Sealing ring grabbing paw for robot

Abstract

The invention discloses a sealing ring grabbing gripper for a robot. The sealing ring grabbing gripper comprises a gripper body. A first gripper mechanism, a second gripper mechanism and a Z-axis material returning mechanism are arranged on the gripper body; the first gripper mechanism and the second gripper mechanism are arranged in a staggered mode. The Z-axis material returning mechanism is movably arranged in the gripper body; and the first gripper mechanism is mounted on the Z-axis mechanism. According to the sealing ring grabbing device, the first grabbing hand mechanism and the second grabbing hand mechanism are designed and are arranged in a staggered mode, and efficient and accurate grabbing of the sealing ring is achieved. And the first gripper mechanism and the second gripper mechanism both adopt the combined design of piston driving and sliding block sliding, so that the stability and the flexibility in the gripping process are ensured, the gripping device can adapt to sealing rings with different sizes and shapes, and the gripping success rate and the gripping accuracy are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot grippers, and in particular to a sealing ring gripping claw for a robot. Background Art

[0002] Robotic gripping technology is increasingly used in automated production lines, especially in automotive manufacturing, electronic equipment assembly, and other industries that require high-precision assembly. As a key assembly component, the accuracy and stability of the gripping and placement process of the seal ring is crucial to the quality and performance of the final product. Traditional seal ring gripping tools often have problems such as insufficient gripping force, inaccurate gripping position, and inability to adapt to seal rings of different sizes, which limit production efficiency and increase product defect rates.

[0003] In order to solve the above problems, it is particularly important to develop a robot gripper that can efficiently and accurately grasp and place sealing rings. Most of the grippers in the prior art use simple mechanical clamping structures, which often lack sufficient flexibility and adaptability and are difficult to meet the needs of grasping sealing rings of different sizes and shapes. In addition, traditional grippers often lack protective measures for sealing rings during the grasping process, which can easily cause the sealing ring to be damaged during the grasping process, thereby affecting its sealing performance.

[0004] In view of the above problems, the market urgently needs a robot seal gripper with a more reasonable design and more complete functions. The gripper needs to have sufficient gripping force to stably grasp seals of various sizes, and also needs to have high gripping accuracy to ensure that the seals can be accurately placed in the predetermined position. In addition, in order to improve production efficiency and flexibility, the gripper should also have the ability to quickly replace and adjust the gripping mechanism to adapt to seals of different models and sizes.

[0005] However, the grabbing claws in the prior art are often difficult to achieve all the above functions. In particular, in terms of the setting and driving mode of the grabbing mechanism, the prior art often has the problems of complex structure, cumbersome operation and high maintenance cost.

[0006] Therefore, developing a sealing ring grasping gripper for a robot that has a simple structure, is easy to operate and can adapt to different sealing ring grasping requirements has become a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0007] The purpose of the present invention is to address the deficiencies of the prior art and to provide a sealing ring gripping gripper for a robot.

[0008] The technical solution of the present invention is: a sealing ring grasping claw for a robot, comprising a gripper body; a first gripper mechanism, a second gripper mechanism and a Z-axis material return mechanism are provided on the gripper body; the first gripper mechanism and the second gripper mechanism are staggered; the Z-axis material return mechanism is movably arranged inside the gripper body; the first gripper mechanism is installed on the Z-axis mechanism.

[0009] The Z-axis material unloading mechanism includes a first cylinder assembly, a mounting block and a connecting plate; the mounting block is fixedly connected to the connecting plate; the first cylinder assembly includes an outer shell, a first piston and an end cover; the outer shell is fixedly connected to the connecting plate; a first mounting groove of the outer shell is provided on the gripper body; the outer shell is installed in the first mounting groove; a mounting hole connected to the first mounting groove is provided at the bottom of the gripper body; the end cover is covered on the mounting hole; a connecting shaft extending into the mounting hole is provided at the bottom of the outer shell; a first piston sealed with the mounting hole is provided on the connecting shaft; the first piston and the inner end of the mounting hole form a first piston cavity; a plurality of accommodating holes are evenly distributed on the gripper body; a push rod extending into the accommodating hole is fixed to the bottom of the connecting plate; a spring is provided between the bottom of the push rod and the bottom of the accommodating hole.

