Lightweight universal robot sorting gripper

Abstract

The lightweight universal robot sorting gripper comprises a power mechanism, a pair of transmission mechanisms are installed on the power mechanism, and an executing mechanism is installed at the bottom of each transmission mechanism. The grabbing requirements of different plates can be met without replacing the grabbing hands, the situation that the sorting rhythm and efficiency are affected due to the fact that the grabbing hands of a sorting mechanism need to be replaced for multiple times is effectively avoided, a grabbing hand library with multiple grabbing hands does not need to be arranged, and therefore the situation that the occupied area of the whole unit is additionally increased is avoided, and space is effectively saved; through the combined action of the magnetic suction air cylinders and the suction cups, sorting of complex and various plates can be adapted, and compared with single suction cup grabbing, the multiple magnetic suction air cylinders are arranged, and the better effect can be achieved when heavy plates are grabbed.

Description

Technical Field

[0001] The invention belongs to the technical field of sorting grippers, and in particular relates to a lightweight universal robot sorting gripper. Background Art

[0002] Sorting robots are automated equipment that can sort and move items through vision, sensors, robotic arms and other technologies. They are widely used in logistics, warehousing, e-commerce and manufacturing. The gripper is one of the key links of the sorting robot, and its performance directly affects the speed, stability and adaptability of sorting.

[0003] In order to meet the various workpiece grasping requirements of customers, current sorting robots usually need to be equipped with multiple grippers to form a gripper library and installed in the unit so that the corresponding gripper can be automatically switched before grasping the workpiece. Figure 1 As shown. This type of sorting gripper structure is equipped with a gripper library in the unit, which increases the overall footprint of the unit, and the switching between multiple grippers seriously affects the sorting rhythm and efficiency. Therefore, in view of the above problems, the lightweight universal robot sorting gripper provided by the present invention is of great significance. Summary of the invention

[0004] The present invention provides a lightweight universal robot sorting gripper, which can control the transmission mechanisms on both sides respectively through two independent motors in the transmission mechanism, so that the two actuators can drive the two actuators to perform displacement movements respectively, so as to adjust the distance between the two actuators according to the size of the grasped plate, thereby meeting the grasping needs of different plates without replacing the grippers, effectively avoiding the need for the sorting mechanism to replace the grippers many times to affect the sorting rhythm and efficiency; there is no need to equip a gripper library with multiple grippers, thereby avoiding the additional increase in the floor space of the entire unit, and effectively saving space; the combined action of the magnetic suction cylinder and the suction cup can adapt to complex and diverse plate sorting, and compared with simple suction cup grasping, by equipping multiple magnetic suction cylinders, better effects can be achieved in grasping thick and heavy plates, thereby solving the problems in the background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A lightweight universal robot sorting gripper of the present invention comprises a power mechanism, a pair of transmission mechanisms are installed on the power mechanism, and an actuator is installed at the bottom of each transmission mechanism;

[0007] The power mechanism includes a robot connecting flange, a gripper connecting plate, a motor connecting plate, a power gear, a bearing, a motor connecting flange, a reducer, and a motor. The robot connecting flange is installed on the top of the gripper connecting plate, and the motor connecting plate is fixedly connected to the front and rear sides of the bottom of the gripper connecting plate, respectively. The bearing and the motor connecting flange are both installed on the motor connecting plate. The reducer and the motor are both a pair, and the reducer and the motor are both installed on the motor connecting flange. The power gear is installed on the output shaft of the reducer.

[0008] The transmission mechanism includes a transmission gear, a first transmission arm, a second transmission arm, a third transmission arm, and a gripper connecting flange, wherein the transmission gear is fixedly connected to the top of the first transmission arm through a rotating shaft, and the transmission gear is meshed with the power gear, and both ends of the third transmission arm are movably connected to the first transmission arm and the second transmission arm respectively through a rotating shaft, and the gripper connecting flange is installed at the bottom of the third transmission arm;

[0009] The actuator includes a suction cup connecting plate, a magnetic suction cylinder, a suction cup connecting rod, and a suction cup. The magnetic suction cylinder and the suction cup connecting rod are installed on the suction cup connecting plate, and there are multiple of them. The suction cup is connected to the suction cup connecting plate through the suction cup connecting rod.

