Mechanical gripper and robot

Abstract

The utility model discloses a mechanical gripper and a robot, relates to the technical field of mechanical grippers, and solves the problem that the application range of the mechanical gripper is small, the mechanical gripper comprises a mounting frame and a clamping assembly, and the mounting frame comprises two mounting columns which are arranged in parallel at an interval; the clamping assemblies are adjustably and fixedly connected in the length direction of the mounting columns, and at least two clamping assemblies are arranged on each mounting column; the clamping assembly comprises a mounting seat, a first clamping block, a second clamping block and a driving piece; the mounting seat is detachably connected to the mounting column, the first clamping block is arranged on the mounting seat, the driving part is arranged on the mounting seat, and the driving part is in driving connection with the second clamping block so that the second clamping block can rotate to be close to or away from the first clamping block; a convex edge extends from the edge of one side wall of the energy storage box body; the first clamping block and the second clamping block can abut against the two opposite side walls of the protruding edge respectively so as to clamp the protruding edge. The application range of the mechanical gripper can be expanded, and the production cost can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers. Background Art

[0002] At present, in the production process of new energy storage boxes, the energy storage boxes need to be moved multiple times by robots for different processing steps. For energy storage boxes of different sizes, different mechanical grippers are often required to meet production needs. Therefore, when producing energy storage boxes of different sizes and specifications, corresponding mechanical grippers need to be equipped, which increases production costs. Utility Model Content

[0003] Therefore, the utility model provides a mechanical gripper and a robot to solve the above problems.

[0004] To achieve the above purpose, the technical solution provided by the utility model is as follows:

[0005] A mechanical gripper comprises a mounting frame and a clamping assembly, wherein the mounting frame comprises two mounting posts which are parallel and spaced apart; the clamping assembly is adjustably fixedly connected along the length direction of the mounting posts, and at least two clamping assemblies are arranged on each mounting post; the clamping assembly comprises a mounting seat, a first clamping block, a second clamping block and a driving member; the mounting seat is detachably connected to the mounting post, the first clamping block is arranged on the mounting seat, the driving member is arranged on the mounting seat, and the driving member drives the second clamping block to rotate the second clamping block to move closer to or away from the first clamping block; a convex edge extends from the edge of one side wall of an energy storage box; the first clamping block and the second clamping block can respectively abut against two opposite side walls of the convex edge to clamp the convex edge.

[0006] Optionally, the mounting column is provided with first threaded holes spaced apart along its length direction, and the clamping assembly further comprises a transition connection seat connected between the mounting column and the mounting seat; the transition connection seat is fixedly connected to the first threaded hole by screws.

[0007] Optionally, the first threaded holes are also arranged at intervals along the circumference of the mounting column; and the transition connection seat is connected to the first threaded holes at at least two different positions on the circumference of the mounting column by screws.

[0008] Optionally, the clamping assembly further comprises a height adjustment column, the height adjustment column is provided with second threaded holes spaced apart along the length direction thereof, and the transition connection seat and / or the mounting seat is fixedly connected to the second threaded holes by screws.

[0009] Optionally, the second threaded holes are also arranged at intervals along the circumference of the height adjustment column, and the mounting seat and / or the transition connection seat are connected to the second threaded holes at at least two different positions on the circumference of the height adjustment column by screws.

[0010] Optionally, the driving member includes a cylinder, which is mounted on a mounting seat, the second clamping block is fixedly connected to a rotating shaft, the rotating shaft is rotatably connected to the mounting seat, a driving rod is fixedly connected to the rotating shaft of the second clamping block, and a sliding groove is provided on the driving rod along its length direction, the end of the piston rod of the cylinder is slidably connected to the sliding groove, and the angle between the piston rod and the driving rod is changed by the movement of the piston rod, so that the second clamping block rotates around the rotating shaft.

[0011] Optionally, a buffer pad for contacting the convex edge is provided on the first clamping block and / or the second clamping block.

[0012] Optionally, at least two protrusions with perforations are arranged on the edge of the side wall of the energy storage box, and the mechanical gripper also includes at least two positioning components, each positioning component corresponds to a protrusion; the positioning component is adjustably fixedly connected along the length direction of the mounting column, and the positioning component includes a positioning column, which can be inserted into the perforation of the protrusion.

[0013] Optionally, the positioning assembly further includes a positioning cylinder, and the positioning column is coaxially fixedly connected to the end of a piston rod of the positioning cylinder.

[0014] A robot comprises at least the mechanical gripper mentioned above.

