Robot gripper with flexible clamping jaw and suction cup

Abstract

The utility model relates to the technical field of manipulators, in particular to a robot gripper with a flexible clamping jaw and a sucker, which comprises a fixed arm, the sucker capable of moving up and down is arranged at the bottom of the fixed arm and used for sucking a workpiece from the top of the workpiece, a cavity is arranged in the fixed arm, and the flexible clamping jaw is arranged in the cavity. A cavity is formed in the fixed arm, a guide rod is fixedly connected into the cavity of the fixed arm, a movable sliding block is connected to the guide rod in a sliding mode, a movable clamping jaw is fixedly connected to the bottom of the sliding block, and a movable notch is formed in the bottom of the fixed arm. The plate-shaped workpiece is clamped from the two sides through the two movable clamping plates, the situation that the two sides of the plate-shaped workpiece are thin faces and cannot be directly clamped is avoided, clamping of the plate-shaped tool is facilitated, meanwhile, the movable clamping plates make contact with the plate-shaped workpiece through the flexible protection pads, flexible clamping is achieved, and protection is provided for the plate-shaped workpiece.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a robot gripper with a flexible clamping claw and a suction cup. Background Art

[0002] A robot is an automatic device used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected operations.

[0003] In the prior art, a robot gripper, such as that proposed in patent application number "CN201620897760.1", includes a fixed plate and a first clamping mechanism, wherein the first clamping mechanism is arranged on the fixed plate, and also includes a second clamping mechanism, and a fixed block is also horizontally arranged on the front upper part of the fixed plate.

[0004] However, in the above patent application, the workpiece can only be clamped from both sides by two clamping mechanisms. When a plate-like workpiece needs to be clamped, since the two sides of the plate-like workpiece are thin and the bottom is attached to the supporting mechanism, the clamping mechanism may not be able to clamp the thin surface to pick up the plate-like workpiece. Utility Model Content

[0005] The utility model aims to provide a robot gripper with a flexible clamping claw and a suction cup to solve the problems raised in the above background technology.

[0006] The purpose of the utility model can be achieved through the following technical solutions:

[0007] A robot gripper with a flexible clamp and a suction cup comprises a fixed arm. A suction cup which can move up and down is arranged at the bottom of the fixed arm. The suction cup is used to suck a workpiece from the top of the workpiece.

[0008] A cavity is provided inside the fixed arm, a guide rod is fixedly connected to the cavity of the fixed arm, a movable sliding block is slidably connected to the guide rod, a movable clamping claw is fixedly connected to the bottom of the sliding block, a movable slot is provided at the bottom of the fixed arm, one end of the movable clamping claw passes through the movable slot and extends to the outside of the fixed arm, one end of the movable clamping claw located outside the fixed arm is fixedly connected to a movable splint, and a flexible protective pad is fixedly connected to one side of the movable splint.

[0009] Preferably, a return spring is fixedly connected between the sliding block and the inner surface of the fixed arm, and the return spring is sleeved on the outer surface of the guide rod.

[0010] Preferably, one side of the movable clamp is fixedly connected to a movable push plate that bends upward, one side of the fixed arm is fixedly connected to a bidirectional electric telescopic rod, both ends of the bidirectional electric telescopic rod are fixedly connected to a push block, and the push block is located on one side of the movable push plate.

[0011] Preferably, the bottom of the movable splint is fixedly connected to a bottom supporting plate, the top of the bottom supporting plate is fixedly connected to a flexible lifting pad, and one side of the bottom supporting plate is inclined.

[0012] Preferably, a telescopic cylinder is fixedly connected to one side of the fixed arm, a telescopic connecting rod is fixedly connected to the bottom of the telescopic cylinder, an air pump is fixedly installed at one end of the telescopic connecting rod, and the air pump is fixedly connected to the suction cup through a pipeline.

[0013] Preferably, a connecting block is fixedly connected to the top of the fixed arm, and a mounting hole is provided on the connecting block.

[0014] Beneficial effects of the utility model:

[0015] The utility model first sucks up the plate-like workpiece through the suction cup, drives the plate-like workpiece to move upward, and then clamps the plate-like workpiece from both sides through two movable clamping plates, so as to avoid the plate-like workpiece having thin surfaces on both sides and being unable to be directly clamped, which is beneficial to the clamping of plate-like tools. At the same time, the movable clamping plate contacts the plate-like workpiece through the flexible protective pad to achieve flexible clamping and provide protection for the plate-like workpiece. Then, the bottom of the plate-like workpiece is supported by the bottom supporting plate to avoid the plate-like workpiece from loosening and moving downward, thereby making the adsorption and clamping of the plate-like workpiece more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This utility model Figure 1 Rear view of the middle fixed arm;

[0019] Figure 3 This utility model Figure 1 A schematic diagram of the structure of one end of the movable clamping jaw;

[0020] Figure 4 This utility model Figure 1 Cross-sectional view of the fixed arm.

