robotic arm of the present invention.

[0025] Figure 3 This is a schematic diagram of the loading rack of the automated processing system of the present invention.

[0026] Figure 4 This is a schematic diagram of the gripping component of the robotic arm of the present invention.

[0027] Figure 5 This is a schematic diagram of the structure in which the fixed rod and the connecting rod are connected by a connector.

[0028] Figure 6 This is a schematic diagram of the connection structure between the main rod and the movable rod.

[0029] Figure 7 for Figure 6 A schematic diagram of another connection state between the main body rod and the movable rod.

[0030] Figure 8 A schematic diagram of a structure with two sets of connecting rods for the gripping component.

[0031] Figure 9A schematic diagram of the structure in which the two sets of connecting rods of the gripping component are arranged in opposite directions.

[0032] Figure 10 A schematic diagram of a structure with a first connecting protrusion on a fixed rod.

[0033] Figure 11 This is a schematic diagram of the connection between the movable rod and the first connecting protrusion.

[0034] Figure 12 A schematic diagram of a control lever set on a gripping component.

[0035] Figure 13 This is a schematic diagram of the connection between the movable rod and the second connecting protrusion.

[0036] Figure 14 This is a schematic diagram of the locking pin on the control lever. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The directional terms mentioned in this invention, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", are only for reference to the orientation of the accompanying drawings. The directional terms used are for the purpose of explaining and understanding this invention, and are not intended to limit this invention.

[0039] The terms "first" and "second" used in the terminology of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as limiting the order of events.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, a connection can be a detachable connection or a connection of an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components or an interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] In the existing technology, since products are generally diverse, most machine tools are loaded and unloaded manually, which is inefficient and may sometimes lead to accidents that injure operators.

[0042] On the other hand, existing technologies are gradually using robotic arms to grip products for loading and unloading. However, each existing robotic arm's gripping component can only grip one type of product. When the product's shape and size specifications differ significantly, the entire gripping component needs to be replaced accordingly. Therefore, multiple different types of gripping components are required, resulting in high costs.

[0043] The following is a first embodiment of a robotic arm provided by the present invention that can solve the above-mentioned technical problems.

[0044] Please refer to Figure 4 ,in Figure 4 This is a schematic diagram of the gripping component of the robotic arm of the present invention.

[0045] In the diagram, units with similar structures are represented by the same labels.

[0046] This embodiment provides a machining loading and unloading robot 13, which includes a movable arm 131 and a gripping assembly 132, the gripping assembly 132 being connected to the end of the movable arm 131. It should be noted that the movable arm 131 is formed by connecting multiple joint components and has multiple degrees of freedom. The movable arm has a relatively conventional structure, which will not be described in detail here.

[0047] The gripping component 132 includes a connecting frame, a connecting rod 23, an adjusting rod 24, and a suction cup component 25. The connecting frame is connected to the end of the movable arm 131. The connecting rod 23 is adjustablely connected to the bottom of the connecting frame. The suction cup component 25 is connected to the connecting rod 23 through the adjusting rod 24. Multiple suction cup components 25 are connected along the extension direction of the connecting rod 23.

[0048] The suction cup component 25 is connected to one end of the adjusting rod 24. The other end of the adjusting rod 24 is provided with a strip groove 241. The fixing screw passes through the strip groove 241 to connect the adjusting rod 24 and the connecting rod 23. By adjusting the connection between the adjusting rod 24 and the connecting rod 23, multiple suction cup components 25 can be distributed in different patterns, thereby being able to grasp products of different shapes and specifications. It can also automatically grasp and unload materials, which is highly efficient and safer.

[0049] Please refer to Figure 4 and Figure 5 In this embodiment, the connecting frame includes at least two fixed rods 21 and a fixing plate 22 connected between the two fixed rods 21. Each fixed rod 21 has a first connecting groove on both sides, and the connecting rod 23 has a second connecting groove. The connecting rod 23 and the fixed rod 21 are connected by a connector 28, with both ends of the connector 28 connected to the first and second connecting grooves respectively. Bolts can be used to fix the connector to either the first or second connecting groove. Loosening the bolts allows for easy adjustment of the relative positions between the fixed rods 21 and the connecting rods 23.

[0050] Please refer to Figure 6 and Figure 7 In this embodiment, the connecting rod 23 may include a main rod 231 and a movable rod 232. Both ends of the main rod 231 are rotatably connected to the movable rod 232 via a first bolt 233. The axis of the first bolt 233 is perpendicular to the suction points of the multiple suction cup components 25, forming a gripping plane. After loosening the first bolt 233, the relative position between the main rod 231 and the movable rod 232 can be adjusted, thereby enabling better gripping of products of different specifications.