[0015] The technical solution provided by the utility model has the following beneficial effects:

[0016] 1. The clamping assembly can be adjusted along the length of the mounting column, which can be adapted to grasp energy storage boxes of different sizes, expand the scope of application of the mechanical gripper, and thus reduce production costs;

[0017] 2. The transition connection seat is connected to the first threaded holes at at least two different positions on the circumference of the mounting column by screws. Similarly, the transition connection seat and the mounting seat are connected to the second threaded holes at at least two different positions on the circumference of the height adjustment column by bolts. In this way, the structural stability of the clamping assembly itself and the stability of the connection between the clamping member and the mounting column can be ensured; and through the setting of the height adjustment column, the spacing between the first clamping block and the second clamping block relative to the mounting column can be adjusted to adapt to the actual working conditions;

[0018] 3. By inserting the positioning column into the through hole of the protrusion, the first clamping block and the second clamping block can be clamped at the accurate position on the protrusion to ensure the stability when clamping the energy storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of this embodiment;

[0020] Figure 2is an overall side view of this embodiment;

[0021] Figure 3 is a schematic diagram of the installation frame in this embodiment;

[0022] Figure 4 is a schematic diagram of the mounting column and the clamping assembly in this embodiment;

[0023] Figure 5 Schematic diagram of the mounting column and the positioning assembly in this embodiment.

[0024] Explanation of the accompanying drawings: 1. Mounting frame; 11. Mounting column; 111. First threaded hole; 12. Connecting column; 13. Mounting plate; 2. Clamping assembly; 21. Mounting seat; 22. First clamping block; 23. Second clamping block; 24. Driving member; 25. Transition connecting seat; 26. Height adjustment column; 261. Second threaded hole; 27. Buffer pad; 3. Positioning assembly; 31. Positioning column; 32. Positioning cylinder; 33. Positioning connecting seat; 4. Energy storage box; 41. Protruding edge; 42. Bump. DETAILED DESCRIPTION

[0025] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0026] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0027] Reference Figure 1 and Figure 2 A mechanical gripper is used to grasp an energy storage box 4 and is installed at the end of a robot so as to move the grasped and fixed energy storage box 4 under the drive of the robot. The energy storage box 4 is a box structure with an opening on one side, and a convex edge 41 extends from the edge of the outer wall on the side away from the opening. The mechanical gripper clamps the convex edge 41 at the four corners of the outer wall to grasp and fix the entire energy storage box 4. For the convenience of description, the energy storage box 4 is in a horizontal state, and the position of the mechanical gripper grasping the energy storage box 4 is described.

[0028] The mechanical gripper includes a mounting frame 1 and a clamping assembly 2. The mounting frame 1 includes mounting columns 11 and connecting columns 12. Two mounting columns 11 are arranged in parallel and at intervals, and two connecting columns 12 are arranged in parallel and at intervals. The two ends of the connecting column 12 are respectively connected to the two mounting columns 11 through a right-angle connecting seat, and the two connecting columns 12 are detachably fixedly installed on the end of the robot through a mounting plate 13. The clamping assembly 2 is adjustably fixedly connected along the length direction of the mounting column 11, and at least two clamping assemblies 2 are arranged on each mounting column 11 at intervals. In this embodiment, two clamping assemblies 2 are installed on each mounting column 11 at intervals, and are respectively clamped at the ends of the convex edges 41 on both sides to grasp the entire energy storage box 4. The clamping assembly 2 can be adjusted relative to the position of the mounting column 11, and can be adapted to energy storage boxes 4 of different sizes, thereby expanding the applicable range of the mechanical gripper.

[0029] Specifically, Figure 3 The mounting column 11 is provided with first threaded holes 111 evenly spaced along its length direction and along its circumference direction. The mounting column 11 is a hollow structure of a polygonal column, and a reinforcing rib is provided inside the mounting column 11 to enhance the structural strength of the mounting column 11. In this embodiment, the mounting column 11 is an octagonal column structure. The first threaded holes 111 are distributed on the eight long side walls of the mounting column 11. The connecting column 12 adopts the same structure as the mounting column 11.

[0030] Reference Figure 1 and Figure 4 The clamping assembly 2 includes a mounting seat 21, a first clamping block 22, a second clamping block 23 and a driving member 24. The mounting seat 21 is detachably connected to the mounting column 11, the first clamping block 22 is arranged on the mounting seat 21, and the driving member 24 is arranged on the mounting seat 21. The driving member 24 drives the second clamping block 23 to rotate the second clamping block 23 to move closer to or away from the first clamping block 22. A convex edge 41 extends from the edge of one side wall of the energy storage box 4; the first clamping block 22 and the second clamping block 23 are respectively used to press against the upper and lower side walls of the convex edge 41 to clamp the convex edge 41.

