Mechanical gripper for multifunctional industrial robot

Abstract

The mechanical gripper for the multifunctional industrial robot comprises a connecting base and an air cylinder, an output shaft below the air cylinder is fixedly connected with a control base, and a clamping arm used for clamping a workpiece is arranged between the control base and the connecting base; according to the clamping device, irregular workpieces can be stably clamped through the clamping arms and the like, the clamping stability can be guaranteed, the situation that the workpieces fall off after being clamped is avoided, the number of waste products is reduced, and the clamping device can adapt to workpieces of different shapes and stably clamp the workpieces.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, in particular to a mechanical gripper for a multifunctional industrial robot. Background Art

[0002] Industrial robots are an important member of the field of automation technology. They are widely used in industries such as automobile manufacturing, electronic assembly, food processing, and logistics warehousing. These high-precision robotic arms are controlled by preset programs or artificial intelligence algorithms and can perform a variety of complex tasks such as welding, handling, spraying, and assembly. Industrial robots have not only greatly improved production efficiency and quality, but also significantly reduced labor costs and operational risks. With the continuous advancement of technology, they are becoming more intelligent, flexible, and collaborative, injecting strong impetus into the development of modern industry and leading the transformation and upgrading of manufacturing to intelligent manufacturing;

[0003] However, general multifunctional industrial robots may experience instability when using mechanical grippers to clamp irregular workpieces. The mechanical grippers cannot firmly grip the workpieces, which can easily cause the workpieces to fall or be damaged, resulting in an increase in scrap, so further improvements are needed. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional industrial robot manipulator in order to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a multifunctional industrial robot manipulator gripper, comprising: a connecting seat and a cylinder, wherein a control seat is fixedly connected to the output shaft below the cylinder, and a clamping arm for clamping a workpiece is arranged between the control seat and the connecting seat, and the cylinder is a prior art.

[0006] As a further scheme of the present invention, the clamping arm includes a rotating bar arranged at one end of the side surface of the connecting seat, and the side surface of the rotating bar is provided with a first rotating shaft, and the rotating bar is rotatably connected to the side surface of the connecting seat through the first rotating shaft, and the side surface of the rotating bar is rotatably connected to a rotating block, and the side surface of the rotating block is fixedly connected to an arc block, and the side surface of the arc block is provided with a second rotating shaft, and the arc block is rotatably connected to the side surface of the control seat through the second rotating shaft, and the side surface of the arc block is fixedly connected to a connecting box, and a cavity for accommodating the sliding of the limit rod is provided inside the connecting box, and a cavity compatible with the locking assembly and the spring is provided inside the connecting box, and one end of the side surface of the connecting box is slidably connected to the limit rod, and the side surface of the limit rod is relatively rough, which can generate greater friction when contacting the locking block, and one end of the side surface of the limit rod is fixedly connected to a spring, and one end of the side surface of the limit rod is provided with a locking assembly, and one end of the side surface of the locking assembly is provided with an electric telescopic rod.

[0007] As a further solution of the present invention: the locking assembly includes a first fixing assembly arranged at an output end of a side surface of the electric telescopic rod, and a second fixing assembly is arranged at one end of a side surface of the electric telescopic rod.

[0008] As a further solution of the present invention: the first fixing component includes a connecting plate fixedly connected to one end of the side of the electric telescopic rod, a connecting strip fixedly connected to one end of the side of the connecting plate, a connecting block fixedly connected to one end below the connecting strip, and a locking block fixedly connected to one end below the connecting block, the contact surface of the locking block with the limit rod is relatively rough, and the limit rod can be positioned by extrusion contact.

[0009] As a further solution of the present invention: the clamping arms are provided in four groups, which are symmetrically arranged at the four ends of the side surfaces of the connecting seat.

[0010] As a further solution of the present invention: the limiting rods and the springs are provided in multiple groups and are evenly arranged inside the connection box.

