Gripper jig and robot gripper structure

Abstract

The utility model provides a gripper jig (8) and robot gripper structure, including robot (7), base (1) and support (2), the support (2) is installed on the base (1), the support (2) is installed on the base (1) through more than two connecting pieces, the connecting pieces are all provided with reducing stress concentration parts (41a, 51a), the diameter of the connecting pieces is reduced, and the diameter of the connecting pieces is reduced. And the stress concentration parts (41a, 51a) are positioned between the base (1) and the bracket (2). With the adoption of the structure, when the bracket is collided, the stress concentration part between the bracket and the base is provided with the reducing structure, so that collision stress is concentrated and the bracket is easy to damage, residual collision force is prevented from being transmitted to the base, and the base is prevented from being deformed and damaged. In addition, since the whole connecting piece is provided with the stress concentration part, compared with a structure in which the stress concentration part is only arranged on a part of the connecting piece, the structure has the technical effects that collision in multiple directions can be coped, collision force in different directions is further prevented from being transmitted to the base, damage is reliably avoided, and the like.

Description

Technical Field

[0001] The utility model relates to a gripper fixture and a robot gripper structure. Background Art

[0002] For example, in the welding station of the automobile body, loose panels need to be welded and assembled together at the welding workstation. In the process of welding the white body, a robot is usually used to drive a gripper fixture to accurately grab the loose body panels and move them to the welding station. After accurate positioning, the loose body panels are assembled into the predetermined area for welding.

[0003] The gripper fixture consists of a base and a bracket, which are connected by bolts and positioning pins to ensure rigidity and stability.

[0004] However, when the robot gripper is fatigued, aged, or misoperated by a human, it will lose control during operation and collide with surrounding fixed objects, such as welding torches, workbenches at the production line, fences at welding stations, etc. When the gripper bracket is hit by such objects, not only the bracket itself may be deformed, but the collision force will be transmitted to the base, eventually affecting the base and causing damage to the gripper fixture as a whole. Utility Model Content

[0005] In view of this, the utility model provides a gripper fixture and a robot gripper structure capable of suppressing the transmission of collision force.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a gripper fixture, including a base and a bracket, wherein the bracket is installed on the base, and the bracket is installed on the base through more than two connecting parts, and the connecting parts are all provided with a reduced diameter stress concentration part, and the stress concentration part is located between the base and the bracket.

[0007] Thus, with such a structure, when the bracket is hit, the stress concentration part between the bracket and the base has a reduced diameter structure, so that the collision stress is concentrated and it is easy to be damaged, thereby avoiding the residual force of the collision from being transmitted to the base, preventing the base from being deformed and damaged.

[0008] In addition, a stress concentration portion is provided on the entire connecting member. Compared with a method of providing a stress concentration portion only on a part of the connecting member, this method has technical effects such as being able to cope with collisions in multiple directions and further avoiding deformation and damage to the base.

[0009] As a possible implementation, the two or more connecting members are arranged in an array. Specifically, the array arrangement may be a circular array arrangement or a rectangular array arrangement.

[0010] The connecting parts arranged in an array are provided with stress concentration parts throughout, so as to cope with collisions from multiple different directions.

[0011] As a possible implementation, the connecting member includes a fastener and a positioning member, the fastener has a bridging portion, the bridging portion is provided with a first stress concentration portion, the bridging portion is located between the base and the bracket, the bridging portion has a first end face and a second end face, the first end face abuts the bracket, and the second end face abuts the base.

[0012] In this way, the two ends of the bridging portion of the fastener can directly fix the bracket and the base, and the connection method is simple and stable. When the fastening structure is hit, the stress concentration portion can break at the most appropriate time to prevent the collision force from being transmitted to the base.

[0013] As a possible implementation, the fastener is a threaded assembly having a first bolt, a first end face of the bridging portion being provided with a first threaded hole, the first bolt passing through the bracket and being screwed together with the first threaded hole of the first end face of the bridging portion, a stud being provided on the second end face of the bridging portion, and the second end face of the bridging portion being screwed together with the base via the stud.

