Mechanical gripper device and transfer robot

Abstract

The invention relates to the technical field of intelligent manufacturing, and particularly discloses a mechanical gripper device and a transfer robotic.The mechanical gripper device comprises a base, a transmission seat, a driving supporting claw assembly and a driven supporting claw assembly, and the transmission seat is rotationally connected to the base; the driving claw supporting assembly comprises a driving piece, a driving rod and a first claw finger, the driving piece is arranged on the base, the driving rod penetrates through the base and the transmission seat, and the two ends of the driving rod are in transmission connection with the driving end of the driving piece and the first claw finger correspondingly; the driven supporting claw assembly comprises a driven rod and a second claw finger, the driven rod penetrates through the base and the transmission base, and one end of the driven rod is in transmission connection with the second claw finger. According to the auxiliary material grabbing device, the first claw fingers and the second claw fingers can be expanded outwards from the inner hole to grab auxiliary materials, the grabbing force is large, the risk that the auxiliary materials fall off due to the gravity effect can be reduced, the peripheral parts of the auxiliary materials are not affected by grabbing, and the situation that the production quality of subsequent products is affected due to the fact that the peripheries of the auxiliary materials deform or are damaged is avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a mechanical gripper device and a handling robot. Background Art

[0002] At present, cigarette production has been basically automated, but the sorting of auxiliary materials still relies on manual work. Since some auxiliary materials are heavy, manual transportation is time-consuming and laborious, and long-term work can also cause harm to the operator's body. Therefore, it is imperative to develop an automated feeding system that can identify, sort and transport auxiliary materials, and the robot is a key component to achieve the above purpose.

[0003] The robot arm in the prior art grabs the material by means of a suction cup or a clamp. However, when the auxiliary material is sucked by the suction cup, due to its heavy weight, the auxiliary material is very likely to fail to be sucked and fall during the handling process. When the auxiliary material is clamped by the clamp, the part where the outer periphery of the auxiliary material contacts the clamp is very likely to be deformed or even damaged, affecting the production quality of subsequent products. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical gripper device and a handling robot to solve the problem in the prior art that when auxiliary materials are sucked up by a suction cup, the auxiliary materials are very likely to fail to be sucked up and fall off during the handling process due to their heavy weight, and when the auxiliary materials are clamped by a clamp, the part where the outer periphery of the auxiliary materials contacts the clamp is very likely to be deformed or even damaged, thereby affecting the production quality of subsequent products.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] In one aspect, the present invention provides a mechanical gripper device for gripping an auxiliary material, wherein the auxiliary material has an inner hole, and the mechanical gripper device comprises:

[0007] A base and a transmission base, wherein the transmission base is rotatably connected to the base;

[0008] An active claw assembly, the active claw assembly comprising a driving member, an active rod and a first claw finger, the driving member is arranged on the base, the active rod passes through the base and the transmission seat, and the two ends of the active rod are respectively connected to the driving end of the driving member and the first claw finger; the driving member can drive the active rod to drive the first claw finger to move radially along the transmission seat;

[0009] A driven claw assembly, the driven claw assembly includes a driven rod and a second claw finger, the driven rod passes through the base and the transmission seat, one end of the driven rod is connected to the second claw finger in a transmission manner; the driving member can drive the transmission seat to rotate through the active rod, so that the transmission seat drives the driven rod to drive the second claw finger to move along the radial direction of the transmission seat; the first claw finger and the second claw finger can be inserted into the inner hole.

[0010] As an optional scheme of the above-mentioned mechanical gripper device, the active support claw assembly includes at least two, the driven support claw assembly includes at least one, at least two of the first claw fingers and at least one of the second claw fingers are arranged in a triangle; or the active support claw assembly includes at least one, the driven support claw assembly includes at least two, at least one of the first claw fingers and at least two of the second claw fingers are arranged in a triangle.

[0011] As an optional scheme of the above-mentioned mechanical gripper device, the base is provided with at least three first slide grooves arranged in a circumferential direction, and the transmission seat is provided with at least three second slide grooves arranged in a circumferential direction, at least three of the first slide grooves and at least three of the second slide grooves correspond to each other one by one and are arranged crosswise with each other; at least two of the active rods and at least one of the driven rods pass through the first slide grooves and the second slide grooves respectively one by one; or at least one of the active rods and at least two of the driven rods pass through the first slide grooves and the second slide grooves respectively one by one.

