Self-adaptive layer gripper for robot

Abstract

The invention relates to the field of robots, and discloses a self-adaptive layer gripper for a robot, the self-adaptive layer gripper comprises a gripper robot connecting plate, the bottom of the gripper robot connecting plate is fixedly connected with a gripper rack through a screw, and the gripper rack is fixedly connected with a gripping tooth telescopic rod; a left grabbing tooth fixing beam and a right grabbing tooth fixing beam are arranged on the grabbing tooth telescopic rod, a grabbing tooth telescopic servo is fixedly connected to the grabbing machine frame, a pressure measuring servo is fixedly connected to the grabbing machine frame, a side face clamping support is connected to the grabbing machine frame in a sliding mode, a side stop lever is fixedly connected to the side face clamping support, and the side stop lever is fixedly connected to the grabbing machine frame. A front-back pressing rod is hinged to the outer side of the hand grabbing machine frame, an air cylinder is hinged to the top of the hand grabbing machine frame, and materials are placed below the grabbing teeth. Through combination of the servo motor and the air cylinder, rapid shaping and one-time grabbing of materials are achieved, the grabbing time is greatly shortened, the working efficiency is remarkably improved, and the problem that a traditional grabbing mode is long in time consumption is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an adaptive layer gripper for robots. Background Art

[0002] In the context of machines replacing manual labor, robots are particularly important in the automation process because of their strong flexibility, high precision and stability. As technology matures, improving precision and stability, the gripper that directly contacts objects directly affects the use of robots, and plays a crucial role in efficiency and precision. The present invention is based on market demand and develops a servo control layer gripper.

[0003] Most of the scenarios on the market are double grip or single grip, so one layer needs 2 to 3 times or even more times, which takes a long time. There is also the possibility that the material packaging will be deformed or offset during placement, causing the stack to deform or tilt. As the stacking height increases, the performance becomes more obvious, increasing the space occupied for subsequent transportation, etc., and in serious cases, there are safety hazards. The importance and value of the research and implementation of layer grippers that need to solve these problems are obvious. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an adaptive layer gripper for a robot, which solves the problem that other current grippers have drawbacks in their use and cannot efficiently meet the market's palletizing needs.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a robot adaptive layer gripper, comprising a gripper robot connecting plate, the bottom of the gripper robot connecting plate is fixedly connected to a gripper machine frame by screws, the gripper machine frame is fixedly connected to a gripper tooth telescopic rod, the gripper tooth telescopic rod is provided with a left gripper tooth fixed beam and a right gripper tooth fixed cross beam, the gripper machine frame is fixedly connected to a gripper tooth telescopic servo, the gripper machine frame is fixedly connected to a pressure measuring servo, the gripper machine frame is slidably connected to a side clamping bracket, the side clamping bracket is fixedly connected to a side guard rod, the outer side of the gripper machine frame is hinged with front and rear clamping rods, the top of the gripper machine frame is hinged with a cylinder, and materials are placed under the gripper teeth.

[0006] Preferably, the top of the gripper robot connecting plate is fixedly connected to the robot end flange by screws.

[0007] Preferably, two groups of the grabbing tooth telescopic rods are provided, and the two groups of the grabbing tooth telescopic rods are symmetrically arranged.

[0008] Preferably, the output end of one group of the grabbing teeth telescopic rods is fixedly connected to the left grabbing teeth fixed beam, and the output end of the other group of the grabbing teeth telescopic rods is fixedly connected to the right grabbing teeth fixed beam.

[0009] Preferably, grabbing teeth are fixedly connected below the left grabbing tooth fixing beam and the right grabbing tooth fixing cross beam.

[0010] Preferably, the grabbing tooth telescopic servo controls and drives the grabbing tooth telescopic rod through a grabbing tooth telescopic synchronous belt.

[0011] Preferably, the pressure measuring servo is driven and connected to the side clamping bracket through a side pressure rod telescopic synchronous belt.

[0012] Preferably, the output end of the cylinder is hinged to the top of the front and rear clamping rods.

[0013] Working principle:

[0014] S1. Device installation phase:

[0015] The staff needs to screw the gripper robot connection plate and the robot end flange together to establish a solid connection between the gripper and the robot, ensuring that the robot can accurately control the movement of the gripper. The staff also needs to screw the gripper robot connection plate and the gripper machine frame together to provide a support structure for the components inside the gripper so that the components can work together.