[0010] The first gripping mechanism includes a plurality of first sliders; the first sliders are slidably installed in the mounting block; the middle portion of the outer shell has a cavity; a pull rod assembly is movably connected in the cavity; the top end of the pull rod assembly is hinged to the first slider through a first swing block; a second piston is provided at the bottom of the pull rod assembly; the second piston divides the cavity in the middle portion of the outer shell into a second piston cavity and a third piston cavity through a sealing ring.

[0011] The tie rod assembly includes an outer tie rod and an inner tie rod slidably connected to the inside of the outer tie rod; the second piston is fixed to the bottom of the inner tie rod; a mounting plate is fixed to the top of the outer tie rod; the top of the inner tie rod is threadedly connected to the mounting plate, and the top of the inner tie rod extends out of the mounting plate; one end of the inner tie rod extending out of the mounting plate is threadedly connected to a nut; a sealing ring is provided in the middle of the outer tie rod to seal the inner wall of the inner tie rod; a wrench groove is provided at the top of the inner tie rod.

[0012] A connecting ear is provided on the outer pull rod; a first waist-shaped hole is horizontally provided on the upper edge of the connecting ear; a second waist-shaped hole is vertically provided on the upper edge of the first sliding block; one side of the first swing block is hinged in the first waist-shaped hole, and the other side is rotatably connected to the gripper body through the first rotating axis; the top of the first swing block is hinged in the second waist-shaped hole.

[0013] The second gripper mechanism includes a plurality of second sliders slidably connected to the gripper body; a second mounting groove is provided on the gripper body corresponding to the second slider; a power rod is provided in the second mounting groove; the top of the power rod is hinged to the second slider through a second swing block; a third piston is provided at the bottom of the power rod; the third piston forms a fourth piston chamber with the bottom of the second mounting groove through a sealing ring.

[0014] A third waist-shaped hole is horizontally provided at the top of the power rod; a fourth waist-shaped hole is vertically provided on the upper edge of the second sliding block; one side of the second swing block is hinged to the gripper body through a second rotating axis; one end of the second swing block is hinged to the third waist-shaped hole, and the other end is hinged to the fourth waist-shaped hole.

[0015] The middle part of the power rod is threadedly connected with a transmission gear; the middle part of the gripper body is provided with an adjustment ring; the inner side of the adjustment ring is provided with adjustment teeth meshing with the transmission gear; the adjustment ring is provided with a locking screw for locking the adjustment ring and the gripper body; the power rod is sleeved with a reset spring for resetting the power rod.

[0016] The gripper body is provided with a first air inlet, a second air inlet, a third air inlet and a fourth air inlet which are respectively connected with the first piston chamber, the second piston chamber, the third piston chamber and the fourth piston chamber.

[0017] The first sliding block and the second sliding block have the same structure, and are both provided with a plurality of mounting holes evenly distributed along the length direction.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects: (1) The present invention realizes efficient and accurate grasping of the sealing ring by designing the first gripping mechanism and the second gripping mechanism and setting them in an offset manner. The first gripping mechanism and the second gripping mechanism both adopt a combination design of piston drive and slider sliding, which ensures stability and flexibility during the grasping process and can adapt to sealing rings of different sizes and shapes, greatly improving the success rate and accuracy of grasping. In addition, the Z-axis material withdrawal mechanism in the present invention is uniquely designed, and the flexible movement of the material withdrawal mechanism is realized through the combination of the first cylinder assembly, the mounting block and the connecting plate. The mechanism can not only move freely in the Z-axis direction, but also adapt to sealing rings of different sizes by adjusting the elastic force of the spring, thereby ensuring the smooth progress of the material withdrawal process; at the same time, the design also simplifies the material withdrawal operation and improves production efficiency.

