Robot tail end gripper for carrying cylindrical workpieces

Abstract

The utility model discloses a robot tail end paw used for carrying cylindrical workpieces, and relates to the technical field of robots, the robot tail end paw comprises a connecting frame, an X-axis adjusting assembly, a lifting assembly and a paw assembly, the X-axis adjusting assembly is horizontally installed at the bottom of the connecting frame, and the lifting assembly is vertically connected to the bottom of the X-axis adjusting assembly; and the side edge of the lifting assembly is horizontally connected with a gripper assembly. According to the robot tail end gripper for carrying the cylindrical workpieces, the X-axis adjusting assembly is installed at the bottom of the connecting frame, and under movable adjustment of the structure of the X-axis adjusting assembly, the lifting assembly and the gripper assembly connected to the bottom can transversely adjust the grabbing range and automatically adjust and grab the cylindrical workpieces with different lengths within a certain range; and the lifting assembly is matched with the gripper assembly, so that cylindrical workpieces with different diameters can be clamped at different angles in different directions and within a certain range, and the clamping operation flexibility of the whole device is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot end gripper for carrying cylindrical workpieces. Background Art

[0002] A robot gripper is a robot component that can perform functions similar to human hands. A robot gripper is a component used to hold workpieces or tools. It is one of the important actuators. Depending on the shape of the workpiece held by the robot, the gripper can be divided into many types, mainly into three categories: mechanical grippers, also known as mechanical clamps, including 2-finger, 3-finger and deformable fingers; special grippers including magnetic chucks, welding guns, etc.; universal grippers, including 2 to 5 fingers.

[0003] For example, the utility model with application number 202121520900.0 discloses a two-degree-of-freedom robot end manipulator gripper, which is connected to a second manipulator gripper through the outer front end of a mounting rod; a first motor is mounted on the inner front side of a mounting plate, a round rod is mounted on the rear end of the first motor, and a movable plate is threadedly connected to the outer side of the round rod. The two-degree-of-freedom robot end manipulator gripper is convenient for adjusting the manipulator gripper, has a good clamping effect, and is convenient for adjusting the angle of the manipulator gripper, but similar to the manipulator gripper in the above-mentioned document, when clamping a cylindrical workpiece, it is difficult to make appropriate adjustments according to the surface of the workpiece to ensure the clamping stability, and it is also difficult to clamp workpieces of different lengths in the horizontal direction through lateral adjustment.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a robot end gripper for carrying cylindrical workpieces is proposed. Utility Model Content

[0005] The utility model aims to provide a robot end gripper for carrying cylindrical workpieces to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot end gripper for carrying cylindrical workpieces, comprising a connecting frame, an X-axis adjustment assembly, a lifting assembly and a gripper assembly, the bottom of the connecting frame is horizontally installed with the X-axis adjustment assembly, the bottom of the X-axis adjustment assembly is vertically connected with the lifting assembly, and the side of the lifting assembly is horizontally connected with the gripper assembly, the X-axis adjustment assembly comprises a support frame, fixed piles, guide rails and an electric slider, the tops of the left and right sides of the support frame are vertically installed with fixed piles, the surface of the support frame is horizontally installed with guide rails, and the surface of the guide rails is slidably installed with an electric slider.

[0007] Furthermore, the electric slider is installed on the surface of the guide rail in a bilaterally symmetrical manner, and the support frame is fixedly connected to the connecting frame through a fixing pile.

[0008] Further, the lifting assembly includes a lifting track, a rotary shaft, and a lifting slider. The rotary shaft is installed at the top of the lifting track, and the lifting slider is slidably installed on the surface of the lifting track.

[0009] Further, the rotary shaft is installed between the lifting track and the electric slider, and the X-axis adjustment assembly and the lifting assembly are arranged in an inverted "U" shape structure.

[0010] Further, the gripper assembly includes a clamping arm, a rotary arm, a spring guide rod, and a sleeve. The rotary arm is installed on one side of the clamping arm, and the spring guide rods are horizontally arranged on the upper and lower sides of the clamping arm away from the rotary arm, and the sleeve is slidably installed on the surface of one end of the spring guide rod.

[0011] Further, the gripper assembly further includes a pneumatic telescopic rod, a gripper, and an anti-slip pad. The sleeve is connected to the pneumatic telescopic rod on the side away from the spring guide rod, and the pneumatic telescopic rod is connected to the gripper on the side away from the sleeve, and the anti-slip pad is attached to the side surface of the gripper.

[0012] Further, both ends of the pneumatic telescopic rod are connected between the sleeve and the gripper through movable shafts, and the anti-slip pads are respectively attached to the side surfaces of the gripper and the clamping arm away from the rotary arm.

[0013] Further, one end of the gripper close to the clamping arm is connected to the clamping arm through a rotating shaft structure, and the gripper is arranged in an arc structure.

