Robot gripper convenient to fix and mount

Abstract

The utility model discloses a robot gripper convenient to fix and install, and particularly relates to the technical field of robot gripper fixing, the robot gripper comprises a robot gripper body, and a device convenient to assemble is arranged at the lower end of the robot gripper body; the convenient-to-assemble device comprises a bearing bottom plate, an assembly positioning assembly and a counterweight anti-rollover assembly. According to the utility model, the weight of the lower end of the robot gripper body is subjected to counterweight work by placing the counterweight with a relatively heavy weight, so that the problem that the whole equipment topples over due to the relatively heavy weight of a gripped object when the robot gripper body performs gripping work is avoided; the electric hydraulic cylinder can drive the balance weight frame to move back and forth to change the balance weight position of the balance weight, balance of the balance weight is maximized, the balance weight can be replaced, the position of the balance weight can be adjusted, and the installation and use stability of the whole device is further enhanced; and the problem that when the robot gripper body works, equipment topples due to the fact that the weights of gripped objects are not matched is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of fixing a robot gripper, and more specifically, to a robot gripper which is convenient for fixing and installing. Background Art

[0002] A robot gripper is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. The robot system is composed of a visual sensor, a robotic arm system, and a main control computer. The robotic arm system includes a modular robotic arm and a dexterous hand.

[0003] The robot gripper is a complex system with uncertainties such as parameter perturbations, external interference and unmodeled dynamics. Therefore, the modeling model of the robot gripper also has uncertainties. Different tasks have high requirements on the stability performance of the installation of the lower end of the robot gripper. Due to the different usage ranges of the robot gripper, the gravity range of the robot gripper to grasp objects is limited. The weight of the object grasped by the robot gripper is large, which can easily reduce the installation stability of the lower end of the robot gripper, causing the lower end of the robot gripper to tip over during use. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a robot gripper that is easy to fix and install, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot gripper that is easy to fix and install, comprising a robot gripper body, wherein a convenient assembly device is arranged at the lower end of the robot gripper body; the convenient assembly device comprises: a receiving base plate, an assembly positioning component and a counterweight anti-tipping component, wherein the lower end of the counterweight anti-tipping component is installed on the upper end of the receiving base plate, the assembly positioning component is arranged at the upper and lower ends of the receiving base plate, and the receiving base plate is arranged at the lower end of the robot gripper body.

[0006] In a preferred embodiment, the assembly positioning component includes: a lower protective frame, an electric adjustment rod, a connecting seat, an assembly bolt group, an assembly bolt hole group and a positioning plate. The assembly bolt hole group is opened at the upper and lower ends of the positioning plate. The lower end of the assembly bolt hole group can be removably installed inside the assembly bolt group. The inner side of the positioning plate is installed on the side of the supporting base plate. A movable roller group is installed at the lower end of the supporting base plate. The lower end of the lower protective frame is installed on the upper end of the supporting base plate. The lower end of the robot gripper body is fixedly installed inside the lower protective frame.

[0007] In a preferred embodiment, the counterweight anti-tilt assembly includes: a counterweight weight, a counterweight frame, a sliding block, an electric hydraulic cylinder, a side fixing plate and a sliding groove, the lower end of the counterweight weight is installed inside the counterweight frame, the lower end of the counterweight frame is installed on the upper end of the sliding block, and the lower end of the sliding block is movably installed inside the sliding groove.

[0008] In a preferred embodiment, the lower end of the electric adjustment rod is mounted on the upper end of the connecting seat, the output end of the electric adjustment rod is mounted on the inner upper end of the positioning plate, and the lower end of the connecting seat is mounted on the upper end of the receiving bottom plate.

[0009] In a preferred embodiment, the output end of the electric hydraulic cylinder is mounted on the side outer wall of the counterweight frame, the lower end of the electric hydraulic cylinder is mounted on the upper end of the side fixing plate, and the inner side of the side fixing plate is mounted on the side outer wall of the receiving bottom plate.

[0010] In a preferred embodiment, two groups of assembly and positioning components are provided, and the two groups of assembly and positioning components are respectively installed on the left and right sides of the receiving base plate.

[0011] In a preferred embodiment, the counterweight anti-tilt assembly is provided with two groups, and the two groups of counterweight anti-tilt assembly are respectively arranged on the front and rear ends of the receiving bottom plate.

[0012] Technical effects and advantages of the utility model:

[0013] A robot gripper which is easy to fix and install. Compared with the prior art, when the robot gripper body needs to grasp an object with a large weight, the weight of the lower end of the robot gripper body can be counterweighted by placing a heavy counterweight, thereby avoiding the problem of the entire device tipping over due to the heavy weight of the grasped object when the robot gripper body is performing the grasping work. The counterweight weight can be driven by an electric hydraulic cylinder to move the counterweight frame back and forth to change the counterweight position of the counterweight weight, thereby maximizing the counterweight weight. The counterweight weight is replaceable and can be adjusted in position, which further enhances the installation and use stability of the entire device and effectively avoids the problem of the device tipping over due to the incompatibility of the weight of the grasped object when the robot gripper body is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 It is a schematic diagram of the structure of the convenient assembly device of the utility model.