[0051] It is understandable that both the main body rod 231 and the movable rod 232 can be composed of profile rods with connecting grooves on all four sides and connectors at the ends of the profile rods, with the connectors used for rotatable connection. The first bolt can be connected with a nut, or a corresponding threaded hole can be provided on the main body rod 231.

[0052] Please refer to Figure 8 Optionally, the gripping component 132 may include two sets of connecting rods 23, with the main rods 231 of the two sets of connecting rods 23 having different lengths. This allows the suction cup components 25 of the two sets of connecting rods 23 to form more diverse distribution patterns, resulting in higher compatibility with gripping products.

[0053] Please refer to Figure 9 Optionally, the gripping component 132 may include two sets of connecting rods 23, with suction cups 25 on the two sets of connecting rods 23 located at opposite ends of the corresponding adjusting rods 24, and the suction cups 25 having a wider distribution area.

[0054] Please refer to Figure 10 and Figure 11 Alternatively, a first connecting protrusion 234 can be provided on the side of the two fixed rods 21 that are far apart from each other. The end of the movable rod 232 that is far away from the first bolt 233 is rotatably connected to the first connecting protrusion 234 through the second bolt 235. The axis of the second bolt 235 is perpendicular to the suction point of the multiple suction cup components 25 to form a gripping plane.

[0055] One end of the movable rod 232 is provided with a first connecting hole for connecting with the first bolt 233, and the other end is provided with a second connecting hole for connecting with the second bolt 235. The main rod 231 is provided with a fourth connecting hole for connecting with the first bolt 233, and the first connecting protrusion 234 is provided with a fourth connecting hole for connecting with the second bolt 235. The distance between the first connecting hole and the second connecting hole is equal to the distance between the third connecting hole and the fourth connecting hole.

[0056] This ensures that the connection between the main rod 231 and the movable rod 232 is as follows: Figure 10In the state shown, the first bolt 233 can be loosened, and then the movable rod 232 can be rotated around the first bolt 233. This allows one end of the movable rod 232 to rotate to engage with the first connecting protrusion 234. Then, the second bolt 235 can be used to connect the movable rod 232 to the first connecting protrusion 234, forming a shape as shown. Figure 11 The connection state is shown. Conversely, the movable rod 232 can also rotate around the second bolt 235 to switch the movable rod 232 to be connected with the main rod 231. The deformation operation of the connection state between the main rod 231 and the movable rod 232 is very convenient. The suction cup component 25 can form more diverse distribution patterns, and the compatibility of gripping products is higher.

[0057] In this embodiment, the connecting frame also includes a reinforcing rod 26, which is connected between two fixed rods 21. A vacuum generator 27 connected to the suction cup component 25 is provided on the reinforcing rod 26.

[0058] Please refer to Figure 1 In this embodiment, the robotic arm 13 can also be applied to an automated processing system. The automated processing system also includes a first machine tool, a second machine tool, a loading rack 14, and a unloading rack 15. The first machine tool and the second machine tool are arranged facing each other. Figure 1 Both the first and second machine tools are designated by the number 11. The loading rack 14 and unloading rack 15 are arranged opposite each other. The robot arm 13 is positioned between the first and second machine tools, specifically between the loading rack 14 and the unloading rack 15. The robot arm 13 can pick up products from the loading rack 14 and place them on the first or second machine tool for processing, and then place the processed products from the first or second machine tool onto the unloading rack 15. This method offers high efficiency and is safe and reliable.

[0059] Please refer to Figure 2 The robotic arm 13 is slidably mounted on the track seat 12. The robotic arm 13 includes a drive component 133 and a drive gear. The drive gear is located at the bottom of the robotic arm 13 and is connected to the drive component 133 in a transmission manner. The track seat 12 includes a slide rail 122 and a rack 121. The robotic arm 13 is slidably connected to the slide rail 122. The rack 121 is located between the two slide rails 122. The drive gear is in a transmission engagement with the rack 121, thereby driving the robotic arm 13 to slide.

[0060] In this embodiment, multiple connecting seats 123 for installation and fixation by screws are provided on both sides of the track seat 12, and blocking members 124 for limiting the sliding stroke of the robot arm 13 are provided at both ends of the track seat 12.

