Adjustable material gripper for mechanical arm

Abstract

The utility model provides an adjustable material gripper for a mechanical arm, which comprises a gripper mounting plate and a material gripper, and the upper end face of the gripper mounting plate is connected with the mechanical arm through a robot flange plate fixedly mounted on the gripper mounting plate. The gripper mounting plate comprises an upper gripper mounting plate and a lower gripper mounting plate which are fixedly connected through a bolt, a connecting rod mechanism is arranged between the upper gripper mounting plate and the lower gripper mounting plate, and the material gripper is connected with the gripper mounting plate through the connecting rod mechanism. The material gripper has the advantages that by arranging the connecting rod mechanism, the limitation that a traditional material gripper is fixedly installed at one position is changed, the position of the material gripper is adjusted so that the material gripper can be suitable for materials of different shapes and sizes, the application range of the material gripper is wider, the economical efficiency of the material gripper is effectively improved, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to an adjustable material gripper for a mechanical arm, belonging to the technical field of intelligent robots. Background Art

[0002] Industrial robot arms are mechanical and electronic devices that anthropomorphize the functions of human arms, wrists, and hands. They can move any object or tool according to the time-varying requirements of spatial posture (position and posture) to complete the work requirements of a certain industrial production. For example, they can clamp welding tongs or welding guns to spot weld or arc weld the body of a car or motorcycle; carry die-cast or stamped parts or components; perform laser cutting; spray painting; assemble mechanical parts, etc.

[0003] Existing robotic arm grippers, when used to grab plate-like materials, also adopt a suction cup structure. This structure can firmly adsorb smooth plate-like materials and perform handling operations, but the position of the suction cup gripper is adjusted in advance according to the size of the material batch to be produced. For robotic arms that are used in small quantities or temporarily, the use process of the traditional gripper will be cumbersome and inefficient. Moreover, for irregular special-shaped structural parts, the traditional fixed-position suction cup gripper has extremely limited application scenarios and cannot meet the multi-purpose needs of one machine. In addition, designing a gripper structure or purchasing a corresponding gripper increases the company's production costs. Summary of the invention

[0004] Purpose of the invention: In view of the deficiencies in the prior art, the utility model provides an adjustable material gripper for a robotic arm to solve the problems mentioned in the above background technology.

[0005] Technical solution: An adjustable material gripper for a robotic arm, comprising a gripper mounting plate and a material gripper, wherein the upper end surface of the gripper mounting plate is connected to the robotic arm via a robot flange fixedly mounted on the gripper mounting plate, wherein the gripper mounting plate comprises an upper gripper mounting plate and a lower gripper mounting plate fixedly connected by bolts, wherein a connecting rod mechanism is arranged between the upper gripper mounting plate and the lower gripper mounting plate, and the material gripper is connected to the gripper mounting plate via the connecting rod mechanism.

[0006] The utility model changes the limitation of the traditional material gripper being fixedly installed in one position by arranging a connecting rod mechanism, realizes the position adjustment of the material gripper, and is suitable for materials of different shapes and sizes, making its application range wider, effectively improving the economy of the material gripper, and reducing production costs.

[0007] Preferably, the connecting rod mechanism includes a driving cylinder installed at the bottom of the upper gripper mounting plate, at least two first connecting rods distributed up and down and cross-arranged, and a mounting frame fixedly installed on the lower gripper mounting plate, and the middle parts of the two first connecting rods are rotatably connected by a pin shaft, and the pin shaft is rotatably installed on the mounting frame;

[0008] It also includes a bending push plate arranged at the output end of the driving cylinder, the output end of the driving cylinder is fixedly connected to any one side of the bending push plate, and the two ends of the other side of the bending push plate are respectively hinged to the two first connecting rods through the second connecting rod;

[0009] The end of the first connecting rod is fixedly connected to the material gripper.

[0010] A plurality of overlapping connecting rod structures can be arranged according to the demand. The push plate is pushed by the cylinder to drive the second connecting rod to pull the first connecting rod to rotate along the middle hinge point to realize the position change of the material gripper. The structure is simple and convenient for installation and maintenance, and can well control the grabbing position of the material gripper, so it is suitable for more materials of different sizes, and can quickly grab materials, effectively improve production efficiency, and can be applied to non-standard plate materials. Only at least two suction cup grippers are needed. By adjusting the position, it can be adsorbed on the material plane to realize adsorption and grabbing.