[0012] As an optional solution of the above-mentioned mechanical gripper device, the active claw assembly further includes a transmission block, and two ends of the transmission block are respectively hinged to the driving end of the driving member and the active rod.

[0013] As an optional solution of the above-mentioned mechanical gripper device, the transmission seat is provided with a first guide rail and a second guide rail extending along the radial direction, the first claw finger is slidably arranged on the first guide rail through a first slider, and the second claw finger is slidably arranged on the second guide rail through a second slider.

[0014] As an optional solution of the above-mentioned mechanical gripper device, the first claw finger and the second claw finger are both L-shaped structures.

[0015] As an optional solution of the above-mentioned mechanical gripper device, the first claw finger and the second claw finger are both provided with anti-slip grooves on one side away from the center of the transmission seat.

[0016] As an optional solution of the above-mentioned mechanical gripper device, the base and / or the transmission seat are provided with weight-reducing holes.

[0017] As an optional solution of the above-mentioned mechanical gripper device, a mounting flange is also provided on the base.

[0018] On the other hand, the present invention provides a handling robot, comprising the mechanical gripper device as described above.

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

[0020] The mechanical gripper device comprises a base, a transmission base, an active claw assembly and a driven claw assembly, and the transmission base is rotatably connected to the base. The active claw assembly includes a driving member, an active rod and a first claw finger. The driving member is arranged on the base. The active rod passes through the base and the transmission seat. The two ends of the active rod are respectively connected to the driving end of the driving member and the first claw finger. The driving member can drive the active rod to drive the first claw finger to move radially along the transmission seat. At the same time, the driven claw assembly includes a driven rod and a second claw finger. The driven rod passes through the base and the transmission seat. One end of the driven rod is connected to the second claw finger. The driving member can drive the transmission seat to rotate through the active rod, so that the transmission seat drives the driven rod to drive the second claw finger to move radially along the transmission seat. The first claw finger and the second claw finger can be inserted into the inner hole, so that the first claw finger and the second claw finger can be stretched outward from the inner hole to grab the auxiliary material. The grabbing force is large, which can reduce the risk of the auxiliary material falling due to the influence of gravity, and the peripheral part of the auxiliary material is not affected by the grabbing, so as to avoid deformation or damage of the peripheral part of the auxiliary material, which affects the production quality of subsequent products. Among them, the movement of the second claw finger is realized by the drive of the transmission seat, thereby reducing the use of the driving member and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of a mechanical gripper device provided by an embodiment of the present invention from a first perspective;

[0022] Figure 2 A schematic diagram of the structure of the mechanical gripper device provided by an embodiment of the present invention from a second viewing angle;

[0023] Figure 3 A schematic diagram of the structure of the mechanical gripper device provided by an embodiment of the present invention from a third perspective;

[0024] Figure 4 A cross-sectional view of a mechanical gripper device provided in an embodiment of the present invention.

[0025] In the figure:

[0026] 1. Base; 11. First slide groove; 12. Mounting flange; 2. Transmission seat; 21. Second slide groove; 22. First guide rail; 23. Second guide rail; 24. First slider; 25. Second slider; 3. Active claw assembly; 31. Driving member; 32. Active rod; 33. First claw finger; 34. Transmission block; 4. Driven claw assembly; 41. Driven rod; 42. Second claw finger; 5. Anti-slip pattern; 6. Weight reduction hole; 7. Slewing support bearing. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0028] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] 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.

[0031] like Figure 1 to Figure 4 As shown, this embodiment provides a mechanical gripper device for grabbing auxiliary materials, and the auxiliary materials have an inner hole.

[0032] The mechanical gripper device includes a base 1, a transmission base 2, an active claw assembly 3 and a driven claw assembly 4, and the transmission base 2 is rotatably connected to the base 1. Optionally, the transmission base 2 is rotatably connected to the base 1 through a slewing bearing 7. Further optionally, the auxiliary materials include cigarette paper, tipping paper, trademark paper and aluminum paper. Of course, the auxiliary materials also include other types of cigarette auxiliary materials, which are not specifically limited in this embodiment.