[0011] As a further solution of the present invention: the connecting blocks and the locking blocks are provided in multiple groups, which are evenly arranged below the connecting strips, and an oblique groove adapted to the limiting rod is provided at one end of the side surface of the locking block.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] In the present invention, irregular workpieces can be stably clamped by clamping arms, etc., which can ensure stability during clamping, avoid the workpiece from falling after clamping, reduce the increase of waste, and can adapt to workpieces of different shapes and clamp them stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the structure of the clamping arm in the present invention;

[0016] Figure 3 is a structural cross-sectional view of the clamping arm in the present invention;

[0017] Figure 4 It is a schematic diagram of the structure of the locking assembly in the present invention;

[0018] Figure 5 It is a structural schematic diagram of the first fixing component in the present invention.

[0019] In the figure: 1, connecting seat; 2, cylinder; 3, control seat; 4, clamping arm; 41, rotating bar; 42, first rotating shaft; 43, arc block; 44, second rotating shaft; 45, connecting box; 46, limiting rod; 47, electric telescopic rod; 48, locking assembly; 481, first fixed assembly; 4811, connecting plate; 4812, connecting bar; 4813, connecting block; 4814, locking block; 482, second fixed assembly; 49, spring; 410, rotating block. DETAILED DESCRIPTION

[0020] 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.

[0021] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" 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 directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0022] Reference Figures 1 to 5 In an embodiment of the present invention, a multifunctional industrial robot manipulator gripper specifically includes the following embodiments:

[0023] Example 1

[0024] A connecting seat 1 and a cylinder 2, a control seat 3 is fixedly connected to the output shaft below the cylinder 2, a clamping arm 4 for clamping a workpiece is arranged between the control seat 3 and the connecting seat 1, and the clamping arm 4 includes a rotating bar 41 arranged at one end of the side of the connecting seat 1, a first rotating shaft 42 is arranged at one end of the side of the rotating bar 41, a rotating block 410 is rotatably connected to one end of the side of the rotating bar 41, an arc block 43 is fixedly connected to one end of the side of the rotating block 410, a second rotating shaft 44 is arranged at one end of the side of the arc block 43, a connecting box 45 is fixedly connected to one end of the side of the arc block 43, a limiting rod 46 is slidably connected to one end of the side of the connecting box 45, a spring 49 is fixedly connected to one end of the side of the limiting rod 46, and a spring 49 is fixedly connected to one end of the side of the limiting rod 46 A locking assembly 48 is provided at one end, an electric telescopic rod 47 is provided at one end of the side of the locking assembly 48, the locking assembly 48 includes a first fixing assembly 481 provided at the output end of the side of the electric telescopic rod 47, a second fixing assembly 482 is provided at one end of the side of the electric telescopic rod 47, the first fixing assembly 481 includes a connecting plate 4811 fixedly connected to one end of the side of the electric telescopic rod 47, a connecting strip 4812 is fixedly connected to one end of the side of the connecting plate 4811, a connecting block 4813 is fixedly connected to one end below the connecting strip 4812, and a locking block 4814 is fixedly connected to one end below the connecting block 4813. There are four groups of clamping arms 4, which are symmetrically arranged at the four ends on the side of the connecting seat 1.

[0025] The above scheme is adopted: the control seat 3 is pushed to move upward by the cylinder 2, thereby driving the arc block 43 connected by the side rotation to rotate, so as to clamp the workpiece in the middle of the four groups of clamping arms 4. The four groups of clamping arms 4 can stably clamp the workpiece. The irregular shape of the workpiece will squeeze the limit rod 46 to make it slide inward, and then the two groups of connecting plates 4811 are driven to approach each other when the electric telescopic rod 47 is contracted, thereby moving the two groups of connecting strips 4812 fixed below, and when the connecting strip 4812 moves, it drives the locking block 4814 to move toward the direction of the limit rod 46, thereby clamping the limit rod 46, so that the limit rod 46 can be limited, so that the limit rod 46 can be in a fixed state after sliding, so that the workpiece can be stably clamped.