[0011] Preferably, a support plate is provided on the bottom surface of the first connecting rod near one end of the material gripper, and the bottom end of the support plate contacts the upper side surface of the lower gripper mounting plate through a cam follower.

[0012] Setting a cam follower can effectively provide better support effect during the rotation of the first connecting rod. When the weight of the grasped material is heavy, the influence of gravity on the first connecting rod can be greatly reduced, avoiding the stress point of the first connecting rod being concentrated at the middle hinge and causing the first connecting rod to be deformed. This effectively guarantees the grasping accuracy and grasping effect, thereby ensuring that the equipment can perform stable and continuous operation.

[0013] Preferably, the material gripper is configured as a suction cup gripper, and the same number of vacuum generators as the number of suction cup grippers are fixedly mounted on the side of the gripper mounting plate, and the vacuum generators are connected to the suction cup ends of the suction cup grippers in a one-to-one correspondence via gas pipelines.

[0014] Setting the material gripper as a suction cup gripper has a better adsorption effect on plate-like materials such as partitions. By forming a negative pressure space in the suction cup through vacuuming, the plate-like materials can be firmly adsorbed, and then the materials can be handled, which has better safety performance and faster material clamping speed.

[0015] Preferably, a laser distance measuring sensor is provided on the lower end surface of the gripper mounting plate, the laser distance measuring sensor is facing the direction of the material, and the laser distance measuring sensor is connected to the control machine through a signal line.

[0016] In order to detect whether the adsorption of materials is stable, a laser distance sensor is used to monitor whether the distance of the materials is within a safe range. When the materials fall off accidentally, the laser distance sensor detects the abnormal material distance and feeds back to the control machine. The control machine gives an alarm signal to remind the operator of the material abnormality and shuts down the machine in time to avoid safety accidents and ensure production and personnel safety.

[0017] The preferred option also includes a magnetic gripper assembly arranged on the lower side of the lower gripper mounting plate, the magnetic gripper assembly includes a pneumatic magnetic gripper and a gripper mounting seat, the gripper mounting seat is fixedly connected to the lower gripper mounting plate by bolts, and the pneumatic magnetic gripper is fixedly mounted on the gripper mounting seat.

[0018] In order to meet the effective clamping operation of the metal wheel hub, a pneumatic magnetic gripper is set up to control the magnetic size. The magnetic gripper assembly is set in the inner space of the suction cup gripper to avoid interference with the suction cup gripper. The distribution position is on the same circumference as the bolt hole position of the outer ring of the wheel hub, which can effectively perform magnetic adsorption on the wheel hub.

[0019] Preferably, a buffer spring sleeved on the bolt is provided between the gripper mounting seat and the lower gripper mounting plate.

[0020] The buffer spring can effectively provide flexible buffering when the pneumatic magnetic gripper contacts the wheel hub, and then start the pneumatic magnetic gripper to firmly adsorb on the side of the wheel hub. When the gripper is lifted up, the buffer spring resets, so that multiple magnetic gripper components and the wheel hub adsorption surface remain in the same plane, improving the grasping stability. At the same time, the magnetic gripper component can also be used in the grasping operations of other metal products and has a wide range of uses.

[0021] Beneficial effect: The utility model changes the limitation of the traditional material gripper being fixedly installed in one position by setting a connecting rod mechanism, realizes the position adjustment of the material gripper to be suitable for materials of different shapes and sizes, makes its application range wider, effectively improves the economy of the material gripper, and reduces production costs.

[0022] Multiple overlapping connecting rod structures can be set up according to needs. The cylinder pushes the push plate to drive the second connecting rod to pull the first connecting rod to rotate along the middle hinge point to achieve the position change of the material gripper. The structure is simple and convenient for installation and maintenance, and can well control the grabbing position of the material gripper, which is suitable for more materials of different sizes, and can quickly grab materials, effectively improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 This is the overall structure diagram of the utility model.

[0025] Figure 2 This is a structural diagram of the connecting rod mechanism of the utility model.

[0026] Figure 3 This is the installation structure diagram of the cam follower of the utility model.

[0027] Figure 4 This is the installation structure diagram of the laser ranging sensor of the utility model.