[0014] As a possible implementation, the bridging portion has a first large diameter portion and a second large diameter portion, the outer diameters of the first large diameter portion and the second large diameter portion are larger than the first stress concentration portion, a first notch portion is provided on the same circumference of the outer surface of the first large diameter portion, the first notch portion is provided at one or more locations, the first notch portion is used to engage with a tool, the first large diameter portion is located on a side close to the bracket, a second notch portion is provided on the same circumference of the outer surface of the second large diameter portion, the second notch portion is provided at one or more locations, the second notch portion is used to engage with a tool, and the second large diameter portion is located on a side close to the base.

[0015] With the above structure, when the stress concentration part of the fastener is broken after the bracket is hit, the notch on the first large diameter part and the notch on the second large diameter part can be engaged with a wrench or other tools, so that the broken body remaining in the bracket or base can be easily removed.

[0016] As a possible implementation, the positioning member is a pin, the pin is provided with a second stress concentration portion, and a third notch portion is provided on the same circumference of the outer surface of the pin, the third notch portion is located on the side of the second stress concentration portion close to the base, the third notch portion is one or more, and the third notch portion is used to engage with a tool.

[0017] As a possible implementation, positioning holes are respectively provided on the bracket and the base, and the pin is respectively connected to the base and / or the bracket through the positioning holes, and a second threaded hole is provided on the end surface of the pin on one side close to the bracket.

[0018] As a possible implementation, it includes four fasteners and two positioning members, the four fasteners are arranged in a rectangular shape, and the two positioning members are arranged on two opposite sides of the rectangle.

[0019] As a possible implementation manner, a rope is connected between the base and the bracket, and an end of the rope is fixedly connected to the base and / or the bracket via a third bolt.

[0020] In this way, when the bracket and the base are collided and the connecting piece is damaged or broken, the rope provided between the bracket and the base can prevent the bracket from falling and affecting other components.

[0021] In addition, fixing the rope by the third bolt can facilitate the installation and removal of the rope. For example, when the bracket is disconnected from the base, the bracket can be quickly removed.

[0022] As a possible implementation manner, a plurality of the brackets are installed on the base.

[0023] By adopting the above structure, the number of required brackets can be freely adjusted, and the gripper fixture can grasp objects of various sizes and weights according to different application scenarios. In addition, when one or some brackets are hit, the stress concentration part can prevent the large collision force from being transmitted to the base to cause damage to the base, thereby preventing other brackets from being affected.

[0024] In order to achieve the above-mentioned purpose, the utility model also provides a robot gripper structure, which comprises a robot and a gripper fixture of any of the above-mentioned structures, wherein the gripper fixture is installed on the robot.

[0025] The same technical effects as above can be obtained by adopting this robot gripper structure, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The following further illustrates the various features of the present invention and the relationship between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, and some features are not shown in actual proportion. Some drawings may omit the features that are conventional in the field involved in the present application and are not necessary for the present application, or additionally show features that are not necessary for the present application. The combination of the various features shown in the accompanying drawings is not intended to limit the present application. In addition, throughout this specification, the same figure numerals refer to the same content. The specific description of the drawings is as follows:

[0027] Figure 1 is a stereogram of a robot gripper structure involved in a specific implementation method;

[0028] Figure 2 is a side view schematic diagram of a gripper fixture in the gripper structure of the robot;

[0029] Figure 3 yes Figure 2 A magnified view of a part in the middle;

[0030] Figure 4 yes Figure 2 A magnified cross-sectional view of a part in the middle;

[0031] Figure 5 It is an exploded structural diagram for representing the connection structure of the base and the bracket of the above-mentioned gripper fixture;

[0032] Figure 6 It is a three-dimensional diagram for showing the connection structure of the base and the bracket of the above-mentioned gripper fixture;

[0033] Figure 7 It is a schematic diagram for showing the state in which the bracket of the above-mentioned gripper fixture is broken when it is hit.

[0034] Description of Reference Numerals

[0035] 1 base; 2 bracket; 4 fastener; 5 positioning member; 7 robot; 8 gripper fixture; 10 base body; 10a mounting hole; 10b surface of base body; 11 mounting block; 11a mounting surface; 11b threaded hole (second threaded hole); 11c positioning hole; 20 mounting plate; 21 through hole; 22 positioning hole; 23 mounting hole; 25 surface of mounting plate; 41 bridge portion; 41a stress concentration portion (first stress concentration portion); 41b large diameter portion (first large diameter portion); 41c large diameter portion (second large diameter portion); 41d stud; 41e end face (first end face); 41f end face (second end face); 41g notch portion (first notch portion); 41h threaded hole (first threaded hole); 41i notch portion (second notch portion); 42 bolt (first bolt); 42a stud; 42b head; 51 pin; 51a stress concentration portion; 51b large diameter portion; 51c large diameter portion; 51d threaded hole (second threaded hole); 51e notch portion (third notch portion); 61 rope; 61a end portion; 61b end portion; 62 bolt (third bolt); 63 bolt (third bolt); 100 robot gripper structure. DETAILED DESCRIPTION

[0036] Below, the specific implementation of the utility model is described in detail with reference to the accompanying drawings.

