Robot tail end clamp

Abstract

The utility model discloses a robot tail end clamp which is connected to the tail end of a mechanical arm of a robot and comprises two clamping jaws and an air cylinder set, first arc-shaped parts and second arc-shaped parts are arranged on the inner sides of the two clamping jaws respectively, the two first arc-shaped parts are symmetrically arranged relative to the first axis, and the two second arc-shaped parts are symmetrically arranged relative to the second axis; the air cylinder set is connected with the two clamping jaws to drive the two clamping jaws to move face to face or back to back so that the two first arc-shaped parts can clamp or loosen objects, or the two second arc-shaped parts can clamp or loosen the objects. The bidirectional clamping device has bidirectional clamping capability, and is beneficial to simplifying a motion path and improving operation efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot end fixture. Background Art

[0002] The industrial robot fixture module is a key configurable component of the automation system. The fixture module is a brake with a gripper. The main application is to pick up, transfer and place objects. It can be standardized or custom-designed to adapt to the physical specifications of the workpiece that the robot equipment must grasp. Robot fixtures are often driven by cylinders or motor screws, and suitable accessories are selected according to different working conditions. However, most of the current robot fixtures are relatively single-function. The fixtures need to be constantly replaced for objects of different models, which greatly reduces work efficiency and increases the investment of manpower and material resources. At the same time, most of the current grippers are clamped in a single direction, which will make overly complex programming in the face of engineering requirements. The degree of freedom of each axis of the robot is not fully utilized, and multiple adjustments or specific circumstances are required to complete the clamping work simply and quickly. Utility Model Content

[0003] The utility model provides a robot end clamp to solve the technical problems of single-direction clamping and low clamping efficiency in the prior art.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a robot end clamp, connected to the end of the robot's mechanical arm, including two clamping claws and a cylinder group, characterized in that: the inner sides of the two clamping claws are respectively provided with a first arc portion and a second arc portion, the two first arc portions are symmetrically arranged relative to the first axis, and the two second arc portions are symmetrically arranged relative to the second axis; the cylinder group is connected to drive the two clamping claws to move toward or away from each other so that the two first arc portions clamp or release an object, or the two second arc portions clamp or release an object.

[0005] Furthermore, the first arc-shaped portion includes a plurality of first arc-shaped surfaces with different radii, and the plurality of first arc-shaped surfaces are distributed along the first axis or along the second axis.

[0006] Furthermore, the second arc-shaped portion includes a plurality of second arc-shaped surfaces with different radii, and the plurality of second arc-shaped surfaces are distributed along the second axis.

[0007] Furthermore, three first arcuate surfaces are provided on the side of the first arcuate portion in the second axial direction, wherein two first arcuate surfaces are located at the two ends of the clamp in the first axial direction, and another first arcuate surface is located between two of the first arcuate surfaces, and the radius of the first arcuate surface in the middle is smaller than the radius of the first arcuate surfaces at the two ends.

[0008] Furthermore, the second arc-shaped portion includes three sections of second arc-shaped surfaces, two of which are located on both sides of the clamp in the direction of the second axis, and another section of the second arc-shaped portion is located between two of the second arc-shaped surfaces, and the radius of the second arc-shaped surface located in the middle is smaller than the radius of the second arc-shaped surfaces located on both sides.

[0009] Furthermore, an elastic buffer material is installed inside the clamping jaw, and the elastic buffer material includes a foam pad, the shape of the foam pad is adapted to the first arc-shaped portion and the second arc-shaped portion and is connected to the upper surface of the first arc-shaped portion and the second arc-shaped portion.

[0010] Furthermore, it also includes a hook claw, which is connected to one side of the cylinder group to realize opening the cover.

[0011] Further, the first axis is perpendicular to the second axis, and the second arc portion is located at an end of the first arc portion away from the cylinder group in the direction of the first axis.

[0012] Furthermore, the cylinder group includes two cylinders and two connecting plates, the two connecting plates are symmetrically arranged relative to the first axis, and the output shafts of the two cylinders are respectively connected to the two connecting plates to drive them to move relative to each other or move in opposite directions; the two connecting plates are respectively connected to the two clamps.