[0028] Figure 5 This is a structural diagram of the magnetic gripper assembly of the utility model. DETAILED DESCRIPTION

[0029] 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.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0032] like Figures 1 to 5 As shown, an adjustable material gripper for a robotic arm includes a gripper mounting plate and a material gripper, wherein the upper end surface of the gripper mounting plate is connected to the robotic arm via a robot flange 1 fixedly mounted on the gripper mounting plate, and the gripper mounting plate includes an upper gripper mounting plate 2 and a lower gripper mounting plate 3 fixedly connected by bolts, a connecting rod mechanism 4 is arranged between the upper gripper mounting plate 2 and the lower gripper mounting plate 3, and the material gripper is connected to the gripper mounting plate via the connecting rod mechanism 4.

[0033] The utility model changes the limitation of the traditional material gripper being fixedly installed in one position by setting a connecting rod mechanism 4, realizes the position adjustment of the material gripper to be suitable for materials of different shapes and sizes, makes its application range wider, effectively improves the economy of the material gripper, and reduces production costs.

[0034] The connecting rod mechanism 4 includes a driving cylinder 41 installed at the bottom of the upper gripper mounting plate 2, at least two first connecting rods 42 distributed and cross-arranged up and down, and a mounting frame 43 fixedly installed on the lower gripper mounting plate 3, and the middle parts of the two first connecting rods 42 are rotatably connected by a pin shaft, and the pin shaft is rotatably installed on the mounting frame 43;

[0035] It also includes a bending push plate 44 arranged at the output end of the driving cylinder 41, the output end of the driving cylinder 41 is fixedly connected to any one side of the bending push plate 44, and the other two ends of the bending push plate 44 are respectively hinged to the two first connecting rods 42 through the second connecting rod 45;

[0036] The end of the first connecting rod 42 is fixedly connected to the material gripper.

[0037] A plurality of overlapping connecting rod structures can be arranged as required, and the cylinder drives the push plate to drive the second connecting rod 45 to pull the first connecting rod 42 to rotate along the middle hinge point to realize the position change of the material gripper. The structure is simple and convenient for installation and maintenance, and can well control the grabbing position of the material gripper, so it is suitable for more materials of different sizes, and can quickly grab materials, effectively improve production efficiency, and can be applied to non-standard plate-like materials, and only at least two suction cup grippers are required. By adjusting the position, it can be adsorbed on the material plane to realize adsorption and grabbing.

[0038] A support plate 46 is provided on the bottom surface of the first connecting rod 42 close to one end of the material gripper, and the bottom end of the support plate 46 contacts the upper side surface of the lower gripper mounting plate 3 through a cam follower 47 .

[0039] The cam follower 47 can effectively provide better support during the rotation of the first connecting rod 42. When the weight of the grasped material is heavy, the influence of gravity on the first connecting rod 42 can be greatly reduced, avoiding the stress point of the first connecting rod 42 being concentrated at the middle hinge to cause the first connecting rod 42 to be deformed, effectively ensuring the grasping accuracy and grasping effect, thereby ensuring that the equipment can perform stable and continuous operation.

[0040] The material gripper is configured as a suction cup gripper 5, and the side of the gripper mounting plate is fixedly mounted with vacuum generators 6 having the same number as the suction cup gripper 5, and the vacuum generators 6 are connected to the suction cup ends of the suction cup gripper 5 in a one-to-one correspondence via a gas pipeline.

[0041] The material gripper is set as a suction cup gripper 5, which has a better adsorption effect on plate-like materials such as partitions. By forming a negative pressure space in the suction cup by vacuuming, the plate-like materials can be firmly adsorbed, and then the materials can be transported, which has better safety performance and faster material clamping speed.

[0042] A laser distance measuring sensor 7 is arranged on the lower end surface of the gripper mounting plate, the laser distance measuring sensor 7 faces the material direction, and the laser distance measuring sensor 7 is connected to the control machine through a signal line.

[0043] In order to detect whether the adsorption of the material is stable, the laser distance sensor 7 is used to monitor whether the distance of the material is within a safe range. When the material falls off accidentally, the laser distance sensor 7 detects the abnormal material distance and feeds back to the control machine. The control machine gives an alarm signal to remind the operator of the material abnormality and shuts down the machine in time to avoid safety accidents, thereby ensuring production and personnel safety.