[0031] Specifically, the clamping assembly 2 also includes a transition connection seat 25 and a height adjustment column 26. The structure of the height adjustment column 26 is the same as that of the mounting column 11, and is an octagonal column structure. The height adjustment column 26 is provided with second threaded holes 261 spaced apart along its length direction and on each circumferential side wall, and the transition connection seat 25 and / or the mounting seat 21 are fixedly connected in the second threaded hole 261 by screws. In this embodiment, the transition connection seat 25 and the mounting seat 21 are both fixedly connected in the second threaded hole 261 by screws, and the two are spaced apart along the length direction of the height adjustment column 26, so that the mounting seat 21 is connected to the mounting column 11 in turn through the height adjustment column 26 and the transition mounting seat 21.

[0032] Furthermore, the transition seat 25 is connected to the first threaded holes 111 at least two different positions on the circumference of the mounting column 11 by screws. In the present embodiment, one end of the transition seat 25 contacts the three connecting side walls of the mounting column 11, and is connected to two side walls that are far away from each other among the three continuous side walls by screws. Similarly, the other end of the transition seat 25 contacts the three continuous side walls of the height adjustment column 26, and is connected to two side walls that are far away from each other among the three continuous side walls by screws, so that the height adjustment column 26 is vertically connected to the mounting column 11. Similarly, one end of the mounting seat 21 is also connected to the height adjustment column 26 in the same way as the transition seat 25. By adjusting the position of the mounting seat 21 along the length direction of the height adjustment column 26, the distance between the first clamping block 22 and the second clamping block 23 relative to the mounting column 11 can be adjusted to adapt to actual production conditions.

[0033] The first clamping block 22 is fixed on the mounting seat 21 and is used to press against the upper end surface of the convex edge 41. The second clamping block 23 is rotatably connected to the mounting seat 21, and the second clamping block 23 is driven by the driving member 24 to change the angle with the first clamping block 22, and then approach or move away from the first clamping block 22. When the second clamping block 23 approaches the first clamping block 22, the second clamping block 23 can press against the lower end surface of the convex edge 41, and through the cooperation of the first clamping block 22 and the second clamping block 23, press against the upper and lower end surfaces of the convex edge 41 respectively. In this way, the convex edges 41 at the four corners of the energy storage box 4 are clamped by four clamping assemblies 2, so that the entire energy storage box 4 can be clamped. Buffer pads 27 are provided on both the first clamping block 22 and the second clamping block 23 to avoid scratches or marks on the convex edge 41 when clamping the convex edge 41. The buffer pad 27 can be made of rubber material.

[0034] The driving member 24 is a cylinder to drive the second clamping block 23 to rotate. The cylinder driving the second clamping block 23 to rotate can be set as follows: the cylinder body of the cylinder is fixed on the mounting seat 21, the second clamping block 23 is fixedly connected with a rotating shaft, the rotating shaft is horizontally arranged, and the rotating shaft is rotatably connected to the mounting seat 21. The rotating shaft of the second clamping block 23 is fixedly connected with a driving rod, and the driving rod is provided with a slide groove along its length direction. The end of the piston rod of the cylinder is slidably connected to the slide groove, and the angle between the piston rod and the driving rod is changed by the movement of the piston rod along its axial direction, so that the second clamping block 23 rotates around the rotating shaft, so that the second clamping block 23 is close to or away from the first clamping block 22. Among them, as long as the movement of the piston rod of the cylinder along its axial direction is converted into the rotation of the second clamping block 23 around the axial direction of the rotating shaft through a linkage mechanism. In other embodiments, the motor can also be used to drive the rotating shaft to rotate, thereby driving the second clamping block 23 to rotate.

[0035] Further, see Figure 1 and Figure 5, at least two protrusions 42 with perforations are arranged at intervals on one side edge of the energy storage box 4. In this regard, the mechanical gripper also includes a positioning assembly 3, at least two positioning assemblies 3 are arranged, and each positioning assembly 3 acts on a protrusion 42. The positioning assembly 3 is fixedly connected to the mounting column 11 in an adjustable length direction to adapt to the perforation position of the protrusion 42 on different energy storage boxes 4. The positioning assembly 3 includes a positioning column 31 and a positioning cylinder 32. The cylinder body of the positioning cylinder 32 is fixedly connected to the mounting column 11 through a positioning connecting seat 33. The positioning connecting seat 33 is connected to the mounting column 11 in the same way as the transition connecting seat 25. The positioning column 31 is coaxially connected to the piston rod end of the positioning cylinder 32, and the axial direction of the positioning column 31 is perpendicular to the axial direction of the mounting column 11. The positioning column 31 is driven up and down by the piston rod of the positioning cylinder 32, so that the positioning column 31 can be inserted into or pulled out of the perforation of the protrusion 42.