[0037] Reference Figure 1 , Figure 2 , Figure 3The specific embodiment of the utility model provides a gripper fixture 8, including a base 1 and a bracket 2, the bracket 2 is installed on the base 1, and the bracket 2 is installed on the base 1 through more than two connecting parts (such as fasteners 4 or positioning parts 5), and the entire connecting parts are provided with a reduced diameter stress concentration part (such as the stress concentration part 41a on the fastener 4 or the stress concentration part 51a on the positioning part 5), and the stress concentration part is located between the base 1 and the bracket 2.

[0038] With such a structure, when the bracket 2 is hit, the stress concentration parts 41a and 51a between the bracket 2 and the base 1 have a reduced diameter structure, so that the collision stress is concentrated and easy to be damaged, thereby avoiding the residual force of the collision from being transmitted to the base 1, preventing the base 1 from being deformed and damaged.

[0039] In addition, in this embodiment, the entire connector is provided with a stress concentration portion. Compared with a method in which a stress concentration portion is provided only on a part of the connector, this method has technical effects such as being able to cope with collisions in multiple directions and reliably avoiding deformation.

[0040] like Figure 4-Figure 6 As shown, as an embodiment, two or more connecting members (fasteners 4 and positioning members 5) are arranged in an array. Specifically, for example, the array arrangement is a circular array arrangement or a rectangular array arrangement. In the figure, a rectangular array arrangement is shown, and as another embodiment, a circular array arrangement may also be used.

[0041] like Figure 4-Figure 6 As shown, as an embodiment, the connecting member includes a fastener 4 and a positioning member 5, the fastener 4 has a bridging portion 41, the bridging portion 41 is provided with a first stress concentration portion 41a, the bridging portion 41 is located between the base 1 and the bracket 2, the bridging portion 41 has a first end face 41e and a second end face 41f, the first end face 41e abuts against the bracket 2, and the second end face 41f abuts against the base 1.

[0042] In this way, the two ends of the bridging portion 41 of the fastener 4 are fixedly connected to the bracket 2 and the base 1 respectively, that is, the simple and stable fastening structure can cope with collisions in multiple directions, and the stress concentration portion 41a can be broken at the most appropriate time to prevent the collision force from being transmitted to the base 1.

[0043] like Figure 4-Figure 6 As shown, as an embodiment, the fastener 4 is a bolt assembly, having a bolt 42, a first end face 41e of the bridging portion 41 is provided with a threaded hole 41h, the bolt 42 passes through the bracket 2 and is screwed together with the threaded hole 41h of the first end face 41e of the bridging portion 41, a second end face 41f of the bridging portion 41 is provided with a stud 41d, and the second end face 41f of the bridging portion 41 is screwed together with the base 1 through the stud 41d.

[0044] like Figure 4-Figure 6As shown, as an embodiment, the bridging portion 41 has a large diameter portion 41b and a large diameter portion 41c, the outer diameters of the large diameter portion 41b and the large diameter portion 41c are larger than the stress concentration portion 41a, a notch portion 41g is provided on the same circumference of the outer surface of the large diameter portion 41b, the notch portion 41g is provided at one or more locations, and the notch portion 41g is used to engage with a tool, the large diameter portion 41b is located on a side close to the bracket 2, a notch portion 41i is provided on the same circumference of the outer surface of the large diameter portion 41c, the notch portion 41i is provided at one or more locations, and the notch portion 41i is used to engage with a tool, and the large diameter portion 41c is located on a side close to the base 1.

[0045] Thus, with the above structure, when the stress concentration portion of the fastener is broken after the bracket 2 is hit, the notch 41g on the large diameter portion 41 can be engaged with a tool such as a wrench, thereby easily removing the broken body remaining on the bracket 2.