[0044] It also includes a magnetic gripper assembly arranged on the lower side of the lower gripper mounting plate 3, the magnetic gripper assembly includes a pneumatic magnetic gripper 8 and a gripper mounting seat 9, the gripper mounting seat 9 is fixedly connected to the lower gripper mounting plate 3 by bolts, and the pneumatic magnetic gripper 8 is fixedly mounted on the gripper mounting seat 9.

[0045] In order to meet the effective clamping operation of the metal wheel hub, a pneumatic magnetic gripper 8 is set to control the magnetic size. The magnetic gripper assembly is set in the inner space of the suction cup gripper 5 to avoid interference with the suction cup gripper 5, and the distribution position is on the same circumference as the bolt hole position of the outer ring of the wheel hub, which can effectively perform magnetic adsorption on the wheel hub.

[0046] A buffer spring 10 sleeved on a bolt is provided between the gripper mounting seat 9 and the lower gripper mounting plate 3 .

[0047] The buffer spring 10 can effectively provide flexible buffering when the pneumatic magnetic gripper 8 contacts the wheel hub, and then start the pneumatic magnetic gripper 8 to firmly adsorb on the side of the wheel hub. When the gripper is lifted up, the buffer spring 10 resets, so that the multiple magnetic gripper components and the wheel hub adsorption surface remain in the same plane, thereby improving the grasping stability. At the same time, the magnetic gripper components can also be used in the grasping operations of other metal products, and have a wide range of uses.

[0048] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0049] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adjustable material gripper for a robot arm, comprising a gripper mounting plate and a material gripper, wherein the upper surface of the gripper mounting plate is connected to the robot arm via a robot flange (1) fixedly mounted on the gripper mounting plate, and characterized in that: The gripper mounting plate comprises an upper gripper mounting plate (2) and a lower gripper mounting plate (3) which are fixedly connected by bolts, a connecting rod mechanism (4) is provided between the upper gripper mounting plate (2) and the lower gripper mounting plate (3), and the material gripper is connected to the gripper mounting plate via the connecting rod mechanism (4).

2. The adjustable material gripper for a robot arm according to claim 1, characterized in that: The connecting rod mechanism (4) comprises a driving cylinder (41) mounted at the bottom of the upper gripper mounting plate (2), at least two first connecting rods (42) distributed vertically and cross-arranged, and a mounting frame (43) fixedly mounted on the lower gripper mounting plate (3), wherein the middle portions of the two first connecting rods (42) are rotatably connected via a pin, and the pin is rotatably mounted on the mounting frame (43); It also includes a bending push plate (44) arranged at the output end of the driving cylinder (41), the output end of the driving cylinder (41) is fixedly connected to any one side of the bending push plate (44), and the other two ends of the bending push plate (44) are respectively hinged to the two first connecting rods (42) through second connecting rods (45); The end of the first connecting rod (42) is fixedly connected to the material gripper.

3. The adjustable material gripper for a robot arm according to claim 2, characterized in that: A support plate (46) is provided on the bottom surface of the first connecting rod (42) close to one end of the material gripper, and the bottom end of the support plate (46) contacts the upper side surface of the lower gripper mounting plate (3) via a cam follower (47).

4. The adjustable material gripper for a mechanical arm according to claim 2, characterized in that: The material gripper is configured as a suction cup gripper (5), and the side surface of the gripper mounting plate is fixedly mounted with vacuum generators (6) having the same number as the suction cup grippers (5), and the vacuum generators (6) are connected to the suction cup ends of the suction cup grippers (5) in a one-to-one correspondence via gas pipelines.

5. The adjustable material gripper for a robot arm according to claim 1, characterized in that: A laser distance measuring sensor (7) is provided on the lower end surface of the gripper mounting plate, the laser distance measuring sensor (7) is facing the direction of the material, and the laser distance measuring sensor (7) is connected to the control machine via a signal line.

6. The adjustable material gripper for a robot arm according to claim 1, characterized in that: It also includes a magnetic gripper assembly arranged on the lower side of the lower gripper mounting plate (3), the magnetic gripper assembly including a pneumatic magnetic gripper (8) and a gripper mounting seat (9), the gripper mounting seat (9) being fixedly connected to the lower gripper mounting plate (3) by bolts, and the pneumatic magnetic gripper (8) being fixedly mounted on the gripper mounting seat (9).

7. The adjustable material gripper for a mechanical arm according to claim 6, characterized in that: A buffer spring (10) sleeved on the bolt is provided between the gripper mounting seat (9) and the lower gripper mounting plate (3).

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