[0016] Figure 3 It is a schematic diagram of the structure of the assembly positioning component of the utility model.

[0017] Figure 4It is a schematic diagram of the structure of the counterweight anti-tilt assembly of the utility model.

[0018] The accompanying drawings are marked as follows: 1. Robot gripper body; 2. Convenient assembly device; 21. Assembly positioning assembly; 211. Lower protection frame; 212. Connecting seat; 213. Electric adjustment rod; 214. Positioning plate; 215. Assembly bolt hole group; 216. Assembly bolt group; 217. Moving roller group; 22. Counterweight anti-tilt assembly; 221. Side fixing plate; 222. Sliding groove; 223. Counterweight frame; 224. Counterweight weight; 225. Sliding block; 226. Electric hydraulic cylinder; 23. Receiving bottom plate. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] As attached Figure 1-4 As shown, the utility model provides a robot gripper that is easy to fix and install, including a robot gripper body 1, and a convenient assembly device 2 is arranged at the lower end of the robot gripper body 1; the convenient assembly device 2 includes: a receiving base plate 23, an assembly positioning component 21 and a counterweight anti-tipping component 22, the lower end of the counterweight anti-tipping component 22 is installed on the upper end of the receiving base plate 23, the assembly positioning component 21 is arranged at the upper and lower ends of the receiving base plate 23, and the receiving base plate 23 is arranged at the lower end of the robot gripper body 1.

[0021] In a preferred embodiment, the assembly positioning component 21 includes: a lower protective frame 211, an electric adjustment rod 213, a connecting seat 212, an assembly bolt group 216, an assembly bolt hole group 215 and a positioning plate 214. The assembly bolt hole group 215 is opened at the upper and lower ends of the positioning plate 214. The lower end of the assembly bolt hole group 215 can be removably installed inside the assembly bolt group 216. The inner side of the positioning plate 214 is installed on the side of the supporting base plate 23. A movable roller group 217 is installed at the lower end of the supporting base plate 23. The lower end of the lower protective frame 211 is installed on the upper end of the supporting base plate 23, and the lower end of the robot gripper body 1 is fixedly installed inside the lower protective frame 211.

[0022] In a preferred embodiment, the counterweight anti-tilt assembly 22 includes: a counterweight weight 224, a counterweight frame 223, a sliding block 225, an electric hydraulic cylinder 226, a side fixing plate 221 and a sliding groove 222, the lower end of the counterweight weight 224 is installed inside the counterweight frame 223, the lower end of the counterweight frame 223 is installed on the upper end of the sliding block 225, and the lower end of the sliding block 225 is movably installed inside the sliding groove 222.

[0023] In a preferred embodiment, the lower end of the electric adjustment rod 213 is installed on the upper end of the connecting seat 212, the output end of the electric adjustment rod 213 is installed on the inner upper end of the positioning plate 214, and the lower end of the connecting seat 212 is installed on the upper end of the receiving base plate 23.

[0024] In a preferred embodiment, the output end of the electric hydraulic cylinder 226 is installed on the side outer wall of the counterweight frame 223, the lower end of the electric hydraulic cylinder 226 is installed on the upper end of the side fixing plate 221, and the inner side of the side fixing plate 221 is installed on the side outer wall of the receiving bottom plate 23.

[0025] In a preferred embodiment, two groups of assembly and positioning components 21 are provided, and the two groups of assembly and positioning components 21 are respectively installed on the left and right sides of the receiving bottom plate 23 .

[0026] In a preferred embodiment, two groups of the counterweight anti-tilt components 22 are provided, and the two groups of the counterweight anti-tilt components 22 are respectively arranged on the front and rear ends of the receiving bottom plate 23 .

[0027] The specific implementation method is as follows: when using the utility model, first move the receiving base plate 23 and the robot gripper body 1 to the problem where they need to be installed and fixed through the moving roller group 217 installed at the lower end. After the robot gripper body 1 moves to the fixed position, start the two groups of electric adjustment rods 213. After the electric adjustment rods 213 are started, they drive the positioning plate 214 at the output end to move up and down, so as to adjust the height installation position of the positioning plate 214. After the installation position of the positioning plate 214 is adjusted, it can be installed and fixed by the assembly bolt group 216. After the two groups of assembly bolt groups 216 are fixed in turn, the robot gripper body 1 completes the positioning work, and the robot gripper body 1 can perform subsequent gripping work. Due to the weight of the object to be gripped, the robot gripper body 1 has To solve the problem of inconsistency, when the robot gripper body 1 needs to grasp an object with a heavy weight, a heavy counterweight 224 can be placed on the lower end of the robot gripper body 1 to counterweight the weight, so as to avoid the problem of the entire device tipping over due to the heavy weight of the grasped object when the robot gripper body 1 is performing the grasping work. The counterweight 224 can be driven by the electric hydraulic cylinder 226 to move the counterweight frame 223 back and forth to change the counterweight position of the counterweight 224, so as to maximize the counterweight of the counterweight 224. The counterweight 224 is replaceable and can be adjusted in position, which further enhances the installation and use stability of the entire device and effectively avoids the problem of the device tipping over due to the incompatibility of the weight of the grasped object when the robot gripper body 1 is working.