[0033] The active claw assembly 3 includes a driving member 31, an active rod 32 and a first claw finger 33. The driving member 31 is arranged on the base 1. The active rod 32 passes through the base 1 and the transmission seat 2. The two ends of the active rod 32 are respectively connected to the driving end of the driving member 31 and the first claw finger 33. The driving member 31 can drive the active rod 32 to drive the first claw finger 33 to move along the radial direction of the transmission seat 2. At the same time, the driven claw assembly 4 includes a driven rod 41 and a second claw finger 42. The driven rod 41 passes through the base 1 and the transmission seat 2. One end of the driven rod 41 is connected to the second claw finger 42. The driving member 31 can drive the transmission seat 2 to rotate through the active rod 32, so that the transmission seat 2 drives the driven rod 41 to drive the second claw finger 42 to move along the radial direction of the transmission seat 2, and the first claw finger 33 and the second claw finger 42 can be inserted into the inner hole, so that the first claw finger 33 and the second claw finger 42 can be stretched outward from the inner hole to grab the auxiliary material, and the grabbing force is large, which can reduce the risk of the auxiliary material falling due to gravity, and the peripheral part of the auxiliary material is not affected by the grabbing, avoiding deformation or damage of the peripheral part of the auxiliary material, affecting the production quality of subsequent products. Among them, the movement of the second claw finger 42 is realized by the drive of the transmission seat 2, thereby reducing the use of the driving member 31 and reducing the production cost.

[0034] The active claw assembly 3 includes at least two, the driven claw assembly 4 includes at least one, at least two first claw fingers 33 and at least one second claw finger 42 are arranged in a triangle, or the active claw assembly 3 includes at least one, the driven claw assembly 4 includes at least two, at least one first claw finger 33 and at least two second claw fingers 42 are arranged in a triangle, so that the three claw fingers are arranged in a triangle to grasp the auxiliary material, which effectively improves the grasping force and reduces the risk of the auxiliary material falling due to gravity. Specifically, the active claw assembly 3 also includes a transmission block 34, and the two ends of the transmission block 34 are respectively hinged to the driving end of the driving member 31 and the active rod 32, so that the transmission difficulty between the driving member 31 and the active rod 32 can be reduced by setting the transmission block 34. Optionally, the driving member 31 is a driving cylinder.

[0035] like Figure 2 and Figure 3As shown, the base 1 is provided with at least three first slide grooves 11 arranged in an annular direction, and the transmission seat 2 is provided with at least three second slide grooves 21 arranged in an annular direction. The at least three first slide grooves 11 and the at least three second slide grooves 21 correspond to each other and are arranged crosswise, and at least two active rods 32 and at least one driven rod 41 pass through the first slide groove 11 and the second slide groove 21 respectively, or at least one active rod 32 and at least two driven rods 41 pass through the first slide groove 11 and the second slide groove 21 respectively, so that the driving member 31 drives the active rod 32 to drive the first claw finger 33 along During the radial movement of the transmission seat 2, the active rod 32 can move along the first slide groove 11. At this time, since the second slide groove 21 corresponding to the active rod 32 is cross-arranged with the first slide groove 11, the active rod 32 can drive the transmission seat 2 to rotate through the second slide groove 21. At the same time, the rotation of the transmission seat 2 causes the relative position between the first slide groove 11 and the second slide groove 21 corresponding to the driven rod 41 to change, and then under the guide limit of the first slide groove 11 and the drive of the second slide groove 21, the driven rod 41 drives the second claw finger 42 to move radially along the transmission seat 2.

[0036] Specifically, the transmission seat 2 is provided with a first guide rail 22 and a second guide rail 23 extending in the radial direction, the first claw finger 33 is slidably arranged on the first guide rail 22 through the first slider 24, and the second claw finger 42 is slidably arranged on the second guide rail 23 through the second slider 25, so as to improve the stability of the first claw finger 33 and the second claw finger 42 during the movement. Optionally, the first claw finger 33 and the second claw finger 42 are both L-shaped structures, and the structural strength of the L-shaped first claw finger 33 and the second claw finger 42 is relatively large, which can prevent deformation when grabbing auxiliary materials. Further optionally, the first claw finger 33 and the second claw finger 42 are both provided with anti-skid patterns 5 on the side away from the center of the transmission seat 2. The provision of the anti-skid patterns 5 can prevent the auxiliary materials from sliding off the first claw finger 33 and the second claw finger 42 due to excessive gravity.

