Tail end gripper and truss manipulator

Abstract

The utility model discloses a tail end gripper and a truss manipulator in the field of manipulator design. The tail end gripper comprises a rotating assembly and a gripper assembly. The rotating assembly is in transmission connection with the gripper assembly, and the rotating assembly works to drive the gripper assembly to rotate; the gripper assembly comprises a bottom plate and a driving body, the bottom plate is in transmission connection with the rotating assembly, a set of clamping jaws are movably installed on the side, away from the rotating assembly, of the bottom plate, and the driving body drives the clamping jaws to move away from each other or move relative to each other; according to the tail end gripper, the rotating assembly is used for driving the whole gripper assembly to rotate, rotation of clamped materials can be changed, the direction of the clamped materials can be adjusted, the pair of clamping jaws is installed on the bottom plate of the gripper assembly in a sliding mode, the distance between the two clamping jaws can be adjusted through relative movement of the two clamping jaws, and then the requirement for clamping operation of the materials of different sizes is met; and materials can be quickly carried and stacked by matching with a truss mechanical arm.

Description

Technical Field

[0001] The present application relates to the technical field of robot gripper design, and in particular to an end gripper. Background Art

[0002] With the advancement of industrialization, more and more factories are beginning to carry out automation reforms. Truss manipulators can not only work normally in harsh environments, but also meet the needs of high-intensity and high-frequency work. More factories will use them to replace manual work, improve the working environment of workers, reduce the labor intensity of workers, thereby greatly reducing production costs and improving work efficiency.

[0003] The truss manipulator is a relatively mature product currently used in industrial production and is widely used in automation applications. It mainly realizes many functions based on the type of end gripper, such as: handling of workpieces, loading and unloading of machine tools, and palletizing. The truss manipulator is generally composed of an X-axis, a Y-axis, and a Z-axis, with a relatively complex structure and high equipment cost. The design of the end gripper and its application range are particularly important. In the prior art, the end gripper of a truss manipulator is generally only suitable for materials of a fixed size, for handling and palletizing. However, the materials that need to be handled on the factory production line may often have the same overall style, but the size is not fixed. Therefore, it is necessary to design an end gripper that can meet the needs of materials of different sizes and can handle and palletize them. Utility Model Content

[0004] The purpose of this application is to provide an end gripper to solve the disadvantage that the hand gripper in the prior art is generally only suitable for materials of a fixed size. However, the materials that need to be transported in the factory may have the same overall style, but the size is not fixed, and the traditional hand gripper is difficult to apply.

[0005] In order to solve the above technical problems, this application is implemented by adopting the following technical solutions:

[0006] In a first aspect, an end gripper comprises a rotating assembly and a gripper assembly;

[0007] The rotating assembly is in transmission connection with the gripper assembly, and the rotating assembly works to drive the gripper assembly to rotate;

[0008] The gripper assembly comprises a base plate and a driving body, the base plate is drivingly connected to the rotating assembly, a group of clamping claws are movably mounted on a side of the base plate away from the rotating assembly, and the driving body drives the clamping claws to move apart or relatively.

[0009] According to a further solution of the present application, the rotating assembly includes a rotating platform and a first motor; the first motor is fixedly mounted on a side of the rotating platform away from the gripper assembly, a slewing bearing is fixed to the rotating platform, a driving gear meshing with an outer ring gear of the slewing bearing is fixed to an output end of the first motor, and the radial surface of the outer ring of the slewing bearing is fixedly connected to the base plate.

[0010] In a further solution, an adapter plate is connected between the base plate and the outer ring of the slewing bearing.

[0011] According to a further solution of the present application, a sliding assembly is installed on one side of the base plate away from the rotating assembly and parallel to the length direction of the base plate, a pair of the clamps are symmetrically connected on both sides of the sliding assembly, and the driving body is installed on the base plate to drive the clamps to move linearly.

[0012] In a further solution, the sliding assembly includes a pair of linear guide rails fixed in parallel on the base plate, and a slider is slidably mounted on both ends of each linear guide rail. The clamping jaws are fixedly connected to the sliders correspondingly, and the driving body synchronously drives the clamping jaws to move linearly.

[0013] In a further solution, the driving body includes a second motor and a pair of racks; the second motor is fixed on the side of the base plate facing the rotating component, the output shaft of the second motor is connected to a gear through a sleeve, a pair of the racks are fixed in parallel on the mounting plate of the clamp, and the gear passes through the base plate and engages with the racks on both sides.

[0014] In a further solution, a hollow installation area is provided on the rotating assembly, the rotating assembly is arranged in the middle of the base plate, and the second motor is placed in the installation area and fixedly mounted to the base plate.

[0015] In a further solution, limit blocks are fixed at both ends of the base plate along the movement of the clamping jaws to prevent the two clamping jaws from exceeding the maximum length of the linear guide rail and interfering with the clamping action.