[0010] Furthermore, the output shaft of the motor and the output shaft of the reducer are connected in a worm gear and worm manner.

[0011] Furthermore, the magnetic suction cylinder and the suction cup operate independently, and there are four of them, and the magnetic suction cylinder and the suction cup are located at the four corners of the suction cup connecting plate.

[0012] Furthermore, the suction cup connecting rod is equipped with a spring, and the spring is wound around the rod body of the suction cup connecting rod.

[0013] A method for using a lightweight universal robot sorting gripper is implemented using the above-mentioned lightweight universal robot sorting gripper, and includes the following steps:

[0014] S1. Connect the sorting gripper structure to a gantry robot or a robotic arm or other mechanism through a robot connection flange in a power mechanism;

[0015] S2. Grab the materials such as plates through the magnetic cylinder and suction cup in the actuator for sorting;

[0016] S3. The transmission mechanisms on both sides are controlled by two independent motors in the transmission mechanism, and the two actuators are driven by the transmission mechanism to perform displacement movements respectively, so that the distance between the two actuators can be adjusted according to the size of the grasped plate, and the grasping requirements of different plates can be met without changing the gripper.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) When a lightweight universal robot sorting gripper in the present invention is in use, two independent motors in the transmission mechanism can respectively control the transmission mechanisms on both sides, so that the two actuators can respectively move, so as to adjust the distance between the two actuators according to the size of the grasped plate, thereby meeting the grasping requirements of different plates without changing the gripper, effectively avoiding the need for the sorting mechanism to change the gripper multiple times to affect the sorting rhythm and efficiency;

[0019] (2) When the lightweight universal robot sorting gripper of the present invention is used, it is not necessary to be equipped with a gripper library with multiple grippers, thereby avoiding the additional increase in the floor space of the entire unit and effectively saving space;

[0020] (3) When in use, the lightweight universal robot sorting gripper in the present invention can adapt to complex and diverse plate sorting through the combined action of the magnetic suction cylinder and the suction cup, and compared with simple suction cup grasping, it can achieve better results in grasping heavy plates by being equipped with multiple magnetic suction cylinders.

[0021] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the structure of the sorting gripper library in the prior art;

[0024] Figure 2 This is a schematic structural diagram of a lightweight universal robot sorting gripper of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the power mechanism in the present invention;

[0026] Figure 4 It is a structural schematic diagram of the transmission mechanism in the present invention;

[0027] Figure 5 It is a structural schematic diagram of the actuator in the present invention;

[0028] Figure 6 A front view of a lightweight universal robot sorting gripper in the present invention;

[0029] Figure 7 It is a front cross-sectional view of a lightweight universal robot sorting gripper in the present invention.

[0030] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0031] 1. Power mechanism; 2. Transmission mechanism; 3. Actuator; 4. Robot connecting flange; 5. Gripper connecting plate; 6. Motor connecting plate; 7. Power gear; 8. Bearing; 9. Motor connecting flange; 10. Reducer; 11. Motor; 12. Transmission gear; 13. First transmission arm; 14. Second transmission arm; 15. Third transmission arm; 16. Gripper connecting flange; 17. Suction cup connecting plate; 18. Magnetic cylinder; 19. Suction cup connecting rod; 20. Suction cup. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "relative", "one end", "inside", "lateral", "end", "two ends", "both sides", "front", "one end face", "the other end face" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] See also Figure 1-7 As shown, a lightweight universal robot sorting gripper of the present invention comprises a power mechanism 1, a pair of transmission mechanisms 2 are installed on the power mechanism 1, and an actuator 3 is installed at the bottom of each transmission mechanism 2;

[0035] The power mechanism 1 includes a robot connecting flange 4, a gripper connecting plate 5, a motor connecting plate 6, a power gear 7, a bearing 8, a motor connecting flange 9, a reducer 10, and a motor 11. The robot connecting flange 4 is installed on the top of the gripper connecting plate 5. The robot connecting flange 4 can be used to connect mechanisms such as a gantry robot or a mechanical arm. Due to the lightweight design, the connected mechanism has more loads that can be used to grab the workpiece. The motor connecting plate 6 is fixedly connected to the front and rear sides of the bottom of the gripper connecting plate 5, respectively. The bearing 8 and the motor connecting flange 9 are both installed on the motor connecting plate 6. The number of the reducer 10 and the motor 11 is a pair, and the reducer 10 and the motor 11 are both installed on the motor connecting flange 9. The power gear 7 is installed on the output shaft of the reducer 10;

