Robot multi-gripper device

Abstract

The utility model relates to the technical field of mechanical clamping equipment, in particular to a multi-gripper device of a robot, which comprises a four-axis robot base, a guide shaft support is mounted on the four-axis robot base, a mechanical arm structure is mounted at the upper end of the guide shaft support, a connecting shaft is connected to the lower end of the mechanical arm structure, and the connecting shaft is connected to the lower end of the mechanical arm structure. A mounting plate is mounted at the lower end of the connecting shaft, and a first material taking cylinder, a second material taking cylinder and a third material taking cylinder are mounted at the lower end of the mounting plate. According to the utility model, different workpieces are classified according to shapes and sizes, a certain number of grippers with different specifications are manufactured, and different grippers can be switched to take materials by automatically changing discs, so that the robot clamp gripper which is large in clamping force, flexible to operate and flexible is designed, the problem of matching of the gripper and the workpieces can be solved, and the working efficiency is improved. And the universality of the gripper is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical clamping equipment, in particular to a robot multi-gripper device. Background Art

[0002] With the rapid development of robot technology, industrial robots have been widely used in various fields. With the popularization of robots, the demand for industrial robot end effectors is also increasing. However, the existing robots and their grippers are not flexible enough and are subject to many restrictions. Since the clamping force of the clamp is small or the operation is inconvenient and not flexible, the size of the object to be grasped is greatly restricted. Therefore, a clamp gripper with a simple structure and greater clamping force is needed.

[0003] The prior art also has the following defects during use:

[0004] The robots and their grippers in the prior art have low flexibility and are subject to various restrictions. Due to the low clamping force or inconvenient operation of the clamp, they do not have high flexibility, resulting in the size of the grasped object being highly restricted. For workpieces that are relatively heavy and complex in shape, most of the current robot clamps cannot meet the grasping requirements and the workpiece is prone to falling.

[0005] In view of this, we propose a robot multi-gripper device to solve the existing problems. Utility Model Content

[0006] The purpose of the utility model is to provide a robot multi-gripper device to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a robot multi-gripper device, comprising a four-axis robot base, a guide shaft support is installed on the four-axis robot base, a mechanical arm structure is installed on the upper end of the guide shaft support, the lower end of the mechanical arm structure is connected to a connecting shaft, the lower end of the connecting shaft is installed with a mounting plate, the lower end of the mounting plate is respectively installed with a first material picking cylinder, a second material picking cylinder and a third material picking cylinder, the lower end of the first material picking cylinder is installed with a first clamping jaw, the lower end of the second material picking cylinder is installed with a second clamping jaw, the lower end of the third material picking cylinder is installed with a third clamping jaw, and the upper end of the third material picking cylinder is connected to a pre-pressure cylinder.

[0008] Preferably, the guide shaft support is provided with a moving frame outwardly, and the mechanical arm structure moves within the moving frame.

[0009] Preferably, the first clamping jaw is connected to the first material-taking cylinder, and the first clamping jaw can clamp the upper shell.

[0010] Preferably, the second clamping jaw is connected to the second material-removing cylinder, and a tower spring can be clamped on the second clamping jaw.

[0011] Preferably, a positioning ring is installed between the mounting plate and the multiple groups of cylinders, and the mounting plate and the multiple groups of cylinders are connected through the positioning ring.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model classifies different workpieces according to their shapes and sizes to manufacture a certain number of grippers of different specifications. Different grippers can be switched to pick up materials through automatic disc changing. Therefore, a robot clamp gripper with strong clamping force, flexible operation and flexibility is designed, which can solve the problem of matching the gripper with the workpiece and improve the versatility of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 It is a schematic diagram of a partial three-dimensional structure of the utility model;

[0016] Figure 3 It is a partial side structural schematic diagram of the utility model.

[0017] In the figure: 1. four-axis robot base; 2. guide shaft support; 3. mechanical arm structure; 4. motion frame; 5. upper shell; 6. first clamp; 7. first material picking cylinder; 8. second clamp; 9. second material picking cylinder; 10. tower spring; 11. mounting plate; 12. third clamp; 13. pre-load cylinder; 14. third material picking cylinder; 15. connecting shaft. DETAILED DESCRIPTION