[0016] In a second aspect, a truss manipulator comprises the above-mentioned end gripper and a truss manipulator arm, wherein the truss manipulator arm is connected to the rotating assembly to realize the truss manipulator

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The end hand gripper involved in the present application uses a rotating assembly to drive the entire gripper assembly to rotate, thereby changing the rotation of the clamped material and adjusting the orientation. A pair of jaws are slidably installed on the bottom plate of the gripper assembly. The relative movement of the two jaws can adjust the distance between them, thereby meeting the clamping operation of materials of different sizes. In conjunction with the truss robot arm, the materials can be quickly transported and stacked.

[0019] In addition, the sliding assembly in the gripper assembly is designed as a double rack matched with a single gear of the second motor, and the two racks are meshed on both radial sides of the gear. In this design, the rotation of the gear can synchronously drive the two jaws to move, thereby improving the movement synchronization and reducing the use of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the structure of the rotating assembly in the embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of the structure of the gripper assembly in the embodiment of the present application;

[0023] Figure 4 for Figure 3 Section view in the AA direction;

[0024] Figure 5 This is a schematic diagram of the reverse structure of the gripper assembly in the embodiment of the present application;

[0025] Among them, 1. rotating component; 2. gripper component; 21. driving body; 3. adapter plate; 4. first motor; 5. reducer; 6. rotating platform; 7. slewing bearing; 8. second motor; 9. bottom plate; 10. bushing; 11. locking nut; 12. gear; 13. rack; 14. clamp; 15. slider; 16. linear guide; 17. limit block. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0027] Reference Figures 1 to 3 In the first embodiment, this embodiment discloses an end hand gripper, which is installed at the tail end of the robot arm and is used for clamping materials. It includes two major components: a rotating component 1 and a gripper component 2; the rotating component 1 is transmission-connected to the gripper component 2, and the rotating component 1 works to drive the gripper component 2 to rotate; the gripper component 2 includes a base plate 9 and a driving body 21, the base plate 9 is transmission-connected to the rotating component 1, and a group of clamping claws 14 are movably installed on the side of the base plate 9 away from the rotating component 1, and the driving body 21 drives the clamping claws 14 to move apart or relative to each other.

[0028] The structure of the device is described in detail below in conjunction with the accompanying drawings; Figure 2 , the figure shows the specific structure of the rotating component 1, the rotating component 1 includes a rotating platform 6, a hollow installation area is provided in the middle of the rotating platform 6, and a slewing bearing 7 is arranged in the installation area, the radial outer surface of the outer ring of the slewing bearing 7 is fixedly connected to the bottom plate 9, the edge of the rotating platform 6 is fixed with a first motor 4, the output shaft of the first motor 4 is installed with a driving gear, the driving gear is meshed with the outer gear ring of the rotating platform 6, and the first motor 4 is started to drive the bottom plate 9 to rotate. It is a relatively mature technology to use the slewing bearing 7 to cooperate with the rotating installation of parts in industrial design, so the internal structure in the attached figure is omitted here. In this embodiment, the first motor 4 is installed using a servo motor, and the motor speed is relatively fast, so a reducer 5 is installed at the output end of the first motor 4, and a driving gear is installed on the output shaft of the reducer 5 to ensure the speed-controlled rotation of the gripper assembly 2, wherein an adapter plate 3 is connected between the bottom plate 9 and the outer ring of the slewing bearing 7.

[0029] Reference Figures 3 to 5 The specific structure of the gripper assembly 2 in this embodiment can be seen in the above-mentioned drawings, the specific structure of the driving part and the specific installation of the clamping jaws 14; wherein a sliding assembly is installed parallel to the length direction of the bottom plate 9 on the side of the bottom plate 9 away from the rotating assembly 1, a pair of clamping jaws 14 are symmetrically connected on both sides of the sliding assembly, and a driving body 21 is installed on the bottom plate 9 to drive the clamping jaws 14 to move linearly;

[0030] In this embodiment, the driving part can realize synchronous driving of the clamping jaw 14 to move linearly. Figure 1 , 4 5. The sliding assembly includes a pair of linear guides 16 fixed in parallel on the base plate 9, and a slider 15 is slidably installed at both ends of each linear guide 16. The clamping jaws 14 are fixed to the slider 15 correspondingly, and the two clamping jaws 14 are symmetrically installed on both sides of the linear guide 16. The driving part includes two racks 13 fixed in parallel on the mounting plates corresponding to the clamping jaws 14. The base plate 9 faces the side of the rotating assembly 1, and the output shaft of the second motor 8 is connected to the gear 12 through the shaft sleeve 10. When installing the shaft sleeve 10, a locking nut 11 is tightened at the end of the shaft sleeve 10. At this time, a through hole is opened on the base plate 9, and the gear 12 is passed through and placed on the side of the base plate 9 away from the second motor 8, and meshes with the racks 13 on both sides.

[0031] When in use, the second motor 8 drives the gear 12 to rotate. At this time, the racks 13 on both sides rotate with the gear 12 and pull the corresponding clamping jaws 14 to move, so as to clamp and fix the material. The design of the double racks 13 arranged in conjunction with the single gear 12 can achieve high-precision and fast adjustment of the spacing of the clamping jaws 14 to meet the use of materials of different sizes. In this embodiment, limit blocks 17 are fixed at both ends of the bottom plate 9 along the movement of the clamping jaws 14 to prevent the two clamping jaws 14 from exceeding the maximum length of the linear guide 16 and interfering with the clamping action.