[0036] The transmission mechanism 2 includes a transmission gear 12, a first transmission arm 13, a second transmission arm 14, a third transmission arm 15, and a gripper connecting flange 16. The transmission gear 12 is fixedly connected to the top of the first transmission arm 13 through a rotating shaft, and the transmission gear 12 is meshed with the power gear 7. Both ends of the third transmission arm 15 are movably connected to the first transmission arm 13 and the second transmission arm 14 through a rotating shaft. The gripper connecting flange 16 is installed at the bottom of the third transmission arm 15. The third transmission arm 15 can be connected to the actuator 3 through the gripper connecting flange 16.

[0037] The actuator 3 includes a suction cup connecting plate 17, a magnetic suction cylinder 18, a suction cup connecting rod 19, and a suction cup 20. The magnetic suction cylinder 18 and the suction cup connecting rod 19 are installed on the suction cup connecting plate 17, and there are multiple of them. The suction cup 20 is connected to the suction cup connecting plate 17 through the suction cup connecting rod 19.

[0038] Among them, the output shaft of the motor 11 and the output shaft of the reducer 10 are connected in a worm gear and a worm. When the motor 11 is driven, its output shaft can drive the output shaft of the reducer 10 to rotate together with the power gear 7 through the mutual cooperation of the worm gear and the worm. When the power gear 7 rotates, it can drive the transmission gear 12 to rotate through gear meshing. After the transmission gear 12 rotates, it can drive the first transmission arm 13 together with the second transmission arm 14 and the third transmission arm 15 to deflect. When the third transmission arm 15 deflects, it can drive the actuator 3 to perform displacement movement, so as to adjust the distance between the two actuators 3 according to the size of the grasped plate, thereby meeting the grasping needs of different plates without changing the gripper.

[0039] Among them, the magnetic suction cylinder 18 and the suction cup 20 operate independently, and there are four of them, and the magnetic suction cylinder 18 and the suction cup 20 are located at the four corners of the suction cup connecting plate 17. The joint action of the magnetic suction cylinder 18 and the suction cup 20 can adapt to complex and diverse plate sorting, and compared with the simple suction cup 20 grasping, by equipping multiple magnetic suction cylinders 18, better effect can be achieved in grasping heavy plates.

[0040] Among them, the suction cup connecting rod 19 is equipped with a spring, and the spring is wound around the rod body of the suction cup connecting rod 19. The elastic effect of the spring can solve the problem of being unable to grasp the plate due to slight deformation.

[0041] A method for using a lightweight universal robot sorting gripper is implemented using the above-mentioned lightweight universal robot sorting gripper, and includes the following steps:

[0042] S1, connecting the sorting gripper structure to a gantry robot or a robotic arm or other mechanism through the robot connecting flange 4 in the power mechanism 1;

[0043] S2, grab the materials such as plates through the magnetic cylinder 18 and the suction cup 20 in the actuator 3 for sorting;

[0044] S3. The transmission mechanisms 2 on both sides are controlled respectively by two independent motors 11 in the transmission mechanism 2, and the two actuators 3 are driven by the transmission mechanism 2 to perform displacement movements respectively, so that the distance between the two actuators 3 can be adjusted according to the size of the grasped plate, and the grasping requirements of different plates can be met without changing the gripper.

[0045] The circuits, electronic components and chip modules involved in the present invention are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0046] The standard parts used in the application documents can all be purchased from the market. All the components in this application document can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art. The electrical components appearing in this article are all electrically connected to the external main controller and 220V AC power, and the main controller is a conventional known device that can play a control role.