[0028] Working principle of the utility model: when using the utility model, first move the receiving base plate 23 and the robot gripper body 1 to the problem where they need to be installed and fixed through the moving roller group 217 installed at the lower end. After the robot gripper body 1 moves to the fixed position, start the two groups of electric adjustment rods 213. After the electric adjustment rods 213 are started, they drive the positioning plate 214 at the output end to move up and down, so as to adjust the height installation position of the positioning plate 214. After the positioning plate 214 is adjusted, it can be installed and fixed by the assembly bolt group 216. After the two groups of assembly bolt groups 216 are fixed in turn, the robot gripper body 1 completes the positioning work, and the robot gripper body 1 can perform subsequent grasping and clamping work. The robot gripper body 1 has the problem of inconsistent weight of the grasped object. When the robot gripper body 1 needs to grasp a heavy object, the weight of the lower end of the robot gripper body 1 can be counterbalanced by placing a heavy counterweight 224 to avoid the problem of the entire device tipping over due to the heavy weight of the grasped object when the robot gripper body 1 is performing the grasping and clamping work.

[0029] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0030] Secondly: In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0031] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A robot gripper that is easy to fix and install, comprising a robot gripper body (1), characterized in that: The lower end of the robot gripper body (1) is provided with a convenient assembly device (2); The convenient assembly device (2) comprises: a receiving bottom plate (23), an assembly positioning assembly (21) and a counterweight anti-tilt assembly (22), wherein the lower end of the counterweight anti-tilt assembly (22) is mounted on the upper end of the receiving bottom plate (23); The assembly positioning component (21) is arranged at the upper and lower ends of a receiving base plate (23), and the receiving base plate (23) is arranged at the lower end of the robot gripper body (1).

2. A robot gripper that is easy to fix and install according to claim 1, characterized in that: The assembly positioning component (21) comprises: a lower protective frame (211), an electric adjustment rod (213), a connecting seat (212), an assembly bolt group (216), an assembly bolt hole group (215) and a positioning plate (214); the assembly bolt hole group (215) is provided at the upper and lower ends of the positioning plate (214); the lower end of the assembly bolt hole group (215) is detachably mounted inside the assembly bolt group (216); the inner side of the positioning plate (214) is mounted on the side of the receiving base plate (23); a movable roller group (217) is mounted on the lower end of the receiving base plate (23); the lower end of the lower protective frame (211) is mounted on the upper end of the receiving base plate (23); and the lower end of the robot gripper body (1) is fixedly mounted inside the lower protective frame (211).

3. A robot gripper that is easy to fix and install according to claim 2, characterized in that: The counterweight anti-tilt assembly (22) comprises: a counterweight (224), a counterweight frame (223), a sliding block (225), an electric hydraulic cylinder (226), a side fixing plate (221) and a sliding groove (222); the lower end of the counterweight (224) is mounted inside the counterweight frame (223); the lower end of the counterweight frame (223) is mounted on the upper end of the sliding block (225); and the lower end of the sliding block (225) is movably mounted inside the sliding groove (222).

4. A robot gripper that is easy to fix and install according to claim 2, characterized in that: The lower end of the electric adjustment rod (213) is mounted on the upper end of the connecting seat (212), the output end of the electric adjustment rod (213) is mounted on the inner upper end of the positioning plate (214), and the lower end of the connecting seat (212) is mounted on the upper end of the receiving bottom plate (23).

5. The robot gripper that is easy to fix and install according to claim 3, characterized in that: The output end of the electric hydraulic cylinder (226) is mounted on the side outer wall of the counterweight frame (223), the lower end of the electric hydraulic cylinder (226) is mounted on the upper end of the side fixing plate (221), and the inner side of the side fixing plate (221) is mounted on the side outer wall of the receiving bottom plate (23).

6. The robot gripper that is easy to fix and install according to claim 1, characterized in that: Two groups of assembly positioning components (21) are provided, and the two groups of assembly positioning components (21) are respectively installed on the left and right side edges of the receiving bottom plate (23).

7. A robot gripper that is easy to fix and install according to claim 1, characterized in that: The counterweight anti-tilt assembly (22) is provided with two groups, and the two groups of counterweight anti-tilt assembly (22) are respectively arranged on the sides of the front and rear ends of the receiving bottom plate (23).

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