[0036] When the energy storage box 4 is clamped, in each positioning assembly 3, the positioning cylinder 32 drives the piston rod to move toward the protrusion 42, so that the positioning column 31 is inserted into the through hole, thereby determining the relative position between the energy storage box 4 and the mechanical gripper, ensuring that each first clamping block 22 can be pressed against the corresponding position of the upper end surface of the convex edge 41; then the cylinder drives the second clamping block 23 to move toward the first clamping block 22, pressing against the corresponding position of the lower end surface of the convex edge 41, thereby clamping the entire energy storage box 4. When the energy storage box 4 is released, the cylinder drives the second clamping block 23 to move away from the first clamping block 22, so that the second clamping block 23 is at a right angle to the first clamping block 22. At this time, the mechanical gripper directly moves away from the energy storage box 4 and can be detached from the energy storage box 4.

[0037] This embodiment also discloses a robot, which at least includes the above-mentioned mechanical gripper.

[0038] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A mechanical gripper, characterized in that: It includes a mounting frame and a clamping assembly, wherein the mounting frame includes two mounting posts that are parallel and spaced apart; the clamping assembly is adjustably fixedly connected along the length direction of the mounting posts, and at least two clamping assemblies are arranged on each mounting post; the clamping assembly includes a mounting seat, a first clamping block, a second clamping block and a driving member; the mounting seat is detachably connected to the mounting post, the first clamping block is arranged on the mounting seat, the driving member is arranged on the mounting seat, and the driving member drives the second clamping block to rotate the second clamping block to move closer to or away from the first clamping block; a convex edge extends from the edge of one side wall of the energy storage box; the first clamping block and the second clamping block can respectively press against two opposite side walls of the convex edge to clamp the convex edge.

2. A mechanical gripper according to claim 1, characterized in that: The mounting post is provided with first threaded holes spaced apart along its length direction. The clamping assembly further comprises a transition connection seat connected between the mounting post and the mounting seat; the transition connection seat is fixedly connected to the first threaded hole by screws.

3. A mechanical gripper according to claim 2, characterized in that: The first threaded holes are also arranged at intervals along the circumference of the mounting column; the transition connection seat is connected to the first threaded holes at at least two different positions on the circumference of the mounting column by screws.

4. A mechanical gripper according to claim 2, characterized in that: The clamping assembly also includes a height adjustment column, and the height adjustment column is provided with second threaded holes at intervals along the length direction thereof, and the transition connection seat and / or the mounting seat are fixedly connected to the second threaded holes by screws.

5. A mechanical gripper according to claim 4, characterized in that: The second threaded holes are also arranged at intervals along the circumference of the height adjustment column, and the mounting seat and / or the transition connection seat are connected to the second threaded holes at at least two different positions on the circumference of the height adjustment column by screws.

6. A mechanical gripper according to claim 1, characterized in that: The driving member includes a cylinder, which is installed on a mounting seat. The second clamping block is fixedly connected to a rotating shaft, and the rotating shaft is rotatably connected to the mounting seat. A driving rod is fixedly connected to the rotating shaft of the second clamping block, and a sliding groove is provided on the driving rod along its length direction. The end of the piston rod of the cylinder is slidably connected to the sliding groove, and the angle between the piston rod and the driving rod is changed by the movement of the piston rod, so that the second clamping block rotates around the rotating shaft.

7. A mechanical gripper according to claim 1, characterized in that: The first clamping block and / or the second clamping block is provided with a buffer pad for contacting the convex edge.

8. A mechanical gripper according to claim 1, characterized in that: At least two protrusions with perforations are arranged on the edge of the side wall of the energy storage box, and the mechanical gripper also includes at least two positioning components, each positioning component corresponds to a protrusion; the positioning component is adjustably fixedly connected along the length direction of the mounting column, and the positioning component includes a positioning column, which can be inserted into the perforation of the protrusion.

9. A mechanical gripper according to claim 8, characterized in that: The positioning assembly also includes a positioning cylinder, and the positioning column is coaxially fixedly connected to the end of the piston rod of the positioning cylinder.

10. A robot, characterized in that: At least comprising the mechanical gripper described in any one of claims 1-9.

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