[0013] Furthermore, reinforcing ribs are provided on the outer side of the clamp, and a mounting portion is provided on the reinforcing ribs, and the mounting portion is a limiting groove or a limiting column; the connecting plate is embedded in the limiting groove, or the connecting plate is provided with a clamping groove which is embedded by the limiting column, and the connecting plate is connected to the mounting portion of the clamp.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. The utility model includes two clamping jaws and a cylinder group. The inner sides of the two clamping jaws are respectively provided with a first arc portion and a second arc portion. The two first arc portions are symmetrically arranged relative to the first axis, and the two second arc portions are symmetrically arranged relative to the second axis. The cylinder group is connected to drive the two clamping jaws to move toward or away from each other so that the two first arc portions clamp or release an object, or the two second arc portions clamp or release an object. The utility model has a bidirectional clamping capability, which is conducive to simplifying the motion path and improving the operation efficiency.

[0016] 2. The first arc-shaped portion of the utility model includes multiple first arc-shaped surfaces with different radii, and the second arc-shaped portion includes multiple second arc-shaped surfaces with different radii, so that the flexible clamping jaws are suitable for clamping cans with different radii. The arc-shaped portion is adapted to the shape of the can, which increases the clamping area and is conducive to improving the clamping reliability.

[0017] 3. A foam pad is installed inside the clamping jaw of the utility model. The shape of the foam pad is adapted to the first arc-shaped portion and the second arc-shaped portion and is connected to the upper surfaces of the first arc-shaped portion and the second arc-shaped portion to increase the clamping friction, which is beneficial to improving the clamping reliability.

[0018] 4. The hook in the utility model is fixedly connected to one side of the cylinder group by screws, so that it can be directly removed and replaced after being damaged. Compared with the hook being arranged on one side of the clamp, it is better to avoid affecting the stability of the clamp, and thus has better parts interchangeability.

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments; however, the robot end fixture of the present invention is not limited to the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an exploded view of the utility model;

[0021] Figure 2 It is a three-dimensional diagram of the utility model;

[0022] Figure 3 This is a diagram of the lateral clamping state of the utility model;

[0023] Figure 4 It is the vertical clamping state of the utility model Figure 1 ;

[0024] Figure 5 It is the vertical clamping state of the utility model Figure 2 ;

[0025] In the figure: 1, clamping claw; 2, cylinder group; 3, first arc portion; 4, second arc portion; 5, hook claw; 6, flange;

[0026] 7. reinforcing ribs; 8. limiting grooves; 9. foam pads; 21. connecting plates; 22. output shafts; 31. first arc-shaped surfaces;

[0027] 41. The second curved surface. DETAILED DESCRIPTION

[0028] In the present invention, the directions or positional relationships indicated by "upper", "lower", "inner", "outer", etc. in the description are based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] See also Figure 1-Figure 5 As shown, a robot end fixture of the utility model includes two clamping jaws 1 and a cylinder group 2. The inner sides of the two clamping jaws 1 are respectively provided with a first arc portion 3 and a second arc portion 4. The two first arc portions 3 are symmetrically arranged relative to the first axis, and the two second arc portions 4 are symmetrically arranged relative to the second axis. The first axis and the second axis are arranged perpendicular to each other. The cylinder group 2 is connected to drive the two clamping jaws 1 to move toward or away from each other so that the two first arc portions 3 clamp or release an object, or the two second arc portions 4 clamp or release an object. The object is a can body such as a can. This embodiment also includes a hook 5 and a flange 6. The hook 5 is connected to one side of the cylinder group 2 by screws to realize opening the cover. One end of the flange 6 is connected to the side of the cylinder group 2 facing away from the clamping jaw 1, and the other end of the flange 6 is connected to the end of the six-axis mechanical arm of the robot. Therefore, the utility model has a bidirectional clamping capability, which is conducive to simplifying the motion path and improving the operation efficiency.