[0061] Please refer to Figure 3In this embodiment, both the loading rack 14 and the unloading rack 15 include a frame 141, an upper material tray 143, and a lower material tray 142. The upper material tray 143 and the lower material tray 142 are slidably mounted on the frame 141, with the upper material tray 143 located above the lower material tray 142. The sliding trajectories of the upper material tray 143 and the lower material tray 142 are staggered. Each of the upper material tray 143 and the lower material tray 142 is driven by a corresponding cylinder. Figure 3 In the middle, cylinder 144 drives the lower material tray 142 to slide, and cylinder 145 drives the upper material tray 143 to slide. The upper material tray 143 slides alternately with the lower material tray 142, which makes it convenient for the operator to pick up the product, and the operator's operation will not conflict with the operation of the robotic arm 13.

[0062] When the automated processing system in this embodiment is working, the robot arm 13 can grab the product from the loading rack 14 and place it on the first machine tool or the second machine tool for processing, and then place the processed product from the first machine tool or the second machine tool onto the unloading rack 15.

[0063] For different products, the connection between the adjusting rod 24 and the connecting rod 23 can be adjusted to make the multiple suction cup parts 25 have different distribution patterns, thereby enabling the gripping of products of different shapes and sizes.

[0064] Alternatively, the connecting rod 23 can be configured to include a main rod 231 and a movable rod 232. By adjusting the relative positions between the main rod 231 and the movable rod 232, the distribution pattern of the multiple suction cup components 25 can be changed to grip different products. This method offers high gripping compatibility, low cost, high efficiency, and safety and reliability.

[0065] The movable rod 232 can be movably connected to the main rod 231, or the movable rod 232 can be switched to be connected to the first connecting protrusion 234 on one side of the fixed rod 21, and the movable rod 232 can be rotated to adjust its position, making it highly adjustable.

[0066] The following is a second embodiment of a robotic arm provided by the present invention that can solve the above-mentioned technical problems. In this embodiment, the same structural units as in the first embodiment are indicated by the same reference numerals. The main difference between this embodiment and the first embodiment lies in the different structure of the switching connection between the movable rod and the main body rod.

[0067] This embodiment provides a robotic arm 13, which includes a movable arm 131 and a gripping component 132, the gripping component 132 being connected to the end of the movable arm 131.

[0068] The gripping component 132 includes a connecting frame, a connecting rod 23, an adjusting rod 24, and a suction cup 25. The connecting frame is connected to the end of the movable arm 131. The connecting rod 23 is adjustablely connected to the bottom of the connecting frame. The suction cup 25 is connected to the connecting rod 23 via the adjusting rod 24. The connecting rod 23 includes a main rod 231 and a movable rod 232 movably connected to the main rod 231. Suction cups 25 are connected to both the main rod 231 and the movable rod 232 to grip products of different specifications by changing the shape of the connecting rod 23.

[0069] The connecting frame includes at least two fixing rods 21 and a fixing plate 22 connected between the two fixing rods 21.

[0070] Please refer to Figure 12 In this embodiment, a second connecting protrusion 236 is provided on the side of the two fixed rods 21 that are far apart from each other. A first positioning groove is provided on the second connecting protrusion 236. A second positioning groove is provided at both ends of the main rod 231. A fixing block 237 is provided on the movable rod 232 for connecting with the first positioning groove or the second positioning groove.

[0071] Each end of the main rod 231 is connected to a movable rod 232, and a control rod 31 is connected between the two movable rods 232. The control rod 31 is slidably connected to the fixed rod 21. In this way, by operating the control rod 31 to slide, the movable rod 232 can be moved to switch between connecting to the main rod 231 or to the second connecting protrusion 236, which is convenient and stable to operate.

[0072] Furthermore, the fixing rod 21 is provided with a first locking hole 211 and a second locking hole 212, and the control rod 31 is provided with a locking post 33 for engaging with the first locking hole 211 or the second locking hole 212. When the locking post 33 is connected to the first locking hole 211, the fixing block 237 is connected to the first positioning groove. When the locking post 33 is connected to the second locking hole 212, the fixing block 237 is connected to the second positioning groove.

[0073] Both ends of the control lever 31 are elastically telescopically equipped with locking posts 33, and the locking posts 33 can be as follows: Figure 14 The structure shown has a slope 331 on one side of the locking post 33, and a pressing rod 32 on the control rod 31. The two ends of the pressing rod 32 are connected to the locking posts 33 at both ends to press the locking posts 33 into the control rod 31. Specifically, the pressing rod 32 presses the slope 331, causing the locking post 33 to slide inward. The connection between the fixing block 237 and the first or second positioning groove ensures the stability of the movable rod 232, while the engagement of the locking post 33 with the first or second locking hole 211 ensures a stable connection between the fixing block 237 and the first or second positioning groove, and the operation is very convenient.