[0046] like Figure 4-Figure 6 As shown, as an embodiment, the second end surface 41f of the bridge portion 41 is provided with a stud 41d, and the second end surface 41f of the bridge portion 41 is screwed and connected to the base 1 through the stud 41d.

[0047] Furthermore, with the above structure, when the stress concentration portion of the fastener is broken after the bracket 2 is hit, the notch portion 41i on the large diameter portion 41c can be engaged with a tool such as a wrench, thereby making it easy to remove the broken body remaining on the base 1.

[0048] like Figure 4-Figure 6 As shown, as an embodiment, the positioning member 5 is a pin 51, and the pin 51 is provided with a stress concentration portion. A notch portion 51d is also provided on the same circumference of the outer surface of the pin 51, and the notch portion 51d is located on the side of the stress concentration portion 51a close to the base 1. The notch portion 51d is one or more places, and the notch portion 51d is used to engage with the tool.

[0049] like Figure 4-Figure 6 As shown, as an embodiment, positioning holes 11c and 22 are respectively provided on the bracket 2 and the base 1, and the pin 51 is connected to the base 1 and / or the bracket 2 through the positioning holes 11c and 22 respectively, and a threaded hole 51d is provided on the end face of the pin 51 close to the bracket 2.

[0050] As an embodiment, the gripper fixture 8 includes four fasteners and two positioning members, the four fasteners are arranged in a rectangle, and the two positioning members are arranged on two opposite sides of the rectangle.

[0051] like Figure 3-Figure 6 As shown, as an embodiment, a rope 61 is provided between the base 1 and the bracket 2 , and ends 61 a , 61 b ​​of the rope 61 are fixedly connected to the base 1 and / or the bracket 2 by bolts 62 , 63 .

[0052] In this way, when the bracket 2 is disconnected from the base 1 and detached from the base 1, the provision of the rope 61 can prevent the bracket 2 from falling and affecting other components.

[0053] In addition, the rope 61 is fixed by the bolts 62 and the bolts 63 , so that when the bracket 2 is separated from the base 1 , the rope 61 can be easily disassembled to remove the bracket 2 from the base 1 .

[0054] like Figure 7 As shown, as an embodiment, a plurality of brackets 2 are installed on the base 1 .

[0055] By adopting the above structure, the required number of brackets can be freely adjusted, so that the gripper fixture can grasp objects of various sizes and weights according to different application scenarios.

[0056] In addition, when one or some of the brackets 2 are hit, the stress concentration parts 41a and 51a can prevent a large collision force from being transmitted to the base 1 to cause deformation or damage to the base 1, and can also prevent other brackets 2 from being affected.

[0057] The specific implementation of the utility model further provides a robot gripper structure 100 , comprising a robot 7 and a gripper fixture 8 of any of the above structures, wherein the gripper fixture 8 is installed on the robot 7 .

[0058] The same technical effects as above can be obtained by using the robot gripper structure 100, which will not be described in detail here.

[0059] Refer to the following Figure 1-Figure 7 An embodiment of the utility model is described in detail.

[0060] Figure 1 is a stereogram of a robot gripper structure involved in a specific implementation method; Figure 2 It is a side view schematic diagram of the gripper fixture in the robot gripper structure.

[0061] like Figure 1 , Figure 2 As shown, the robot gripper structure 100 includes a robot 7 and a gripper fixture 8. The gripper fixture 8 is connected to the robot 7. The robot 7 drives the gripper fixture 8 to move. The gripper fixture 8 grabs objects, such as workpieces such as body panels, and moves them to the target position.

[0062] like Figure 1 , Figure 2 As shown, the gripper fixture 8 has a base 1 and a bracket 2, the base 1 is connected to the robot 7, and the bracket 2 is connected to the base 1. The gripper fixture is used to grasp steel workpieces.

[0063] However, when the robot is fatigued, aged, or operated by a human, the gripper fixture 8, especially the bracket 2, may collide with surrounding fixed objects (such as Figure 1 , Figure 2 The collision object 3 may be, for example, a welding torch, a workbench beside a production line, a fence beside a welding station, etc. When the bracket 2 is collided, not only the bracket 2 itself may be deformed or damaged, but the collision force may be further transmitted to the base 1 through the connecting parts of the bracket, eventually causing the base 1 to deform and the gripper fixture 8 to be damaged as a whole.