[0026] Example 2

[0027] A connecting seat 1 and a cylinder 2, a control seat 3 is fixedly connected to the output shaft below the cylinder 2, a clamping arm 4 for clamping a workpiece is arranged between the control seat 3 and the connecting seat 1, the clamping arm 4 includes a rotating bar 41 arranged at one end of the side of the connecting seat 1, a first rotating shaft 42 is arranged at one end of the side of the rotating bar 41, a rotating block 410 is rotatably connected to one end of the side of the rotating block 410, an arc block 43 is fixedly connected to one end of the side of the rotating block 410, a second rotating shaft 44 is arranged at one end of the side of the arc block 43, a connecting box 45 is fixedly connected to one end of the side of the connecting box 45, a limiting rod 46 is slidably connected to one end of the side of the limiting rod 46, a spring 49 is fixedly connected to one end of the side of the limiting rod 46, a locking assembly 48 is arranged at one end of the side of the limiting rod 46, an electric telescopic rod 47 is arranged at one end of the side of the locking assembly 48, and the locking assembly 48 includes a A first fixing component 481 is provided at the output end of the side of the rod 47, and a second fixing component 482 is provided at one end of the side of the electric telescopic rod 47. The first fixing component 481 includes a connecting plate 4811 fixedly connected to one end of the side of the electric telescopic rod 47, a connecting strip 4812 is fixedly connected to one end of the side of the connecting plate 4811, a connecting block 4813 is fixedly connected to one end below the connecting strip 4812, and a locking block 4814 is fixedly connected to one end below the connecting block 4813. There are four groups of clamping arms 4, which are symmetrically arranged at the four ends of the side of the connecting seat 1. There are multiple groups of limit rods 46 and springs 49, which are evenly arranged inside the connecting box 45. There are multiple groups of connecting blocks 4813 and locking blocks 4814, which are evenly arranged below the connecting strip 4812. An oblique groove compatible with the limit rod 46 is provided at one end of the side of the locking block 4814.

[0028] By adopting the above scheme: multiple groups of limit rods 46 can make the limit rods 46 fit more closely to the surface of the workpiece during clamping, thereby increasing the stability of clamping. After clamping and fixing, the limit rods 46 can be limited, so that the workpiece is in a stationary state after being clamped and will not shake easily, thereby avoiding the workpiece from slipping during movement and reducing the possibility of damage to the workpiece due to slipping during transportation.

[0029] Example 3

[0030] A connecting seat 1 and a cylinder 2, a control seat 3 is fixedly connected to the output shaft below the cylinder 2, a clamping arm 4 for clamping a workpiece is arranged between the control seat 3 and the connecting seat 1, the clamping arm 4 includes a rotating bar 41 arranged at one end of the side of the connecting seat 1, a first rotating shaft 42 is arranged at one end of the side of the rotating bar 41, a rotating block 410 is rotatably connected to one end of the side of the rotating block 410, an arc block 43 is fixedly connected to one end of the side of the rotating block 410, a second rotating shaft 44 is arranged at one end of the side of the arc block 43, a connecting box 45 is fixedly connected to one end of the side of the connecting box 45, a limiting rod 46 is slidably connected to one end of the side of the limiting rod 46, a spring 49 is fixedly connected to one end of the side of the limiting rod 46, a locking assembly 48 is arranged at one end of the side of the limiting rod 46, an electric telescopic rod 47 is arranged at one end of the side of the locking assembly 48, and the locking assembly 48 includes a A first fixing component 481 is provided at the output end of the side of the rod 47, and a second fixing component 482 is provided at one end of the side of the electric telescopic rod 47. The first fixing component 481 includes a connecting plate 4811 fixedly connected to one end of the side of the electric telescopic rod 47, a connecting strip 4812 is fixedly connected to one end of the side of the connecting plate 4811, a connecting block 4813 is fixedly connected to one end below the connecting strip 4812, and a locking block 4814 is fixedly connected to one end below the connecting block 4813. There are four groups of clamping arms 4, which are symmetrically arranged at the four ends of the side of the connecting seat 1. There are multiple groups of limit rods 46 and springs 49, which are evenly arranged inside the connecting box 45. There are multiple groups of connecting blocks 4813 and locking blocks 4814, which are evenly arranged below the connecting strip 4812. An oblique groove compatible with the limit rod 46 is provided at one end of the side of the locking block 4814.