[0016] S2. Grasping preparation stage:

[0017] The staff controls the return stroke of the front and rear clamping cylinders to drive the front and rear clamping bars to lift up, leaving space for subsequent materials to enter the gripper, while releasing the possible front and rear clamping state;

[0018] At the same time, the grabber servo drives the grabber telescopic synchronous belt, which in turn moves the grabber telescopic rod. The left grabber fixed beam on the grabber telescopic rod moves to the left with the left telescopic rod, and the right grabber fixed beam moves to the right with the right telescopic rod, and the grabber quickly opens to prepare to receive materials;

[0019] The servo motor drives the two symmetrical side pressure rod telescopic synchronous belts to drive the side clamping bracket to move. The side blocking rod installed on the side clamping bracket also moves accordingly and moves to the outermost side to provide enough space for the material to enter.

[0020] S3. Material grabbing stage:

[0021] The robot moves the gripper to the gripping position so that the gripper is in a position where it can accurately grip the material;

[0022] Then, two symmetrical cylinders push the front and rear clamping rods to compress the material in the front and rear directions, completing the shaping and clamping in the front and rear directions to ensure the regularity of the material in this direction;

[0023] The servo motor is driven to reverse, and the left and right grabber fixed beams are pulled back through the telescopic synchronous belt of the side pressure rod, so that the side blocking rod clamps and shapes the material in the left and right directions, completing the shaping and clamping of the left and right side materials;

[0024] Finally, the grabbing teeth servo is driven to work again, driving the grabbing teeth telescopic synchronous belt, so that the right grabbing teeth fixed beam on the right telescopic rod and the left grabbing teeth fixed beam on the left telescopic rod move inward under the traction of the synchronous belts on both sides, and the grabbing teeth gradually approach the material and finally complete the grabbing action;

[0025] S4. Adaptive adjustment and palletizing:

[0026] Two servos (gripping teeth servo and servo motor) can be adjusted according to the material size. When the material size changes, through the corresponding control program, the servo can change the opening and closing degree of the grab teeth and the clamping position of the side guard bar to achieve adaptive specification adjustment;

[0027] S5. Material placement stage:

[0028] When the material needs to be placed, the grabbing tooth servo drives the grabbing tooth to retract the synchronous belt, so that the grabbing tooth moves outward and releases the grip on the material;

[0029] When the front and rear clamping cylinders return, the front and rear clamping bars are driven to lift up, releasing the clamping in the front and rear directions;

[0030] Finally, the servo motor is controlled to drive the telescopic synchronous belt of the side pressure rod to move the side guard rod outward to release the lateral clamping of the material; the robot moves the gripper to the specified placement position to complete the material placement operation.

[0031] The present invention provides an adaptive layer gripper for a robot, which has the following beneficial effects:

[0032] 1. The present invention utilizes a servo motor and a cylinder combination to achieve rapid shaping and one-time grabbing of materials, greatly shortening the grabbing time, significantly improving work efficiency, and effectively solving the problem of time-consuming traditional grabbing methods.

[0033] 2. The present invention uses a grabbing tooth servo to precisely control the grabbing teeth, and cooperates with the cylinder to shape and clamp the material in multiple directions, thereby improving the stacking accuracy, reducing the stacking shape deviation, reducing space waste and safety hazards, and effectively ensuring the stacking quality.

[0034] 3. The present invention can adjust the grab teeth and the side baffles in real time according to the material size through two servos, quickly adapt to materials of different specifications, without frequent manual intervention, improve the versatility and flexibility of the system, reduce costs, and enhance the overall adaptive ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is an axonometric schematic diagram of the present invention in a non-grasping state;

[0036] Figure 2 It is a front view schematic diagram of the non-grasping state of the present invention;

[0037] Figure 3 It is a side view schematic diagram of the non-grasping state of the present invention;

[0038] Figure 4 It is an axonometric schematic diagram of the grasping state of the present invention.

[0039] Among them, 1. Left grabber fixed beam; 2. grabber; 3. side pressure rod telescopic synchronous belt; 4. cylinder; 5. front and rear clamping rods; 6. grabber telescopic rod; 7. side guard rod; 8. right grabber fixed beam; 9. gripper robot connecting plate; 10. material; 11. side clamping bracket; 12. grabber telescopic servo; 13. grabber telescopic synchronous belt; 14. pressure measuring servo; 15. gripper machine stand. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the specification 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.

[0041] Example:

[0042] Please see attached Figure 1 -Attached Figure 4 The embodiment of the present invention provides a robot adaptive layer gripper, including a gripper robot connecting plate 9, the top of the gripper robot connecting plate 9 is fixedly connected to the robot end flange by screws, and the robot end flange provides a support and fixing effect for the gripper robot connecting plate 9 to ensure the stability of the entire device during use;

[0043] The bottom of the gripper robot connecting plate 9 is fixedly connected with a gripper frame 15 by screws, so that the skeleton of the device is built through the gripper frame 15 to ensure the stability of each part of the device when driving and moving during the clamping process.