[0018] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] Embodiment 1

[0020] like Figure 1 , Figure 2 and Figure 3As shown, a robot multi-gripper device proposed by the utility model includes a four-axis robot base 1, a guide shaft support 2 is installed on the four-axis robot base 1, a mechanical arm structure 3 is installed on the upper end of the guide shaft support 2, the four-axis robot base 1 and the guide shaft support 2 constitute the main body of the whole device, the lower end of the mechanical arm structure 3 is connected to a connecting shaft 15, the lower end of the connecting shaft 15 is installed with a mounting plate 11, the connecting shaft 15 is used to connect the mounting plate 11 and the mechanical arm, and the lower end of the mounting plate 11 is respectively installed with a first material picking cylinder 7, a second material picking cylinder 9 and a third material picking cylinder 14. The first picking cylinder 7 is provided with a first clamp 6 at its lower end, the second picking cylinder 9 is provided with a second clamp 8 at its lower end, and the third picking cylinder 14 is provided with a third clamp 12 at its lower end. Different picking cylinders correspond to different clamps. The first picking cylinder 7 and the first clamp 6 are used to grab the upper shell 5, the second picking cylinder 9 and the second clamp 8 are used to grab the assembled product, the third picking cylinder 14 and the third clamp 12 are used to grab the tower spring 10, and the upper end of the third picking cylinder 14 is connected to a pre-pressing cylinder 13, which is used to press the installed parts.

[0021] Furthermore, a motion frame 4 is disposed outwardly of the guide shaft support 2 , and the mechanical arm structure 3 moves within the motion frame 4 , and the movement of the mechanical arm structure 3 presents a certain trajectory.

[0022] Furthermore, the first clamping jaw 6 is connected to the first material-taking cylinder 7 , and the first clamping jaw 6 can clamp the upper shell 5 . The first material-taking cylinder 7 and the first clamping jaw 6 grab the upper shell 5 and place it at a designated position.

[0023] Furthermore, the second clamping jaw 8 is connected to the second material picking cylinder 9, and the second clamping jaw 8 can clamp the tower spring 10. The second material picking cylinder 9 and the second clamping jaw 8 grab the tower spring 10 and place it at a designated position.

[0024] Furthermore, a positioning ring is installed between the mounting plate 11 and the multiple groups of cylinders, and the mounting plate 11 and the multiple groups of cylinders are connected through the positioning ring. The positioning ring can better connect the cylinders and the mounting plate 11.

[0025] The working principle of the robot multi-gripper device based on Example 1 is: when the device is working, the second material picking claw first grabs the main body of the product and places it on the tooling, and then the tower spring 10 is clamped by the third material picking claw and installed on the product main body. The spring grabs the upper shell 5 through the first material picking claw, and installs the upper shell 5 on the product main body. Finally, the product is grabbed and placed on the assembly line. At the same time, the pre-pressure cylinder 13 presses the product to prevent the tower spring 10 on the product from falling off.

[0026] The above-mentioned specific embodiments are only several preferred embodiments of the present invention. Based on the technical solution of the present invention and the relevant inspiration of the above-mentioned embodiments, those skilled in the art can make various alternative improvements and combinations to the above-mentioned specific embodiments.

Claims

1. A robot multi-gripper device, comprising a four-axis robot base (1), characterized in that: A guide shaft support (2) is installed on the base (1) of the four-axis robot, a mechanical arm structure (3) is installed on the upper end of the guide shaft support (2), a connecting shaft (15) is connected to the lower end of the mechanical arm structure (3), a mounting plate (11) is installed on the lower end of the connecting shaft (15), a first material picking cylinder (7), a second material picking cylinder (9) and a third material picking cylinder (14) are installed on the lower end of the mounting plate (11), a first clamping jaw (6) is installed on the lower end of the first material picking cylinder (7), a second clamping jaw (8) is installed on the lower end of the second material picking cylinder (9), a third clamping jaw (12) is installed on the lower end of the third material picking cylinder (14), and a pre-pressure cylinder (13) is connected to the upper end of the third material picking cylinder (14).

2. A robot multi-gripper device according to claim 1, characterized in that: The guide shaft support (2) is provided with a moving frame (4) outwardly, and the mechanical arm structure (3) moves in the moving frame (4).

3. The robot multi-gripper device according to claim 1, characterized in that: The first clamping jaw (6) is connected to the first material-removing cylinder (7), and the first clamping jaw (6) can clamp the upper shell (5).

4. The robot multi-gripper device according to claim 1, characterized in that: The second clamping jaw (8) is connected to the second material-removing cylinder (9), and a tower spring (10) can be clamped on the second clamping jaw (8).

5. The robot multi-gripper device according to claim 1, characterized in that: A positioning ring is installed between the mounting plate (11) and the multiple groups of cylinders, and the mounting plate (11) and the multiple groups of cylinders are connected via the positioning ring.

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