[0021] The reference numerals in the figures are as follows:

[0022] 1. Fixed arm, 2. Suction cup, 3. Guide rod, 4. Sliding block, 5. Movable clamping claw, 6. Movable notch, 7. Movable splint, 8. Flexible protective pad, 9. Reset spring, 10. Movable push plate, 11. Bidirectional electric telescopic rod, 12. Push block, 13. Bottom support plate, 14. Flexible lifting pad, 15. Telescopic cylinder, 16. Telescopic connecting rod, 17. Air pump, 18. Connecting block, 19. Mounting hole. DETAILED DESCRIPTION

[0023] 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 of 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.

[0024] A robot gripper with a flexible clamp and a suction cup comprises a fixed arm 1. A suction cup 2 which can move up and down is arranged at the bottom of the fixed arm 1. The suction cup 2 is used to suck a workpiece from the top of the workpiece.

[0025] A cavity is provided inside the fixed arm 1, and a guide rod 3 is fixedly connected to the cavity of the fixed arm 1. A movable sliding block 4 is slidably connected to the guide rod 3, and a movable clamping claw 5 is fixedly connected to the bottom of the sliding block 4. A movable slot 6 is provided at the bottom of the fixed arm 1, and one end of the movable clamping claw 5 passes through the movable slot 6 and extends to the outside of the fixed arm 1. One end of the movable clamping claw 5 located outside the fixed arm 1 is fixedly connected to a movable splint 7, and one side of the movable splint 7 is fixedly connected to a flexible protective pad 8.

[0026] like Figure 1 The fixed arm 1 is horizontally arranged, and has two chambers inside. A movable clamping claw passes through each of the two chambers. The two movable clamping claws 5 are symmetrically arranged and can clamp the workpiece from both sides. The guide rod 3 passes through the sliding block 4, so that the sliding block 4 can only move horizontally inside the fixed arm 1. The two movable clamping claws 5 each fix a movable splint 7, so that the movable splint 7 also has two, and the flexible protective pad 8 is located on the side where the two movable splints 7 are close to each other.

[0027] A return spring 9 is fixedly connected between the sliding block 4 and the inner surface of the fixed arm 1 , and the return spring 9 is sleeved on the outer surface of the guide rod 3 .

[0028] like Figure 1 and Figure 4The reset spring 9 is in an extended state, and has a pulling force on the sliding block 4 in the direction close to the reset spring 9, so that when the reset spring 9 contracts, it can pull the sliding block 4, and the two sliding blocks 4 drive the two movable clamping plates 7 to approach each other through the movable clamping claws 5. The force of the movable clamping plate 7 to clamp the workpiece from both sides comes from the pulling force of the reset spring 9, avoiding excessive force generated by directly using mechanical equipment to pull, resulting in excessive clamping force of the movable clamping plate 7, causing damage to the workpiece, and can provide protection for the workpiece.

[0029] One side of the movable clamping claw 5 is fixedly connected to an upwardly bent movable push plate 10, one side of the fixed arm 1 is fixedly connected to a bidirectional electric telescopic rod 11, both ends of the bidirectional electric telescopic rod 11 are fixedly connected to a push block 12, and the push block 12 is located on one side of the movable push plate 10.

[0030] like Figure 1 The push block 12 restricts the movable push plate 10, so that the movable push plate 10 cannot approach the push block 12. The movable push plate 10 is fixed by the movable clamping claw 5 and the sliding block 4, and the tension of the reset spring 9 cannot drive the sliding block 4 to move.

[0031] The bottom of the movable splint 7 is fixedly connected to a bottom supporting plate 13 , the top of the bottom supporting plate 13 is fixedly connected to a flexible lifting pad 14 , and one side of the bottom supporting plate 13 is tilted.

[0032] like Figure 1 and Figure 3 The flexible lifting pad 14 can provide flexible protection from above the bottom support plate 13.

[0033] A telescopic cylinder 15 is fixedly connected to one side of the fixed arm 1, a telescopic connecting rod 16 is fixedly connected to the bottom of the telescopic cylinder 15, an air pump 17 is fixedly installed at one end of the telescopic connecting rod 16, and the air pump 17 is fixedly connected to the suction cup 2 through a pipeline.

[0034] like Figure 1 and Figure 2 The telescopic cylinder 15 and the bidirectional electric telescopic rod 11 are respectively located on both sides of the fixed arm 1.

[0035] A connecting block 18 is fixedly connected to the top of the fixed arm 1 , and a mounting hole 19 is formed on the connecting block 18 .

[0036] like Figure 1 and Figure 4 By using an external mechanism to pass through the mounting hole 19, the connecting block 18 and the fixed arm 1 can be fixed to the external mechanism, and the external mechanism drives the fixed arm 1 to move.