[0019] (2) The gripping claw structure of the present invention is compactly designed, and the connections between the various components are tight and reasonable, which not only improves the overall stability and durability, but also makes maintenance simpler and more convenient; for example, the outer pull rod and the inner pull rod in the pull rod assembly are connected by sliding, which is convenient for disassembly and replacement; the transmission gear and adjustment ring design on the power rod make it more intuitive and convenient to adjust the gripping force.

[0020] (3) The present invention realizes automatic control of the grasping claw by providing air ports connected to each piston cavity on the grasping body. With the help of advanced robot control system, precise control of grasping, placing and withdrawing actions can be realized, which greatly improves the automation and intelligence level of the production line.

[0021] (4) The first slider and the second slider of the present invention have the same structure and are provided with a plurality of mounting holes evenly distributed along the length direction, which makes the present invention more convenient to adapt to sealing rings of different sizes and types; at the same time, the design also provides the possibility for subsequent functional expansion and upgrading, such as adding more gripping mechanisms or adjusting the gripping method. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a top view of the present invention.

[0025] Figure 3 It is a cross-sectional view of the present invention.

[0026] The reference numerals in the accompanying drawings are:

[0027] Gripper body 1, first air inlet 1-1, second air inlet 1-2, third air inlet 1-3, fourth air inlet 1-4, first gripper mechanism 2, first slider 2-1, tie rod assembly 2-2, outer tie rod 2-2-1, inner tie rod 2-2-2, mounting plate 2-2-3, nut 2-2-4, wrench groove 2-2-5, connecting ear 2-2-6, first rotating shaft 2-2-7, first swing block 2-3, second piston 2-4, second piston chamber 2-5, third Piston chamber 2-6, second gripper mechanism 3, second slider 3-1, power rod 3-2, second swing block 3-3, third piston 3-4, fourth piston chamber 3-5, transmission gear 3-6, adjusting ring 3-7, locking screw 3-8, reset spring 3-9, Z-axis material removal mechanism 4, mounting block 4-1, connecting plate 4-2, outer shell 4-3, first piston 4-4, end cover 4-5, connecting shaft 4-6, first piston chamber 4-8, push rod 4-9, spring 4-10. DETAILED DESCRIPTION

[0028] (Example 1)

[0029] See Figures 1 to 3A sealing ring gripper for a robot in this embodiment includes a gripper body 1; a first gripper mechanism 2, a second gripper mechanism 3 and a Z-axis material return mechanism 4 are provided on the gripper body 1; the first gripper mechanism 2 and the second gripper mechanism 3 are staggered; the Z-axis material return mechanism 4 is movably arranged inside the gripper body 1; the first gripper mechanism 2 is installed on the Z-axis mechanism.

[0030] Furthermore, the Z-axis material unloading mechanism 4 includes a first cylinder assembly, a mounting block 4-1 and a connecting plate 4-2; the mounting block 4-1 is fixedly connected to the connecting plate 4-2; the first cylinder assembly includes a shell 4-3, a first piston 4-4 and an end cover 4-5; the shell 4-3 is fixedly connected to the connecting plate 4-2; a first mounting groove of the shell 4-3 is provided on the gripper body 1; the shell 4-3 is installed in the first mounting groove; the bottom of the gripper body 1 is provided with a mounting hole connected to the first mounting groove ; The end cover 4-5 is covered on the mounting hole; a connecting shaft 4-6 extending into the mounting hole is provided at the bottom of the housing 4-3; a first piston 4-4 sealed with the mounting hole is provided on the connecting shaft 4-6; the first piston 4-4 and the inner end of the mounting hole form a first piston chamber 4-8; a plurality of accommodating holes are evenly distributed on the gripper body 1; a push rod 4-9 extending into the accommodating hole is fixed to the bottom of the connecting plate 4-2; a spring 4-10 is provided between the bottom of the push rod 4-9 and the bottom of the accommodating hole.