[0031] By adopting the above scheme: the contact surfaces of the limit rod 46 and the locking block 4814 are relatively rough, so that when they come into contact under the action of the electric telescopic rod 47, the friction between the limit rod 46 and the locking block 4814 can be increased, ensuring that after the workpiece squeezes the limit rod 46 to shrink it, the limit rod 46 is in a limited state, so that the side of the limit rod 46 fits more stably with the surface of the workpiece, ensuring that the workpiece will not shake during transportation, and can adapt to workpieces of various shapes, with a wider range of uses.

[0032] The working principle of the present invention is: first, the control seat 3 is pushed upward by the cylinder 2, thereby driving the arc block 43 connected by the side rotation to rotate, so as to clamp the workpiece in the middle of the four groups of clamping arms 4, and the irregular shape of the workpiece will squeeze the limit rod 46 to make it slide inward, and then the two groups of connecting plates 4811 are driven to approach each other when the electric telescopic rod 47 is contracted, thereby moving the two groups of connecting strips 4812 fixed below, and when the connecting strip 4812 moves, the locking block 4814 is driven to move toward the limit rod 46, so as to clamp the limit rod 46, and the contact surface between the locking block 4814 and the limit rod 46 is a rough surface. Under the action of the electric telescopic rod 47, the limit rod 46 can be limited, so that the limit rod 46 can be in a fixed state after sliding, so that the workpiece can be stably clamped.

[0033] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multifunctional industrial robot gripper, comprising: A connecting seat (1) and a cylinder (2), characterized in that a control seat (3) is fixedly connected to the output shaft below the cylinder (2), and a clamping arm (4) for clamping a workpiece is provided between the control seat (3) and the connecting seat (1).

2. A multifunctional industrial robot gripper according to claim 1, characterized in that: The clamping arm (4) comprises a rotating bar (41) arranged at one end of the side of the connecting seat (1), a first rotating shaft (42) being arranged at one end of the side of the rotating bar (41), a rotating block (410) being rotatably connected to one end of the side of the rotating block (410), an arc block (43) being fixedly connected to one end of the side of the rotating block (410), a second rotating shaft (44) being arranged at one end of the side of the arc block (43), a connecting box (45) being fixedly connected to one end of the side of the connecting box (45), a limiting rod (46) being slidably connected to one end of the side of the limiting rod (46), a spring (49) being fixedly connected to one end of the side of the limiting rod (46), a locking assembly (48) being arranged at one end of the side of the limiting rod (46), and an electric telescopic rod (47) being arranged at one end of the side of the locking assembly (48).

3. A multifunctional industrial robot gripper according to claim 2, characterized in that: The locking assembly (48) comprises a first fixing assembly (481) arranged at the output end of the side surface of the electric telescopic rod (47), and a second fixing assembly (482) is arranged at one end of the side surface of the electric telescopic rod (47).

4. The multifunctional industrial robot gripper according to claim 3, characterized in that: The first fixing assembly (481) comprises a connecting plate (4811) fixedly connected to one end of the side of the electric telescopic rod (47), a connecting strip (4812) fixedly connected to one end of the side of the connecting plate (4811), a connecting block (4813) fixedly connected to one end below the connecting strip (4812), and a locking block (4814) fixedly connected to one end below the connecting block (4813).

5. The multifunctional industrial robot gripper according to claim 1, characterized in that: The clamping arms (4) are arranged in four groups, and are symmetrically arranged at the four ends of the side surface of the connecting seat (1).

6. The multifunctional industrial robot gripper according to claim 2, characterized in that: The limiting rods (46) and the springs (49) are provided in multiple groups and are evenly arranged inside the connection box (45).

7. The multifunctional industrial robot gripper according to claim 4, characterized in that: The connecting blocks (4813) and the locking blocks (4814) are provided in multiple groups and are evenly arranged below the connecting strip (4812). An oblique groove matching the limiting rod (46) is provided at one end of the side of the locking block (4814).

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