[0037] The working principle of a robot gripper with a flexible clamp and a suction cup provided by the utility model is as follows:

[0038] When it is necessary to pick up a plate-like workpiece, the telescopic cylinder 15 is first extended, and the air pump 17 and the suction cup 2 are driven downward by the telescopic connecting rod 16, and the air pump 17 evacuates the suction cup 2 so that the suction cup 2 is adsorbed to the surface of the plate-like workpiece. Then, the telescopic cylinder 15 is retracted, and the air pump 17 and the suction cup 2 are driven upward by the telescopic connecting rod 16, and the suction cup 2 drives the plate-like workpiece upward;

[0039] At this time, the two-way electric telescopic rod 11 contracts, driving the push block 12 and the movable push plate 10 to separate, and the reset spring 9 can pull the sliding block 4, and the sliding block 4 drives the movable clamping plate 7 to move through the movable clamping claw 5. The movable clamping plate 7 clamps and positions the plate-like workpiece from both sides, and the movable clamping plate 7 contacts the clamped plate-like workpiece through the flexible protective pad 8. At this time, the bottom support plate 13 moves below the movable plate-like workpiece;

[0040] When the plate-like workpiece needs to be released, the bidirectional electric telescopic rod 11 is extended, and the two push blocks 12 are pushed toward both ends, and the push blocks 12 push the movable push plate 10, and the movable push plate 10 drives the movable clamping jaw 5 to move together, and one end of the movable clamping jaw 5 drives the sliding block 4 to move together, and the sliding block 4 moves, and the return spring 9 is extended accordingly;

[0041] The other end of the movable clamping jaw 5 will drive the movable clamping plate 7 to move, so that the two movable clamping plates 7 are separated from the two sides of the plate-like workpiece, and the bottom support plate 13 is separated from the bottom of the plate-like workpiece, and then the telescopic cylinder 15 is extended, and the air pump 17 and the suction cup 2 are driven to move downward through the telescopic connecting rod 16, and the suction cup 2 drives the plate-like workpiece to move downward, and the plate-like workpiece moves down to the supporting mechanism below, and the air pump 17 stops pumping air. At this time, the suction cup 2 no longer adsorbs the plate-like workpiece, and the release of the plate-like workpiece is completed.

[0042] Compared with the related art, the robot gripper with flexible clamping claws and suction cups provided by the utility model has the following beneficial effects:

[0043] The utility model first sucks up the plate-like workpiece through the suction cup 2, drives the plate-like workpiece to move upward, and then clamps the plate-like workpiece from both sides through two movable clamping plates 7, so as to avoid the plate-like workpiece having thin surfaces on both sides and being unable to be directly clamped, which is beneficial to the clamping of plate-like tools. At the same time, the movable clamping plate 7 contacts the plate-like workpiece through the flexible protective pad 8 to achieve flexible clamping and provide protection for the plate-like workpiece. Then, the bottom of the plate-like workpiece is supported by the bottom supporting plate 13 to prevent the plate-like workpiece from loosening and moving downward, thereby making the adsorption and clamping of the plate-like workpiece more stable.

[0044] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A robot gripper with a flexible gripper and a suction cup, comprising a fixed arm (1), characterized in that: The bottom of the fixed arm (1) is provided with a suction cup (2) which can move up and down, and the suction cup (2) is used to suck the workpiece from the top of the workpiece; The fixed arm (1) is provided with a cavity inside, a guide rod (3) is fixedly connected to the cavity of the fixed arm (1), a movable sliding block (4) is slidably connected to the guide rod (3), a movable clamping claw (5) is fixedly connected to the bottom of the sliding block (4), a movable slot (6) is provided at the bottom of the fixed arm (1), one end of the movable clamping claw (5) passes through the movable slot (6) and extends to the outside of the fixed arm (1), one end of the movable clamping claw (5) located outside the fixed arm (1) is fixedly connected to a movable clamping plate (7), and one side of the movable clamping plate (7) is fixedly connected to a flexible protective pad (8).

2. A robot gripper with a flexible gripper and a suction cup according to claim 1, characterized in that: A return spring (9) is fixedly connected between the sliding block (4) and the inner surface of the fixed arm (1), and the return spring (9) is sleeved on the outer surface of the guide rod (3).

3. A robot gripper with a flexible gripper and a suction cup according to claim 2, characterized in that: One side of the movable clamping claw (5) is fixedly connected to a movable push plate (10) that bends upward, one side of the fixed arm (1) is fixedly connected to a bidirectional electric telescopic rod (11), both ends of the bidirectional electric telescopic rod (11) are fixedly connected to a push block (12), and the push block (12) is located on one side of the movable push plate (10).

4. A robot gripper with a flexible gripper and a suction cup according to claim 1, characterized in that: The bottom of the movable splint (7) is fixedly connected to a bottom support plate (13), the top of the bottom support plate (13) is fixedly connected to a flexible lifting pad (14), and one side of the bottom support plate (13) is inclined.

5. A robot gripper with a flexible gripper and a suction cup according to claim 1, characterized in that: A telescopic cylinder (15) is fixedly connected to one side of the fixed arm (1), a telescopic connecting rod (16) is fixedly connected to the bottom of the telescopic connecting rod (15), an air pump (17) is fixedly installed at one end of the telescopic connecting rod (16), and the air pump (17) is fixedly connected to the suction cup (2) through a pipeline.

6. A robot gripper with a flexible gripper and a suction cup according to claim 1, characterized in that: A connecting block (18) is fixedly connected to the top of the fixed arm (1), and a mounting hole (19) is provided on the connecting block (18).

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