[0032] In the second embodiment, this embodiment provides a truss robot, including the end gripper and the truss robot arm in the first embodiment, the truss robot arm is connected to the rotating component 1, and the tail end of the truss robot arm can be connected to the inner ring of the slewing bearing 7.

[0033] Specific use:

[0034] The end gripper is fixed to the truss mechanical arm. The existing truss has the function of moving in space (existing technology, no further description is given here). In actual production, an industrial camera is installed on the bottom plate 9. The camera is connected to the control center to identify the size and position of the material to determine the distance between the two grippers 14.

[0035] 1. The end gripper grabs the material box;

[0036] When the truss manipulator moves to the material box grabbing position: the second motor 8 on the gripper assembly 2 drives the gear 12 to rotate, and the two meshing racks 13 move linearly at the same time, thereby driving the clamps 14 at both ends to move inward at the same time to grab the material box. The truss manipulator grabs the material box to the palletizing position.

[0037] 2. The end gripper stacks the material boxes;

[0038] When the truss robot moves to the material box pallet stacking position: the system determines the stacking direction of the material based on the size of the material box, the first motor 4 of the rotating component 1 is started, and the clamped material box is driven to rotate a specified angle; the truss robot transports the material box to the position where the material box is placed.

[0039] 3. The end gripper places the material box;

[0040] When the truss manipulator moves to the material box placement position: the second motor 8 on the gripper assembly 2 drives the gear 12 to rotate in the opposite direction, and the two meshing racks 13 simultaneously make a reverse linear motion, thereby driving the two end clamps 14 to move outward at the same time, and the material box slides to the placement position on the pallet along the gap between the two side clamps 14. After the placement is completed, the truss manipulator returns to the original position with the end clamps 14, and continues to wait for the next material box to perform round trip operations.

[0041] The device in the present application can not only meet the needs of handling material boxes of different sizes, but also can palletize material boxes layer by layer. The overall principle of the device is simple, the structure is simple, and the flexibility and stability are high.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0043] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

Claims

1. An end gripper, characterized in that: It comprises a rotating assembly (1) and a gripper assembly (2); The rotating assembly (1) is in transmission connection with the gripper assembly (2), and the rotating assembly (1) works to drive the gripper assembly (2) to rotate; The gripper assembly (2) comprises a base plate (9) and a driving body (21); the base plate (9) is drivingly connected to the rotating assembly (1); a group of clamping jaws (14) are movably mounted on a side of the base plate (9) facing away from the rotating assembly (1); and the driving body (21) drives the clamping jaws (14) to move apart or relative to each other.

2. The end gripper according to claim 1, characterized in that: The rotating assembly (1) comprises a rotating platform (6) and a first motor (4); the first motor (4) is fixedly mounted on a side of the rotating platform (6) away from the gripper assembly (2); a slewing bearing (7) is fixed on the rotating platform (6); a driving gear meshing with an outer ring gear of the slewing bearing (7) is fixed at an output end of the first motor (4); and the radial surface of the outer ring of the slewing bearing (7) is fixedly connected to the base plate (9).

3. The end gripper according to claim 2, characterized in that: An adapter plate (3) is connected between the bottom plate (9) and the outer ring of the slewing bearing (7).

4. The end gripper according to claim 1, characterized in that: A sliding assembly is installed on one side of the base plate (9) away from the rotating assembly (1) and parallel to the length direction of the base plate (9); a pair of clamping jaws (14) are symmetrically connected on both sides of the sliding assembly; and the driving body (21) is installed on the base plate (9) to drive the clamping jaws (14) to move linearly.

5. The end gripper according to claim 4, characterized in that: The sliding assembly comprises a pair of linear guide rails (16) fixed in parallel on the base plate (9), a slider (15) being slidably mounted at both ends of each linear guide rail (16), the clamping jaws (14) being fixedly connected to the sliders (15) correspondingly, and the driving body (21) synchronously driving the clamping jaws (14) to move linearly.

6. The end gripper according to claim 5, characterized in that: The driving body (21) comprises a second motor (8) and a pair of racks (13); the second motor (8) is fixed on a side of the base plate (9) facing the rotating assembly (1); the output shaft of the second motor (8) is connected to a gear (12) via a sleeve (10); the pair of racks (13) are fixed in parallel to the mounting plate of the clamp (14); the gear (12) passes through the base plate (9) and meshes with the racks (13) on both sides.

7. The end gripper according to claim 6, characterized in that: The rotating assembly (1) is provided with a hollow installation area, the rotating assembly (1) is arranged in the middle of the bottom plate (9), and the second motor (8) is placed in the installation area and fixedly mounted to the bottom plate (9).

8. The end gripper according to claim 7, characterized in that: Limiting blocks (17) are fixed at both ends of the bottom plate (9) along the movement of the clamping claw (14).

9. A truss manipulator, characterized in that: It comprises the end gripper and truss robot arm according to any one of claims 1 to 8, wherein the truss robot arm is connected to the rotating assembly (1).

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