[0030] See also Figure 1 As shown, the outer sides of the two clamping jaws 1 are respectively provided with reinforcing ribs 7 to ensure structural strength, and limiting grooves 8 are provided on the reinforcing ribs 7, but not limited thereto. Elastic buffer materials are also respectively provided on the inner sides of the two clamping jaws 1, and the elastic buffer materials include foam pads 9, the shape of the foam pads 9 is adapted to the first arc portion 3 and the second arc portion 4 and connected to the upper surfaces of the first arc portion 3 and the second arc portion 4, so as to increase the clamping friction force, which is conducive to improving the clamping reliability. In order to have sufficiently high precision and strength, the two clamping jaws 1 can be formed by DLP light-curing printing, but not limited thereto. The material of the flange 6 is aluminum alloy to meet the requirements of lightweight design. The diameter of the flange 6 is larger than the end of the robot's mechanical arm. The flange 6 is provided with a plurality of positioning pin holes, the diameter of the positioning pin holes of the flange 6 is consistent with the diameter of the positioning pin holes of the cylinder group 2, and the depth of the positioning pin holes of the flange 6 is greater than the depth of the positioning pin holes of the cylinder group 2 to prevent the cylinder group 2 from rotating relative to the flange 6.

[0031] See also Figure 1 and Figure 2 As shown, the cylinder group 2 includes two cylinders and two connecting plates 21, the two connecting plates 21 are symmetrically arranged relative to the first axis, and the output shafts 22 of the two cylinders are respectively connected to the two connecting plates 21 to drive them to move relative to each other or move in opposite directions. The two connecting plates 21 are respectively embedded in the two limiting grooves 8 and connected to the limiting grooves 8 on the outside of the two clamping jaws 1 by screws, so that the two first arc-shaped portions 3 on the inside of the two clamping jaws 1 clamp or release the object, or the two second arc-shaped portions 4 on the inside of the two clamping jaws 1 clamp or release the object, and at the same time, the installation accuracy of the two clamping jaws 1 can be improved to prevent the two clamping jaws 1 from shaking when clamping heavy objects. In this embodiment, a double-axis cylinder of model HFT10×30-S is selected, with a stroke of 30mm, that is, a single side has a sufficient stroke of 15mm to achieve good clamping stiffness and operation stability.

[0032] See also Figure 2 , Figure 3 and Figure 4 As shown, the clamping jaw 1 adopts a three-section arc surface design. The arc surface increases the contact area with the can, increases the friction force, and prevents the can from slipping after being grasped.

[0033] See also Figure 2 and Figure 3 As shown, the first arc portion 3 includes multiple first arc surfaces 31 with different radii, and the multiple first arc surfaces 31 are distributed along the first axis or along the second axis. Specifically, the first arc portion 3 is provided with three first arc surfaces 31 on both sides on the side edges in the second axis direction, two of the first arc surfaces 31 on one side are located at the two ends of the clamping jaw 1 in the first axis direction, and the other first arc surface 31 is located between the two first arc surfaces 31, and the radius of the first arc surface 31 in the middle is smaller than the radius of the first arc surfaces 31 at the two ends, but it is not limited to this. In this embodiment, the radius of the first arc surface 31 in the middle is 25.5mm, and the radius of the first arc surfaces 31 at the two ends is 32.5mm. Under the condition that the stroke of the cylinder group 2 is 30mm, the diameter range of the can body that can be clamped is 45mm to 70mm.

[0034] See also Figure 2 and Figure 4 As shown, the second arc portion 4 is located at the end of the first arc portion 3 in the first axial direction away from the cylinder group 2. The second arc portion 4 includes multiple second arc surfaces 41 with different radii, and the multiple second arc surfaces 41 are distributed along the second axis. Specifically, the second arc portion 4 includes three second arc surfaces 41, two of which are located on both sides of the clamping jaw 1 in the second axial direction, and another second arc surface 41 is located between two of the second arc surfaces 41, and the radius of the second arc surface 41 in the middle is smaller than the radius of the second arc surfaces 41 on both sides.

[0035] See also Figure 5 As shown, the hook 5 is fixedly connected to one side of the cylinder group 2 by screws so that it can be directly removed and replaced after being damaged. Compared with the hook 5 being set on one side of the clamp 1, it is better to avoid affecting the stability of the clamp 1, so it has more interchangeability of parts. The hook 5 can be printed by FDM 3D printing, and the material is PLA. The material has high toughness and high enough strength to prevent the hook 5 from being damaged during repeated can opening. In this embodiment, the model of the robot is HSR-CR605. The six-axis robot arm of the robot has a large degree of freedom to rotate the can body to adjust the angle, and the angle of the can can be adjusted to the right position at one time, avoiding the accumulation of errors caused by multiple rotations.