[0044] A grabbing tooth telescopic rod 6 is fixedly connected to the grabbing machine frame 15, and two groups of grabbing tooth telescopic rods 6 are provided. The output end of one group of grabbing tooth telescopic rods 6 is fixedly connected to the left grabbing tooth fixed beam 1, and the output end of the other group of grabbing tooth telescopic rods 6 is fixedly connected to the right grabbing tooth fixed beam 8. By controlling the grabbing tooth telescopic rod 6 to start, the two groups of grabbing tooth telescopic rods 6 respectively drive the left grabbing tooth fixed beam 1 and the right grabbing tooth fixed beam 8 to move inward at the same time, thereby achieving the effect of clamping the goods, and the left grabbing tooth fixed beam 1 and the right grabbing tooth fixed beam 8 are fixedly connected to the bottom of the grabbing tooth 2, so that the grabbing tooth 2 is driven to move laterally at the same time during the movement of the left grabbing tooth fixed beam 1 and the right grabbing tooth fixed beam 8;

[0045] The grabber frame 15 is fixedly connected with the grabber telescopic servo 12, and the grabber frame 15 provides a supporting and fixing effect for the grabber telescopic servo 12 to ensure the stability of the grabber telescopic servo 12 during use and driving. The grabber telescopic servo 12 controls and drives the grabber telescopic rod 6 through the grabber telescopic synchronous belt 13, which has the effect of controlling the grabber telescopic rod 6 to start;

[0046] A pressure measuring servo 14 is fixedly connected to the gripper frame 15, which provides a supporting and fixing effect for the pressure measuring servo 14 to ensure the stability of the pressure measuring servo 14 during use and driving. A side clamping bracket 11 is slidably connected to the gripper frame 15, and the pressure measuring servo 14 is driven and connected to the side clamping bracket 11 through a side pressure rod telescopic synchronous belt 3. A side blocking rod 7 is fixedly connected to the side clamping bracket 11. The side clamping bracket 11 is driven and moved by starting the pressure measuring servo 14 to achieve an auxiliary clamping effect.

[0047] The outer side of the gripper frame 15 is hinged with front and rear clamping rods 5, the top of the gripper frame 15 is hinged with a cylinder 4, the output end of the cylinder 4 is hinged with the top of the front and rear clamping rods 5, and the material 10 is placed under the grabbing teeth 2. By operating the cylinder 4, the cylinder 4 drives the front and rear clamping rods 5 to contract inward, so that the front and rear clamping rods 5 clamp the material 10 placed below.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot adaptive layer gripper, characterized in that: The invention comprises a gripper robot connecting plate (9), the bottom of which is fixedly connected to a gripper frame (15) by screws, the gripper frame (15) is fixedly connected to a gripper tooth telescopic rod (6), the gripper tooth telescopic rod (6) is provided with a left gripper tooth fixed beam (1) and a right gripper tooth fixed cross beam (8), the gripper frame (15) is fixedly connected to a gripper tooth telescopic servo (12), the gripper frame (15) is fixedly connected to a pressure measuring servo (14), the gripper frame (15) is slidably connected to a side clamping bracket (11), the side clamping bracket (11) is fixedly connected to a side blocking rod (7), the outer side of the gripper frame (15) is hinged with front and rear clamping rods (5), the top of the gripper frame (15) is hinged with a cylinder (4), and materials (10) are placed below the gripper teeth (2).

2. The adaptive layer gripper for a robot according to claim 1, characterized in that: The top of the gripper robot connection plate (9) is fixedly connected to the robot end flange via screws.

3. The adaptive layer gripper for a robot according to claim 1, characterized in that: The grabbing tooth telescopic rods (6) are provided in two groups, and the two groups of the grabbing tooth telescopic rods (6) are symmetrically arranged.

4. The adaptive layer gripper for a robot according to claim 1, characterized in that: The output ends of one group of the grabbing tooth telescopic rods (6) are fixedly connected to the left grabbing tooth fixed beam (1), and the output ends of the other group of the grabbing tooth telescopic rods (6) are fixedly connected to the right grabbing tooth fixed cross beam (8).

5. The adaptive layer gripper for a robot according to claim 1, characterized in that: The left grabbing tooth fixing beam (1) and the right grabbing tooth fixing cross beam (8) are both fixedly connected with grabbing teeth (2) below.

6. The adaptive layer gripper for a robot according to claim 1, characterized in that: The grabbing tooth telescopic servo (12) controls and drives the grabbing tooth telescopic rod (6) via the grabbing tooth telescopic synchronous belt (13).

7. The adaptive layer gripper for a robot according to claim 1, characterized in that: The pressure measuring servo (14) is drivingly connected to the side clamping bracket (11) via the side pressure rod telescopic synchronous belt (3).

8. The adaptive layer gripper for a robot according to claim 1, characterized in that: The output end of the cylinder (4) is hinged to the top of the front and rear pressing rods (5).

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