[0031] The first gripping mechanism 2 includes a plurality of first sliders 2-1; the first sliders 2-1 are slidably installed in the mounting block 4-1; the middle portion of the outer shell 4-3 has a cavity; a pull rod assembly 2-2 is movably connected in the cavity; the top end of the pull rod assembly 2-2 is hinged to the first slider 2-1 through a first swing block 2-3; a second piston 2-4 is provided at the bottom of the pull rod assembly 2-2; the second piston 2-4 divides the cavity in the middle portion of the outer shell 4-3 into a second piston chamber 2-5 and a third piston chamber 2-6 through a sealing ring.

[0032] Furthermore, the tie rod assembly 2-2 includes an outer tie rod 2-2-1 and an inner tie rod 2-2-2 slidably connected to the inside of the outer tie rod 2-2-1; the second piston 2-4 is fixed to the bottom of the inner tie rod 2-2-2; a mounting plate 2-2-3 is fixed to the top of the outer tie rod 2-2-1; the top of the inner tie rod 2-2-2 is threadedly connected to the mounting plate 2-2-3, and the top of the inner tie rod 2-2-2 extends out of the mounting plate 2-2-3; one end of the inner tie rod 2-2-2 extending out of the mounting plate 2-2-3 is threadedly connected to a nut 2-2-4; a sealing ring is provided in the middle part of the outer tie rod 2-2-1 for sealing the inner wall of the inner tie rod 2-2-2; a wrench groove 2-2-5 is provided on the top of the inner tie rod 2-2-2, and the movement stroke of the inner tie rod 2-2-2 can be adjusted through the wrench groove 2-2-5, thereby facilitating the adjustment of the movement stroke of the first slider 2-1.

[0033] Furthermore, a connecting ear 2-2-6 is provided on the outer pull rod 2-2-1; a first waist-shaped hole is provided horizontally on the upper edge of the connecting ear 2-2-6; a second waist-shaped hole is provided vertically on the upper edge of the first sliding block 2-1; one side of the first swing block 2-3 is hinged in the first waist-shaped hole, and the other side is rotatably connected to the gripper body 1 through the first rotating shaft 2-2-7; the top of the first swing block 2-3 is hinged in the second waist-shaped hole.

[0034] Furthermore, the second gripper mechanism 3 includes a plurality of second sliders 3-1 slidably connected to the gripper body 1; a second mounting groove is provided on the gripper body corresponding to the second slider 3-1; a power rod 3-2 is provided in the second mounting groove; the top of the power rod 3-2 is hinged to the second slider 3-1 through a second swing block 3-3; a third piston 3-4 is provided at the bottom of the power rod 3-2; the third piston 3-4 forms a fourth piston chamber 3-5 with the bottom of the second mounting groove through a sealing ring.

[0035] Furthermore, a third waist-shaped hole is horizontally provided at the top of the power rod 3-2; a fourth waist-shaped hole is vertically provided on the upper edge of the second sliding block 3-1; one side of the second swing block 3-3 is hinged to the gripper body 1 through a second rotating axis; one end of the second swing block 3-3 is hinged to the third waist-shaped hole, and the other end is hinged to the fourth waist-shaped hole.

[0036] Furthermore, the middle part of the power rod 3-2 is threadedly connected with a transmission gear 3-6; the middle part of the gripper body 1 is provided with an adjustment ring 3-7; the inner side of the adjustment ring 3-7 is provided with an adjustment tooth meshing with the transmission gear 3-6; the adjustment ring 3-7 is provided with a locking screw 3-8 for locking the adjustment ring 3-7 with the gripper body 1; the power rod 3-2 is sleeved with a reset spring 3-9 for resetting the power rod 3-2. By rotating the adjustment ring 3-7, the power rod 3-2 is driven to move up and down through the transmission gear 3-6 to adjust the movement stroke of the power rod 3-2, thereby facilitating the adjustment of the movement stroke of the second slider 3-1.

[0037] Furthermore, the gripper body 1 is provided with a first air inlet 1-1, a second air inlet 1-2, a third air inlet 1-3 and a fourth air inlet 1-4 which are respectively connected to the first piston chamber 4-8, the second piston chamber 2-5, the third piston chamber 2-6 and the fourth piston chamber 3-5.