[0036] The utility model includes two clamping jaws 1 and a cylinder group 2. The inner sides of the two clamping jaws 1 are respectively provided with a first arc portion 3 and a second arc portion 4. The two first arc portions 3 are symmetrically arranged relative to the first axis, and the two second arc portions 4 are symmetrically arranged relative to the second axis. The cylinder group 2 is connected to drive the two clamping jaws 1 to move toward or away from each other so that the two first arc portions 3 clamp or release an object, or the two second arc portions 4 clamp or release an object. Therefore, it has a bidirectional clamping ability, which is conducive to simplifying the motion path and improving the operation efficiency. The clamping jaw 1 adopts a three-section arc surface design, which can clamp cans of different radii. The arc surface increases the contact area with the can, increases the friction, and avoids slipping after grasping, so that the operation reliability can be improved.

[0037] The utility model provides a robot end fixture, and the unrelated parts are the same as the prior art or can be implemented by using the prior art.

[0038] The above embodiments are only used to further illustrate a robot end fixture of the utility model, but the utility model is not limited to the embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the utility model fall within the protection scope of the technical solution of the utility model.

Claims

1. A robot end fixture, connected to the end of the robot's mechanical arm, includes two grippers and a cylinder group, characterized in that: A first arc-shaped portion and a second arc-shaped portion are respectively arranged on the inner sides of the two clamping jaws, the two first arc-shaped portions are symmetrically arranged relative to the first axis, and the two second arc-shaped portions are symmetrically arranged relative to the second axis; the cylinder group is connected to drive the two clamping jaws to move toward or away from each other so that the two first arc-shaped portions clamp or release an object, or the two second arc-shaped portions clamp or release an object.

2. The robot end fixture according to claim 1, characterized in that: The first arc-shaped portion includes a plurality of first arc-shaped surfaces with different radii, and the plurality of first arc-shaped surfaces are distributed along the first axis or along the second axis.

3. The robot end fixture according to claim 1, characterized in that: The second arc-shaped portion includes a plurality of second arc-shaped surfaces with different radii, and the plurality of second arc-shaped surfaces are distributed along the second axis.

4. The robot end fixture according to claim 2, characterized in that: The first arc portion is provided with three first arc surfaces on the side in the second axis direction, wherein two first arc surfaces are located at the two ends of the clamp in the first axis direction, and another first arc surface is located between two of the first arc surfaces, and the radius of the first arc surface in the middle is smaller than the radius of the first arc surfaces at the two ends.

5. The robot end fixture according to claim 3, characterized in that: The second arc portion includes three sections of second arc surfaces, two of which are located on both sides of the clamp in the direction of the second axis, and another section of the second arc portion is located between two of the second arc surfaces, and the radius of the second arc surface in the middle is smaller than the radius of the second arc surfaces on both sides.

6. The robot end fixture according to claim 1, characterized in that: An elastic buffer material is installed inside the clamping jaw, and the elastic buffer material includes a foam pad. The shape of the foam pad is adapted to the first arc-shaped portion and the second arc-shaped portion and is connected to the upper surfaces of the first arc-shaped portion and the second arc-shaped portion.

7. The robot end fixture according to claim 1, characterized in that: It also includes a hook claw, which is connected to one side of the cylinder group and is used to open the cover.

8. The robot end fixture according to claim 1, characterized in that: The first axis is perpendicular to the second axis, and the second arc portion is located at an end of the first arc portion away from the cylinder group in the direction of the first axis.

9. The robot end fixture according to claim 1, characterized in that: The cylinder group includes two cylinders and two connecting plates, the two connecting plates are symmetrically arranged relative to the first axis, and the output shafts of the two cylinders are respectively connected to the two connecting plates to drive them to move relative to each other or move in opposite directions; the two connecting plates are respectively connected to the two clamping jaws.

10. The robot end fixture according to claim 9, characterized in that: The outer side of the clamp is provided with a reinforcing rib, and a mounting portion is provided on the reinforcing rib, and the mounting portion is a limiting groove or a limiting column; the connecting plate is embedded in the limiting groove, or the connecting plate is provided with a clamping groove which is embedded by the limiting column, and the connecting plate is connected to the mounting portion of the clamp.

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