Robot clamp holder

Abstract

The robot clamping device is arranged at the executing tail end of a robot and comprises an installation lug plate, a driving cylinder and a frame body with a plurality of vacuum clamping devices, a connecting arm is vertically arranged on the frame body, the installation lug plate is vertically arranged at the executing tail end of the robot, and the driving cylinder is arranged on the connecting arm. The end of the mounting lug plate extends outwards in an inclined mode to form a connecting edge, the connecting edge is connected with a connecting arm of the frame body through a rotating shaft provided with a bearing, the driving cylinder is fixed to the executing tail end of the robot in an inclined mode, and a telescopic rod of the driving cylinder is hinged to the top of the connecting arm. According to the robot clamping device, the driving cylinder is additionally arranged between the executing tail end of the robot and the frame body used for clamping objects, the connecting arm on the frame body is driven by the driving cylinder to rotate so as to change the angle of the frame body, and therefore the angle of the frame body can be changed according to actual needs, and the adaptability of the robot to object carrying is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot handling, and more specifically, to a robot clamper. Background Art

[0002] Delta robot is a high-speed, light-load parallel robot. It usually captures the target object through teaching programming or visual system. Delta robot is a typical spatial three-degree-of-freedom parallel mechanism. The spatial position of the grasping center is determined by three parallel servo axes to realize the transportation and processing of the target object. The overall structure of Delta robot is precise and compact. The driving parts are evenly distributed on the fixed platform. It has the characteristics of strong carrying capacity, high rigidity, small deadweight-load ratio, good dynamic performance, accurate positioning, low cost and high efficiency. It is being widely used in the processing and assembly of food, medicine and electronic products.

[0003] In recent years, Delta robots have also been used in picking work in modern automated warehousing, but the end gripping devices of Delta robots are mostly fixed structures and cannot adjust their status by themselves. This limits the posture and shape of the picked items to a certain extent, making the Delta robots less adaptable in picking. Utility Model Content

[0004] The utility model provides a robot gripper to solve the problem of low adaptability caused by inconvenient angle adjustment of the existing robot gripper, so as to improve the adaptability of the Delta robot to grasping objects.

[0005] According to one aspect of the utility model, there is provided a robot gripper, which is installed at the execution end of the robot, and the robot gripper comprises a mounting ear plate, a driving cylinder and a frame with a plurality of vacuum grippers, and a connecting arm is vertically arranged on the frame, and the mounting ear plate is vertically installed at the execution end of the robot, and the end of the mounting ear plate extends outwardly at an angle to form a connecting edge, and the connecting edge is connected to the connecting arm of the frame through a rotating shaft equipped with a bearing, and the driving cylinder is fixed at an angle at the execution end of the robot, and the telescopic rod of the driving cylinder is hinged to the top of the connecting arm.

[0006] Preferably, based on the above scheme, the connecting arm includes a first connecting hole and a second connecting hole, the first connecting hole is connected to the rotating shaft, a connecting shaft is installed in the second connecting hole, and the connecting shaft is connected to the telescopic rod of the driving cylinder.

[0007] Preferably, based on the above solution, the driving cylinder is a pneumatic cylinder.

[0008] Preferably, based on the above solution, weight-reducing holes are provided on the mounting ear plates.

[0009] The utility model provides a robot gripper, which adds a driving cylinder between the robot execution end and a frame for gripping objects. The driving cylinder drives a connecting arm on the frame to rotate to change the angle of the frame, so that the angle of the frame can be adjusted according to actual needs, thereby improving the adaptability of the robot to object handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0011] Figure 1 This is a schematic diagram of the principle structure of the robot gripper of the utility model;

[0012] Figure 2 It is a side view of the robot gripper of the utility model;

[0013] Figure 3 This is a schematic diagram of another state of the robot gripper of the utility model;

[0014] Description of Figure Numbers:

[0015] The robot execution end 100, the mounting ear plate 1, the connecting edge 11, the rotating shaft 12, the weight-reducing hole 13, the driving cylinder 2, the telescopic rod 21, the frame 3, the connecting arm 31, the first connecting hole 32, the second connecting hole 33, the connecting shaft 34, and the vacuum clamp 4. DETAILED DESCRIPTION

[0016] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0017] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0018] In order to simplify the drawings, only the parts related to the utility model are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0019] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0020] In the embodiments shown in the drawings, the directions (such as up, down, left, right, front and back) used to explain the structure and movement of the various components of the present invention are not absolute but relative. These descriptions are appropriate when the components are in the positions shown in the drawings. If the description of the positions of the components changes, the directions also change accordingly.

[0021] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0023] See also Figure 1 , and combined with Figure 2 and Figure 3 As shown, a robot gripper of the utility model is installed at the robot execution end 100, wherein the robot gripper includes a mounting ear plate 1, a driving cylinder 2 and a frame 3 with a plurality of vacuum grippers 4, and a connecting arm 31 is vertically installed at the center of the frame 3; the mounting plate ear plate is vertically installed at the robot execution end 100 and is arranged in parallel at intervals, and the free end of the mounting ear plate 1 extends outwardly at an angle to form a connecting edge 11, and the connecting edge 11 is connected to the connecting arm 31 of the frame 3 through a rotating shaft 12 equipped with a bearing, and the driving cylinder 2 is fixed at the robot execution end 100 at an angle, and the telescopic rod 21 of the driving cylinder 2 is hinged to the top of the connecting arm 31.

[0024] When in use, the vacuum clamp 4 is used to absorb the surface of the workpiece 200 and control the movement of the robot clamp, so that the workpiece 200 can be transported. At the same time, combined with the action of the telescopic rod 21 of the drive cylinder 2, the connecting arm 31 is driven to rotate around the rotating shaft 12 to change the relative angle of the frame 3 relative to the mounting ear plate 1, thereby realizing rapid adjustment of its angle, which is convenient and quick to use.

[0025] Among them, the connecting arm 31 includes a first connecting hole 32 and a second connecting hole 33, the first connecting hole 32 is connected to the rotating shaft 12, and a connecting shaft 34 is installed in the second connecting hole 33, and the connecting shaft 34 is connected to the telescopic rod 21 of the driving cylinder 2. Preferably, the driving cylinder 2 is a pneumatic cylinder.

[0026] In order to reduce the workload of the robot gripper, the utility model further provides a weight-reducing hole 13 on the mounting ear plate 1 .

[0027] The utility model provides a robot gripper, which adds a driving cylinder 2 between the robot execution end 100 and a frame 3 for gripping an object. The driving cylinder 2 drives a connecting arm 31 on the frame 3 to rotate to change the angle of the frame 3, so that the angle of the frame 3 can be adjusted according to actual needs, thereby improving the adaptability of the robot to object handling.

[0028] Finally, the method of this application is only a preferred implementation scheme and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A robot gripper, mounted at the end of a robot, characterized in that: The robot gripper includes a mounting ear plate, a driving cylinder and a frame with a plurality of vacuum grippers, and a connecting arm is vertically arranged on the frame. The mounting ear plate is vertically mounted on the robot execution end, and the end of the mounting ear plate extends outwardly at an angle to form a connecting edge, and the connecting edge is connected to the connecting arm of the frame through a rotating shaft equipped with a bearing. The driving cylinder is fixed at an angle on the robot execution end, and the telescopic rod of the driving cylinder is hinged to the top of the connecting arm.

2. A robot gripper as claimed in claim 1, characterized in that: The connecting arm includes a first connecting hole and a second connecting hole, the first connecting hole is connected to the rotating shaft, a connecting shaft is installed in the second connecting hole, and the connecting shaft is connected to the telescopic rod of the driving cylinder.

3. A robot gripper as claimed in claim 1, characterized in that: The driving cylinder is a pneumatic cylinder.

4. A robot gripper as claimed in claim 1, characterized in that: The mounting lugs are provided with weight-reducing holes.

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