[0038] Furthermore, the first slider 2 - 1 and the second slider 3 - 1 have the same structure, and are provided with a plurality of mounting holes evenly distributed along the length direction.

[0039] Working principle of this embodiment: The movement principle of the Z-axis material return mechanism is: when the first piston chamber 4-8 is not inflated, the spring pushes against the push rod, so that the connecting plate 4-2 is flush with the upper end of the gripper body 1, and when the first piston chamber 4-8 is inflated through the first air inlet 1-1 box, the first piston 4-4 moves downward, thereby causing the entire Z-axis material return mechanism to move downward.

[0040] The movement principle of the first gripper mechanism 2 is as follows: pressurizing the second piston chamber 2-5 through the second air inlet 1-2, causing the second piston 2-4 to move downward, thereby driving the first slider 2-1 to move inward, i.e., a clamping action; pressurizing the third piston chamber 2-6 through the third air inlet 1-3, causing the second piston 2-4 to move upward, thereby driving the first slider 2-1 to move outward, i.e., an opening action.

[0041] The movement principle of the second gripper mechanism 3 is as follows: when pressure is applied to the fourth piston chamber 3-5 through the fourth air inlet 1-4, the third piston 3-4 moves upward, causing the second slider 3-1 to move outward, i.e., an opening action; when the pressure applied to the fourth piston chamber 3-5 is cancelled, the third piston 3-4 moves downward under the action of the return spring 3-9, driving the second slider 3-4 to move inward, i.e., a closing action.

[0042] The sealing ring grasping gripper for the robot of this embodiment not only improves the efficiency and accuracy of sealing ring grasping, but also reduces maintenance costs and production difficulty, and has broad application prospects and important commercial value.

[0043] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot gripper with a sealing ring, characterized in that: The invention comprises a gripper body (1); the gripper body (1) is provided with a first gripper mechanism (2), a second gripper mechanism (3) and a Z-axis material return mechanism (4); the first gripper mechanism (2) and the second gripper mechanism (3) are arranged in a staggered manner; the Z-axis material return mechanism (4) is movably arranged inside the gripper body (1); and the first gripper mechanism (2) is mounted on the Z-axis mechanism.

2. The sealing ring gripper for a robot according to claim 1, characterized in that: The Z-axis material-removing mechanism (4) comprises a first cylinder assembly, a mounting block (4-1) and a connecting plate (4-2); the mounting block (4-1) is fixedly connected to the connecting plate (4-2); the first cylinder assembly comprises a housing (4-3), a first piston (4-4) and an end cover (4-5); the housing (4-3) is fixedly connected to the connecting plate (4-2); a first mounting groove of the housing (4-3) is provided on the gripper body (1); the housing (4-3) is installed in the first mounting groove; a mounting hole communicating with the first mounting groove is provided at the bottom of the gripper body (1) ; The end cover (4-5) is covered on the mounting hole; a connecting shaft (4-6) extending into the mounting hole is provided at the bottom of the housing (4-3); a first piston (4-4) sealed with the mounting hole is provided on the connecting shaft (4-6); the first piston (4-4) and the inner end of the mounting hole form a first piston chamber (4-8); a plurality of accommodating holes are evenly distributed on the gripper body (1); a push rod (4-9) extending into the accommodating hole is fixed at the bottom of the connecting plate (4-2); a spring (4-10) is provided between the bottom of the push rod (4-9) and the bottom of the accommodating hole.

3. The sealing ring gripper for a robot according to claim 2, characterized in that: The first gripping mechanism (2) comprises a plurality of first sliders (2-1); the first sliders (2-1) are slidably mounted in a mounting block (4-1); a cavity is provided in the middle of the housing (4-3); a pull rod assembly (2-2) is movably connected in the cavity; the top end of the pull rod assembly (2-2) is hinged to the first slider (2-1) via a first swing block (2-3); a second piston (2-4) is provided at the bottom of the pull rod assembly (2-2); the second piston (2-4) divides the cavity in the middle of the housing (4-3) into a second piston chamber (2-5) and a third piston chamber (2-6) via a sealing ring.