[0014] The present utility model provides a robot end gripper for handling cylindrical workpieces, having the following beneficial effects:

[0015] 1. In the present utility model, by vertically connecting the lifting assembly equipped with the gripper assembly to the bottom of the X-axis adjustment assembly, when the electric slider operates, it will drive the lifting assembly and the gripper assembly to move left and right in the horizontal direction, so as to achieve the adjustment and clamping of cylindrical workpieces with different lengths within a certain range. And with the operation of the lifting slider, the gripper assembly can move up and down in the vertical direction along the surface of the lifting track. In addition, due to the structural mobility of the X-axis adjustment assembly and the cooperation of the structural operation of the gripper assembly, cylindrical workpieces with different diameters can be clamped within a certain range, so that the entire device has sufficient structural flexibility to facilitate different operation requirements.

[0016] 2. The utility model provides a swivel arm on one side of the clamping arm so that the entire gripper assembly can rotate axially in the horizontal direction, so that the entire device can adjust and clamp the cylindrical workpiece in different directions. When the gripper assembly is fitted to the cylindrical workpiece, the pneumatic telescopic rod and the spring guide rod can be used to adjust the surface of the cylindrical workpiece and provide sufficient clamping stability. The use of the anti-slip pad maximizes the friction when clamping the workpiece, thereby ensuring the stability of the clamping and avoiding sliding and loosening. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the side view of the main body of a robot end gripper for handling cylindrical workpieces according to the utility model;

[0018] Figure 2 The utility model is a robot end gripper for carrying cylindrical workpieces. Figure 1 A schematic diagram of the enlarged structure at point A;

[0019] Figure 3 This is a schematic diagram of the structure of a gripper assembly of a robot end gripper for handling cylindrical workpieces according to the utility model;

[0020] Figure 4 The utility model is a partial three-dimensional structural schematic diagram of an X-axis adjustment component of a robot end gripper for carrying cylindrical workpieces.

[0021] In the figure: 1. connecting frame; 2. X-axis adjustment assembly; 201. support frame; 202. fixing pile; 203. guide rail; 204. electric slider; 3. lifting assembly; 301. lifting track; 302. rotating shaft; 303. lifting slider; 4. gripper assembly; 401. clamping arm; 402. rotating arm; 403. spring guide rod; 404. sleeve; 405. pneumatic telescopic rod; 406. clamping claw; 407. anti-slip pad. DETAILED DESCRIPTION

[0022] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] like Figure 1 and Figure 2As shown in the figure, a robot end gripper for handling cylindrical workpieces includes a connecting frame 1, an X-axis adjustment component 2, a lifting component 3, and a gripper component 4. The bottom of the connecting frame 1 is horizontally installed with the X-axis adjustment component 2, and the bottom of the X-axis adjustment component 2 is vertically connected to the lifting component 3. Moreover, the side of the lifting component 3 is horizontally connected to the gripper component 4. The X-axis adjustment component 2 includes a support frame 201, fixed piles 202, a guide rail 203, and an electric slider 204. Fixed piles 202 are vertically installed at the tops of the left and right sides of the support frame 201, and the guide rail 203 is horizontally installed on the surface of the support frame 201. Moreover, the electric slider 204 is slidably installed on the surface of the guide rail 203. The electric sliders 204 are symmetrically installed on the surface of the guide rail 203 left and right, and the support frame 201 is fixedly connected to the connecting frame 1 through the fixed piles 202. The lifting component 3 includes a lifting track 301, a rotating shaft 302, and a lifting slider 303. The rotating shaft 302 is installed at the top of the lifting track 301, and the lifting slider 303 is slidably installed on the surface of the lifting track 301. The rotating shaft 302 is installed between the lifting track 301 and the electric slider 204. The X-axis adjustment component 2 and the lifting component 3 are arranged in an inverted "U" shape. By vertically connecting the lifting component 3 equipped with the gripper component 4 to the bottom of the X-axis adjustment component 2, when the electric slider 204 operates, it will drive the lifting component 3 and the gripper component 4 to move horizontally left and right, so as to realize the adjustment and clamping of cylindrical workpieces with different lengths within a certain range. And with the operation of the lifting slider 303, the gripper component 4 can move vertically up and down along the surface of the lifting track 301.

[0024] As Figures 1 to 4As shown, the gripper assembly 4 includes a clamping arm 401, a swivel arm 402, a spring guide rod 403 and a sleeve 404, the swivel arm 402 is installed on one side of the clamping arm 401, and the spring guide rods 403 are horizontally arranged on the upper and lower sides of the side of the clamping arm 401 away from the swivel arm 402, and the sleeve 404 is slidably installed on one end surface of the spring guide rod 403, the gripper assembly 4 also includes a pneumatic telescopic rod 405, a clamping claw 406 and an anti-skid pad 407, the pneumatic telescopic rod 405 is connected to the side of the sleeve 404 away from the spring guide rod 403, and the clamping claw 406 is connected to the end of the pneumatic telescopic rod 405 away from the sleeve 404, and the side surface of the clamping claw 406 is covered with an anti-skid pad 407, and the two ends of the pneumatic telescopic rod 405 are connected by a movable shaft It is connected between the sleeve 404 and the clamping jaw 406, and the anti-slip pad 407 is respectively attached to the surface of the clamping jaw 406 and the clamping arm 401 on one side away from the rotating arm 402. The end of the clamping jaw 406 close to the clamping arm 401 is connected to the clamping arm 401 through a rotating shaft structure, and the clamping jaw 406 is arranged in an arc-shaped structure. By arranging a rotating arm 402 on one side of the clamping arm 401, the entire gripper assembly 4 can be axially rotated in the horizontal direction, so that the entire device can adjust and clamp the cylindrical workpiece in different directions. When the gripper assembly 4 is attached to the cylindrical workpiece, it can adapt to the surface of the cylindrical workpiece for adjustment under the structural telescopic adjustment of the pneumatic telescopic rod 405 and the spring guide rod 403.