[0074] It should be noted that the robotic arm 13 in this embodiment can also be applied to automated processing systems.

[0075] The connecting rod of the robot arm of the present invention includes a main rod and a movable rod movably connected to the main rod. Suction cups are connected to both the main rod and the movable rod. By changing the shape of the connecting rod, the suction cups can form more diverse distribution patterns, which facilitates the gripping of products of different specifications, improves the compatibility of gripping products, increases work efficiency, and ensures safety and reliability.

[0076] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A gripping component for a robotic arm, characterized in that, The device includes a connecting frame, a connecting rod, an adjusting rod, and a suction cup. The connecting rod is adjustablely connected to the bottom of the connecting frame. The suction cup is connected to the connecting rod via the adjusting rod. The connecting rod includes a main rod and a movable rod movably connected to the main rod. The suction cup is connected to both the main rod and the movable rod to grip products of different specifications by changing the shape of the connecting rod. The connecting frame includes a fixed rod, and a connecting protrusion is provided on one side of the fixed rod. The movable rod can switch to connect with the main rod or with the connecting protrusion to form a more diverse distribution pattern to grab products of different specifications. The connecting protrusion is a first connecting protrusion provided on one side of the fixed rod; The main body rod is rotatably connected to the movable rod by a first bolt. The axis of the first bolt is perpendicular to the suction points of the multiple suction cup components to form a gripping plane. The end of the movable rod away from the first bolt is rotatably connected to the first connecting protrusion by a second bolt. The axis of the second bolt is perpendicular to the suction points of the multiple suction cup components to form a gripping plane. One end of the movable rod is provided with a first connecting hole for connecting with the first bolt, and the other end is provided with a second connecting hole for connecting with the second bolt. The main rod is provided with a third connecting hole for connecting with the first bolt, and the first connecting protrusion is provided with a fourth connecting hole for connecting with the second bolt. The distance between the first connecting hole and the second connecting hole is equal to the distance between the third connecting hole and the fourth connecting hole. Controlling the movable rod to rotate around the first bolt allows one end of the movable rod to rotate to engage with the first connecting protrusion. Using the second bolt to connect the movable rod to the first connecting protrusion creates a connection state where the movable rod is only connected to the first connecting protrusion. The movable rod can rotate around the second bolt to switch the movable rod to be connected to the main rod.

2. The gripping component of the robotic arm according to claim 1, characterized in that, The fixing rod has a first connecting groove on both sides, and the connecting rod has a second connecting groove. The connecting rod and the fixing rod are connected by a connector, and the two ends of the connector are connected to the first connecting groove and the second connecting groove, respectively.

3. The gripping component of the robotic arm according to claim 1, characterized in that, The gripping component includes two sets of connecting rods, and the main rods of the two sets of connecting rods have different lengths.

4. The gripping component of the robotic arm according to claim 1, characterized in that, The gripping assembly includes two sets of connecting rods, with the suction cups on the two sets of connecting rods located at opposite ends of the corresponding adjusting rods.

5. The gripping component of the robotic arm according to claim 1, characterized in that, The connecting protrusion is a second connecting protrusion provided on one side of the fixing rod; The second connecting protrusion is provided with a first positioning groove, and both ends of the main body rod are provided with second positioning grooves. The movable rod is provided with a fixing block for connecting with the first positioning groove or the second positioning groove.

6. The gripping component of the robotic arm according to claim 5, characterized in that, Each end of the main rod is connected to a movable rod, and a control rod is connected between the two movable rods. The control rod is slidably connected to the fixed rod.

7. The gripping component of the robotic arm according to claim 6, characterized in that, The fixing rod is provided with a first locking hole and a second locking hole, and the control rod is provided with a locking post for engaging with the first locking hole or the second locking hole. When the locking post is connected to the first locking hole, the fixing block is connected to the first positioning groove. When the locking post is connected to the second locking hole, the fixing block is connected to the second positioning groove.

8. The gripping component of the robotic arm according to claim 7, characterized in that, Both ends of the control rod are elastically telescopically provided with locking posts, and one side of each locking post is provided with an inclined surface. The control rod is provided with a pressing rod, and both ends of the pressing rod are respectively connected to the locking posts at both ends. The pressing rod presses the inclined surface to force the locking posts to slide inward into the control rod.

9. The gripping component of the robotic arm according to claim 1, characterized in that, The connecting frame also includes a reinforcing rod, which is connected between the two fixed rods, and a vacuum generator connected to the suction cup component is provided on the reinforcing rod.

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