[0047] The working principle of the present invention is:

[0048] When the present invention is in use, the sorting gripper structure can be connected to a gantry robot or a mechanical arm or other mechanism through the robot connecting flange 4 in the power mechanism 1. Due to the lightweight design, the connected mechanism has more loads that can be used to grab workpieces. When sorting is required, the magnetic suction cylinder 18 and the suction cup 20 in the actuator 3 can be used to grab materials such as plates for sorting. The combined effect of the magnetic suction cylinder 18 and the suction cup 20 can adapt to complex and diverse plate sorting, and compared with the simple suction cup 20 grabbing, by equipping multiple magnetic suction cylinders 18, it can have a better effect in grabbing heavy plates. When the motor 11 is driven, its output shaft can drive the reducer through the cooperation of the worm gear and the worm. The output shaft of 10 rotates together with the power gear 7, and when the power gear 7 rotates, the transmission gear 12 can be driven to rotate through gear meshing. After the transmission gear 12 rotates, the first transmission arm 13 can be driven to deflect together with the second transmission arm 14 and the third transmission arm 15. When the third transmission arm 15 is deflected, the actuator 3 can be driven to perform displacement movement, so as to adjust the distance between the two actuators 3 according to the size of the grasped plate, thereby meeting the grasping requirements of different plates without replacing the gripper. Compared with the prior art, there is no need to equip a gripper library with multiple grippers, which not only avoids the additional increase in the floor space of the entire unit, but also effectively avoids the need for the sorting mechanism to replace the gripper multiple times to affect the sorting rhythm and efficiency.

[0049] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A lightweight universal robot sorting gripper, characterized in that: It comprises a power mechanism (1), a pair of transmission mechanisms (2) are mounted on the power mechanism (1), and an actuator (3) is mounted at the bottom of each transmission mechanism (2); The power mechanism (1) comprises a robot connection flange (4), a gripper connection plate (5), a motor connection plate (6), a power gear (7), a bearing (8), a motor connection flange (9), a reducer (10), and a motor (11); the robot connection flange (4) is mounted on the top of the gripper connection plate (5); the motor connection plate (6) is respectively fixedly connected to the front and rear sides of the bottom of the gripper connection plate (5); the bearing (8) and the motor connection flange (9) are both mounted on the motor connection plate (6); the reducer (10) and the motor (11) are both a pair, and the reducer (10) and the motor (11) are both mounted on the motor connection flange (9); and the power gear (7) is mounted on the output shaft of the reducer (10); The transmission mechanism (2) comprises a transmission gear (12), a first transmission arm (13), a second transmission arm (14), a third transmission arm (15), and a gripper connecting flange (16); the transmission gear (12) is fixedly connected to the top of the first transmission arm (13) via a rotating shaft, and the transmission gear (12) and the power gear (7) are meshed with each other; two ends of the third transmission arm (15) are movably connected to the first transmission arm (13) and the second transmission arm (14) via a rotating shaft, and the gripper connecting flange (16) is installed at the bottom of the third transmission arm (15); The actuator (3) comprises a suction cup connecting plate (17), a magnetic suction cylinder (18), a suction cup connecting rod (19), and a suction cup (20). The magnetic suction cylinder (18) and the suction cup connecting rod (19) are mounted on the suction cup connecting plate (17), and there are a plurality of them. The suction cup (20) is connected to the suction cup connecting plate (17) via the suction cup connecting rod (19).

2. A lightweight universal robot sorting gripper according to claim 1, characterized in that: The output shaft of the motor (11) and the output shaft of the reducer (10) are connected in the form of a worm gear and a worm.

3. A lightweight universal robot sorting gripper according to claim 1, characterized in that: The magnetic suction cylinder (18) and the suction cup (20) operate independently, and there are four of them. The magnetic suction cylinder (18) and the suction cup (20) are located at the four corners of the suction cup connecting plate (17).

4. A lightweight universal robot sorting gripper according to claim 1, characterized in that: The suction cup connecting rod (19) is equipped with a spring, and the spring is wound around the rod body of the suction cup connecting rod (19).

5. The method for using a lightweight universal robot sorting gripper according to claim 1, characterized in that: The method is implemented by using a lightweight universal robot sorting gripper as described in any one of claims 1 to 4, comprising the following steps: S1, connecting the sorting gripper structure to a gantry robot or a mechanical arm or other mechanism through the robot connecting flange (4) in the power mechanism (1); S2, grabbing materials such as plates through the magnetic suction cylinder (18) and suction cup (20) in the actuator (3) for sorting; S3. The transmission mechanisms (2) on both sides are controlled respectively by two independent motors (11) in the transmission mechanism (2), and the two actuators (3) are driven by the transmission mechanism (2) to perform displacement movements respectively, so that the distance between the two actuators (3) can be adjusted according to the size of the grasped plate, and the grasping requirements of different plates can be met without changing the gripper.

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