[0025] In summary, if Figures 1 to 4 As shown, when the robot end gripper for carrying cylindrical workpieces is used, the whole device is first docked with the robot arm through the connecting frame 1, and then, according to the size of the cylindrical workpiece to be clamped, under the operation of the electric slider 204, the lifting assembly 3 and the gripper assembly 4 connected at the bottom through the rotating shaft 302 will move horizontally along the surface of the side guide rail 203 of the support frame 201, and approach the surface of the workpiece;

[0026] During this process, the lifting slider 303 will drive the entire gripper assembly 4 to translate in the vertical direction along the surface of the lifting track 301, and at the same time, the rotating arm 402 will perform axial rotation adjustment in the horizontal direction according to the direction of the cylindrical workpiece, as the clamping jaw 406 with the anti-slip pad 407 on the surface and the clamping arm 401 are pressed against the surface of the workpiece, the clamping jaw 406 will push the pneumatic telescopic rod 405, and use the sleeve 404 to slide along the surface of the spring guide rod 403. At the same time, the elasticity of the structure of the spring guide rod 403 and the pneumatic telescopic rod 405 itself will press the clamping jaw 406 against the surface of the workpiece to achieve clamping stability, and finally clamp the workpiece.

[0027] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A robot end gripper for handling cylindrical workpieces, comprising a connection frame (1), an X-axis adjustment assembly (2), a lifting assembly (3) and a gripper assembly (4), characterized in that: The bottom of the connection frame (1) is horizontally installed with an X-axis adjustment component (2), and the bottom of the X-axis adjustment component (2) is vertically connected with a lifting component (3), and a gripper component (4) is horizontally connected to the side of the lifting component (3). The X-axis adjustment component (2) includes a support frame (201), a fixed pile (202), a guide rail (203), and an electric slider (204). Fixed piles (202) are vertically installed at the tops of the left and right sides of the support frame (201), and a guide rail (203) is horizontally installed on the surface of the support frame (201), and an electric slider (204) is slidably installed on the surface of the guide rail (203).

2. A robot end gripper for handling cylindrical workpieces according to claim 1, characterized in that: The electric sliders (204) are symmetrically installed on the surface of the guide rail (203) left and right, and the support frame (201) is fixedly connected to the connection frame (1) through the fixed piles (202).

3. The robot end gripper for handling cylindrical workpieces according to claim 1, characterized in that: The lifting component (3) includes a lifting track (301), a rotating shaft (302), and a lifting slider (303). A rotating shaft (302) is installed at the top of the lifting track (301), and a lifting slider (303) is slidably installed on the surface of the lifting track (301).

4. The robot end gripper for handling cylindrical workpieces according to claim 3, characterized in that: The rotating shaft (302) is installed between the lifting track (301) and the electric slider (204), and the X-axis adjustment component (2) and the lifting component (3) are arranged in an "n" - shaped structure.

5. The robot end gripper for handling cylindrical workpieces according to claim 1, characterized in that: The gripper component (4) includes a clamping arm (401), a rotating arm (402), a spring guide rod (403), and a sleeve (404). A rotating arm (402) is installed on one side of the clamping arm (401), and spring guide rods (403) are horizontally arranged on the upper and lower sides of the side of the clamping arm (401) away from the rotating arm (402), and a sleeve (404) is slidably installed on the surface of one end of the spring guide rod (403).

6. The robot end gripper for handling cylindrical workpieces according to claim 5, characterized in that: The gripper component (4) further includes a pneumatic telescopic rod (405), a clamping jaw (406), and an anti-slip pad (407). The sleeve (404) is connected to a pneumatic telescopic rod (405) on the side away from the spring guide rod (403), and the pneumatic telescopic rod (405) is connected to a clamping jaw (406) at the end away from the sleeve (404), and an anti-slip pad (407) is attached to the side surface of the clamping jaw (406).

7. The robot end gripper for handling cylindrical workpieces according to claim 6, characterized in that: Both ends of the pneumatic telescopic rod (405) are connected between the sleeve (404) and the clamping jaw (406) through movable shafts, and the anti-slip pads (407) are respectively attached to the side surfaces of the clamping jaw (406) and the side of the clamping arm (401) away from the rotating arm (402).

8. The robot end gripper for handling cylindrical workpieces according to claim 7, characterized in that: One end of the clamping jaw (406) close to the clamping arm (401) is connected to the clamping arm (401) through a rotating shaft structure, and the clamping jaw (406) is arranged in an arc structure.

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