[0064] Figure 3 yes Figure 2 A magnified view of a part of the image. Figure 3 As shown, in order to solve the above problem, in this embodiment, the bracket 2 is installed on the base 1 through the fastener 4 and the positioning member 5, and the fastener 4 and the positioning member 5 are respectively provided with a reduced diameter stress concentration portion 41a, 51a, and the stress concentration portion 41a, 51a is located between the base 1 and the bracket 2. In this way, when the bracket 2 is subjected to a collision force, the reduced diameter stress concentration portion 41a, 51a is easily broken, so that the bracket 2 is separated from the base 1, which can inhibit the collision force from being transmitted to the base 1, and avoid deformation or damage to the base 1.

[0065] Figure 7 It is a schematic diagram used to show the action of the above gripper when it collides. Figure 7 As shown, in this embodiment, a plurality of brackets 2 are mounted on the base 1. When a bracket 2 collides, the fastener 4 and the positioning member 5 connected to the base 1 will break due to the collision force, so that the bracket is separated from the base 1, and the residual force of the collision is prevented from being transmitted to the base 1 to cause deformation or damage, and at the same time, other brackets 2 are not affected by the collision.

[0066] In addition, in the present embodiment, stress concentration portions 41a and 51a are provided on the entire fastener 4 and the positioning member 5. Compared with a method in which stress concentration portions are provided only on a part of the fastener, this method has technical effects such as being able to cope with collisions in multiple directions and reliably avoiding damage.

[0067] In addition, if Figure 3 As shown, in this embodiment, a rope 61 is provided between the base 1 and the bracket 2. In this way, when the bracket 2 is separated from the base 1 by collision, the rope 61 can prevent the bracket 2 from falling and affecting other components. The rope 61 can be a steel wire rope or a rope made of other materials.

[0068] The specific structure of the gripper fixture 8 is described below.

[0069] Figure 4 yes Figure 2 A magnified cross-sectional view of a part in the middle; Figure 5 It is an exploded structural diagram for representing the connection structure of the base and the bracket of the above-mentioned gripper fixture; Figure 6 It is a three-dimensional diagram used to show the connection structure of the base and the bracket of the above-mentioned gripper fixture.

[0070] like Figure 2 , Figure 4 As shown in the figure, the base 1 is a frame structure, having a base body 10 and a mounting block 11 fixed on the base body 10, and the bracket 2 is fixed on the mounting block 11 through a connecting piece. In this embodiment, there are two mounting blocks 11. As other embodiments, the shape of the mounting block is not limited, and can be rectangular, square, circular, etc.

[0071] The bracket 2 is provided with a mounting hole, and the bracket 2 is connected to the mounting block 11 of the base 1 through a fastener 4 and a positioning member 5 .

[0072] like Figure 4-Figure 6 As shown, in this embodiment, there are four fasteners 4 arranged in an array, and as other embodiments, the utility model does not limit the number of fasteners. In this embodiment, the fastener 4 is a bolt assembly, which has a bridge portion 41 and a bolt 42. The bridge portion 41 is connected between the base 1 and the bracket 2, and its two ends are fixedly connected to the mounting block 11 of the base and the bracket respectively.

[0073] Reference Figure 4 , Figure 5 The bridge portion 41 has a reduced diameter stress concentration portion 41a and large diameter portions 41b and 41c located on both sides of the stress concentration portion 41a. The large diameter portions 41b and 41c are cylindrical in shape as a whole, and the outer diameters of the large diameter portions 41b and 41c are larger than those of the stress concentration portion 41a. In addition, in this embodiment, the stress concentration portion 41a and the large diameter portions 41b and 41c are connected and transitioned by a straight inclined surface. As other connection methods, for example, a curved surface or a stepped surface can be used.

[0074] A threaded hole 41h is provided on one end face of the bridge portion 41, that is, an end face 41e close to the bracket 2. A through hole 21 is provided on the bracket 2. The bolt 42 has a stud 42a and a head 42b with a larger diameter than the stud 42a. The stud 42a passes through the through hole 21 and is screwed into the threaded hole 41h of the bridge portion 41, thereby fixing one end face of the bridge portion 41 to the bracket 2.