[0037] Furthermore, the base 1 and / or the transmission base 2 are provided with weight-reducing holes 6, so that the overall weight of the mechanical gripper device can be reduced through the weight-reducing holes 6, thereby meeting the lightweight requirements of the mechanical gripper device. At the same time, a mounting flange 12 is also provided on the base 1, through which the mechanical gripper device can be quickly disassembled or installed on the handling robot, and the mechanical gripper device can be easily repaired or replaced.

[0038] The present embodiment also provides a handling robot, including a mechanical gripper device as described above. By using the mechanical gripper device as described above, the handling robot can enable the first claw finger 33 and the second claw finger 42 to expand outward from the inner hole to grasp the auxiliary material. The gripping force is relatively large, which can reduce the risk of the auxiliary material falling due to gravity, and the peripheral part of the auxiliary material is not affected by the gripping, thereby avoiding deformation or damage to the periphery of the auxiliary material, which affects the production quality of subsequent products.

[0039] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A mechanical gripper device for grabbing auxiliary materials, wherein the auxiliary materials have an inner hole, characterized in that: The mechanical gripper device comprises: A base (1) and a transmission base (2), wherein the transmission base (2) is rotatably connected to the base (1); An active claw assembly (3), the active claw assembly (3) comprising a driving member (31), an active rod (32) and a first claw finger (33), the driving member (31) being arranged on the base (1), the active rod (32) passing through the base (1) and the transmission seat (2), and the two ends of the active rod (32) being respectively connected to the driving end of the driving member (31) and the first claw finger (33); the driving member (31) can drive the active rod (32) to drive the first claw finger (33) to move radially along the transmission seat (2); A driven claw assembly (4), the driven claw assembly (4) comprising a driven rod (41) and a second claw finger (42), the driven rod (41) passing through the base (1) and the transmission seat (2), one end of the driven rod (41) being transmission-connected to the second claw finger (42); the driving member (31) can drive the transmission seat (2) to rotate through the active rod (32), so that the transmission seat (2) drives the driven rod (41) to drive the second claw finger (42) to move along the radial direction of the transmission seat (2); the first claw finger (33) and the second claw finger (42) can be inserted into the inner hole.

2. The mechanical gripper device according to claim 1, characterized in that: The active claw assembly (3) includes at least two, the driven claw assembly (4) includes at least one, at least two of the first claw fingers (33) and at least one of the second claw fingers (42) are arranged in a triangle; or the active claw assembly (3) includes at least one, the driven claw assembly (4) includes at least two, at least one of the first claw fingers (33) and at least two of the second claw fingers (42) are arranged in a triangle.

3. The mechanical gripper device according to claim 2, characterized in that: The base (1) is provided with at least three first slide grooves (11) arranged in an annular direction, and the transmission base (2) is provided with at least three second slide grooves (21) arranged in an annular direction, and the at least three first slide grooves (11) and the at least three second slide grooves (21) are arranged in a one-to-one correspondence and cross-arrangement with each other; at least two active rods (32) and at least one driven rod (41) respectively pass through the first slide groove (11) and the second slide groove (21) in a one-to-one correspondence; or at least one active rod (32) and at least two driven rods (41) respectively pass through the first slide groove (11) and the second slide groove (21) in a one-to-one correspondence.

4. The mechanical gripper device according to claim 2, characterized in that: The active claw assembly (3) further comprises a transmission block (34), the two ends of which are respectively hinged to the driving end of the driving member (31) and the active rod (32).

5. The mechanical gripper device according to claim 1, characterized in that: The transmission seat (2) is provided with a first guide rail (22) and a second guide rail (23) extending in the radial direction; the first claw finger (33) is slidably arranged on the first guide rail (22) via a first slider (24); and the second claw finger (42) is slidably arranged on the second guide rail (23) via a second slider (25).

6. The mechanical gripper device according to claim 1, characterized in that: The first claw finger (33) and the second claw finger (42) are both L-shaped structures.

7. The mechanical gripper device according to claim 1, characterized in that: Anti-slip grooves (5) are provided on the side of the first claw finger (33) and the second claw finger (42) facing away from the center of the transmission seat (2).

8. The mechanical gripper device according to any one of claims 1 to 7, characterized in that: The base (1) and / or the transmission base (2) are provided with weight-reducing holes (6).

9. The mechanical gripper device according to any one of claims 1 to 7, characterized in that: The base (1) is also provided with a mounting flange (12).

10. A transport robot, characterized in that: It comprises a mechanical gripper device as described in any one of claims 1 to 9.

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