4. The sealing ring gripper for a robot according to claim 3, characterized in that: The tie rod assembly (2-2) comprises an outer tie rod (2-2-1) and an inner tie rod (2-2-2) slidably connected to the inner part of the outer tie rod (2-2-1); the second piston (2-4) is fixed to the bottom of the inner tie rod (2-2-2); a mounting plate (2-2-3) is fixed to the top of the outer tie rod (2-2-1); the top of the inner tie rod (2-2-2) is threadedly connected to the mounting plate (2-2-3), and the top of the inner tie rod (2-2-2) extends out of the mounting plate (2-2-3); one end of the inner tie rod (2-2-2) extending out of the mounting plate (2-2-3) is threadedly connected to a nut (2-2-4); a sealing ring is provided in the middle of the outer tie rod (2-2-1) to seal with the inner wall of the inner tie rod (2-2-2); and a wrench groove (2-2-5) is provided at the top of the inner tie rod (2-2-2).

5. The sealing ring gripping gripper for a robot according to claim 4, characterized in that: The outer pull rod (2-2-1) is provided with a connecting ear (2-2-6); a first waist-shaped hole is horizontally provided on the upper edge of the connecting ear (2-2-6); a second waist-shaped hole is vertically provided on the upper edge of the first sliding block (2-1); one side of the first swing block (2-3) is hinged in the first waist-shaped hole, and the other side is rotatably connected to the gripper body (1) through a first rotating shaft (2-2-7); the top of the first swing block (2-3) is hinged in the second waist-shaped hole.

6. The sealing ring gripper for a robot according to claim 2, characterized in that: The second gripper mechanism (3) comprises a plurality of second sliders (3-1) slidably connected to the gripper body (1); a second mounting groove is provided on the gripper body corresponding to the second slider (3-1); a power rod (3-2) is provided in the second mounting groove; the top of the power rod (3-2) is hinged to the second slider (3-1) via a second swing block (3-3); a third piston (3-4) is provided at the bottom of the power rod (3-2); the third piston (3-4) forms a fourth piston chamber (3-5) with the bottom of the second mounting groove via a sealing ring.

7. The sealing ring gripper for a robot according to claim 6, characterized in that: A third waist-shaped hole is provided in the transverse direction on the top of the power rod (3-2); a fourth waist-shaped hole is provided in the vertical direction on the upper edge of the second sliding block (3-1); one side of the second swing block (3-3) is hinged to the gripper body (1) through a second rotating shaft; one end of the second swing block (3-3) is hinged in the third waist-shaped hole, and the other end is hinged in the fourth waist-shaped hole.

8. The sealing ring gripping gripper for a robot according to claim 6, characterized in that: The middle part of the power rod (3-2) is threadedly connected to a transmission gear (3-6); the middle part of the gripper body (1) is provided with an adjustment ring (3-7); the inner side of the adjustment ring (3-7) is provided with adjustment teeth meshing with the transmission gear (3-6); the adjustment ring (3-7) is provided with a locking screw (3-8) for locking the adjustment ring (3-7) and the gripper body (1); and the power rod (3-2) is sleeved with a reset spring (3-9) for resetting the power rod (3-2).

9. The sealing ring gripper for a robot according to claim 2, characterized in that: The gripper body (1) is provided with a first air inlet (1-1), a second air inlet (1-2), a third air inlet (1-3) and a fourth air inlet (1-4) which are respectively connected to the first piston chamber (4-8), the second piston chamber (2-5), the third piston chamber (2-6) and the fourth piston chamber (3-5).

10. The sealing ring gripper for a robot according to claim 6, characterized in that: The first sliding block (2-1) and the second sliding block (3-1) have the same structure, and are both provided with a plurality of mounting holes evenly distributed along the length direction.

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