[0075] In addition, at the other end face of the bridge portion 41, that is, the end face 41f ( Figure 4 ) is provided with a stud 41d. A threaded hole 11b is provided on the mounting surface 11a of the mounting block 11 of the base 1. The stud 41d is screwed into the threaded hole 11b to fix the other end surface of the bridge portion 41 to the mounting block 11 of the base 1.

[0076] like Figure 5 As shown, a notch 41i is provided on the large diameter portion 41c of the bridge portion 41 near the base 1, and the notch 41i is used to engage with a tool such as a wrench, so that when the fastener 4 is broken, the broken body left on the base 1 can be easily removed. In this embodiment, the notch 41i is composed of two flat cut surfaces provided on the outer peripheral surface of the large diameter portion 41c. As other embodiments, it can also be composed of other non-circular shapes.

[0077] In addition, a notch 41g is provided on the large diameter portion 41b of the bridge portion 41 near the bracket 2. The notch 41g is used to engage with a tool such as a wrench. When the stress concentration portion of the fastener is broken after the bracket 2 is hit, the notch 41g can be engaged with a tool such as a wrench to easily remove the broken body remaining on the bracket 2. In this embodiment, the notch 41g is composed of two flat cut surfaces provided on the outer peripheral surface of the large diameter portion 41b. As other embodiments, other non-circular shapes may also be used.

[0078] In addition, in this embodiment, the two end faces 41e and 41f of the bridge portion 41 are respectively abutted against the base 1 and the bracket 2 to be fixed to the base 1 and the bracket 2. In this way, the large diameter portions 41b and 41c of the bridge portion 41 of the fastener 4 directly connect and fix the bracket 2 to the base 1, that is, the simple and stable fastening structure can cope with collisions in multiple directions, and the stress concentration portion 41a can be broken at the most appropriate time to prevent the collision force from being transmitted to the base 1.

[0079] The specific structure of the positioning member 5 is described in detail below.

[0080] like Figure 4 , Figure 5 As shown in the figures, the positioning member 5 is a pin assembly having a pin 51. A positioning hole 11c is provided on the mounting surface 11a of the mounting block 11 of the base 1. A positioning hole 22 is provided on the bracket 2. In this embodiment, the positioning hole 22 is a through hole. The two ends of the pin 51 are respectively inserted into the positioning hole 11c and the positioning hole 22 to position the base 1 and the bracket 2.

[0081] The pin 51 has a reduced diameter stress concentration portion 51a and large diameter portions 51b and 51c located on both sides of the stress concentration portion 51a. The large diameter portions 51b and 51c are cylindrical as a whole. The stress concentration portion 51a and the large diameter portions 51b and 51c are connected by an inclined transition.

[0082] The end surface of the pin 51 near the bracket 2 is provided with a threaded hole 51d. When the pin is broken by a collision, an auxiliary tool can be screwed into the threaded hole 51d when removing the broken part of the pin 51, so that the broken part of the pin 51 can be easily removed from the bracket. Figure 5As shown, a notch 51e is provided on the large diameter portion 51b close to the base 1, and the notch 51e is used to engage with a tool such as a wrench so that the broken body of the pin 51 remaining on the base can be easily removed from the base.

[0083] In this embodiment, the pins 51 are inserted into the positioning holes on the base 1 and the bracket 2 respectively.

[0084] In addition, if Figure 5 As shown, a mounting hole 10a is provided on the base body 10 of the base 1, and the mounting hole 10a is located on the surface 10b of the base body 10 facing the bracket 2. A mounting hole 23 is provided on a surface 25 (the upper surface in this embodiment) of the bracket 2 opposite to the surface 10b of the base body 10.

[0085] like Figure 4 , Figure 6 As shown, the two ends 61a and 61b of the rope 61 are ring-shaped, and the bolts 62 and 63 pass through the ring-shaped ends 61a and 61b and are locked on the mounting holes 23 and 10a, respectively, to fix the two ends 61a and 61b of the rope 61 on the bracket 2 and the base 1. In this way, the rope 61 is fixed by the bolts 62 and 63, and when the bracket 2 is separated from the base 1, the bracket 2 can be removed from the base 1 after the rope 61 is removed.

[0086] In this embodiment, reduced diameter stress concentration portions 41a, 51a are provided on the bridging portion 41 and the pin 51. When the bracket 2 is hit, the reduced diameter stress concentration portions 41a, 51a are prone to breakage, thereby preventing a large collision force from being transmitted to the base 1, thereby preventing the base 1 from being damaged.

[0087] In addition, in this embodiment, since stress concentration portions 41a and 51a are provided on both the bridging portion 41 and the pin 51, this method can cope with collision forces in multiple directions and further suppress the collision force from being transmitted to the base 1, compared with a method in which one of the two is provided with a stress concentration portion and the other is not provided with a stress concentration portion.

[0088] In the above description, the fastener is illustrated in the form of a component, however, the present invention is not limited thereto, and the fastener may also be a component of a single structure.

[0089] Unless otherwise defined, all technical and scientific terms used in this application are the same as those generally understood by those skilled in the art to which this application belongs. If there is any inconsistency, the meaning described in the full text of this application or the meaning derived from the content recorded in the full text of this application shall prevail. In addition, the terms used in this description are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0090] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the technical concept of the present application, all of which belong to the protection scope of the present application.

Claims

1. A gripper fixture (8), comprising a base (1) and a bracket (2), wherein the bracket (2) is mounted on the base (1), characterized in that: The bracket (2) is mounted on the base (1) via two or more connecting pieces, and the connecting pieces are all provided with a reduced diameter stress concentration portion (41a, 51a), and the stress concentration portion (41a, 51a) is located between the base (1) and the bracket (2).

2. The gripper fixture according to claim 1, characterized in that: The two or more connecting members are arranged in an array.

3. The gripper fixture according to claim 2, characterized in that: The array arrangement is a circular array arrangement or a rectangular array arrangement.

4. The gripper fixture according to claim 1, characterized in that: The connecting member comprises a fastener (4) and a positioning member (5), the fastener (4) having a bridging portion (41), the bridging portion (41) being provided with a first stress concentrating portion (41a), the bridging portion (41) being located between the base (1) and the bracket (2), The bridging portion (41) has a first end surface (41e) and a second end surface (41f); the first end surface (41e) abuts against the bracket (2), and the second end surface (41f) abuts against the base (1).

5. The gripper fixture according to claim 4, characterized in that: The fastener (4) is a bolt assembly having a first bolt (42). A first threaded hole (41h) is provided on a first end surface (41e) of the bridge portion (41). The first bolt (42) passes through the bracket (2) and is screwed together with the first threaded hole (41h) on the first end surface (41e) of the bridge portion (41). The second end surface (41f) of the bridging portion (41) is provided with a stud (41d), and the second end surface (41f) of the bridging portion (41) is screwed and connected to the base (1) via the stud (41d).

6. The gripper fixture according to claim 4, characterized in that: The bridge portion (41) comprises a first large diameter portion (41b) and a second large diameter portion (41c), wherein the outer diameters of the first large diameter portion (41b) and the second large diameter portion (41c) are larger than those of the first stress concentration portion (41a). A first notch portion (41g) is provided on the same circumference of the outer surface of the first large diameter portion (41b), and the first notch portion (41g) is provided at one or more locations. The first large diameter portion (41b) is located on a side close to the bracket (2). A second notch portion (41i) is provided on the same circumference of the outer surface of the second large diameter portion (41c), and the second notch portion (41i) is provided at one or more locations. The second large diameter portion (41c) is located on a side close to the base (1).

7. The gripper fixture according to claim 4, characterized in that: The positioning member (5) is a pin (51), and the pin (51) is provided with a second stress concentration portion (51a). A third notch portion (51d) is also provided on the same circumference of the outer surface of the pin (51), and the third notch portion (51d) is located on a side of the second stress concentration portion (51a) close to the base (1), and the third notch portion (51d) is provided at one or more locations.

8. The gripper fixture according to claim 4, characterized in that: It comprises four fasteners and two positioning members, wherein the four fasteners are arranged in a rectangular shape, and the two positioning members are arranged on two opposite sides of the rectangle.

9. The gripper fixture according to claim 1, characterized in that: A rope (61) is provided between the base (1) and the bracket (2), and ends (61a, 61b) of the rope (61) are fixedly connected to the base (1) and / or the bracket (2) via third bolts (62, 63).

10. The gripper fixture according to any one of claims 1 to 3, characterized in that: A plurality of brackets (2) are mounted on the base (1).

11. A robot gripper structure, characterized in that: It comprises a robot (7) and a gripper jig (8) according to any one of claims 1 to 10, wherein the gripper jig (8) is installed on the robot (7).

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