Universal gripper of robot

Abstract

The utility model provides a universal robot gripper, which relates to the technical field of industrial robot gripping mechanisms and comprises a connecting frame, the tail end of the connecting frame is connected with a reversing support in a welded manner, and the upper surface of the reversing support is fixedly connected with a mode switching driving part through a bolt. Two support hinge plates are fixedly connected to the reversing support, a turnover rotating shaft is fixedly connected to the grabbing mechanism base and rotationally connected to the support hinge plates through bearings, and a suitable type of gripper can be used according to actual needs, so that the same robot is provided with the multifunctional gripper; the functions of multiple sets of mechanical arm grippers can be achieved through one set of mechanical arms, the construction cost and the operation cost of industrial production equipment are reduced, and the problems that in an existing robot gripper, for a suction cup type gripper, the suction cup type gripper is not suitable for gripping carton type objects with rough surfaces; and for a clamping type gripper, the problems that the surface of a workpiece is easily scratched, and the thin plate type workpiece cannot be clamped are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot grasping mechanisms, in particular to a robot universal grasper. Background Art

[0002] Industrial robots can be divided into welding robots, handling robots, palletizing robots and other types in industrial production. They are the main machinery in modern industrial production. In the welding machine workstation, the robot has the function of clamping objects through the combination of mechanical arms and clamps. In the traditional robot gripper mechanism, most of them are divided into two categories, namely suction cup grippers and clamping grippers.

[0003] Among the existing robot grippers, suction cup grippers are suitable for grasping objects with smooth surfaces and metal plate objects, but are not suitable for grasping objects with rough surfaces and cardboard boxes; clamping grippers are suitable for grasping objects with rough surfaces and box-like objects, but for thin metal plates and workpieces with smooth surfaces that cannot be rubbed, clamping grippers can easily scratch the surface of the workpiece and are unable to clamp thin plate workpieces. Utility Model Content

[0004] The disclosed embodiments relate to a universal robot gripper to solve the problems of existing robot grippers: the suction cup gripper is suitable for grasping objects with smooth surfaces and metal plate objects, but not suitable for grasping objects with rough surfaces and cardboard boxes; the clamping gripper is suitable for grasping objects with rough surfaces and box bodies, but for thin metal plates and workpieces with smooth surfaces that cannot be rubbed, the clamping gripper easily scratches the workpiece surface and cannot clamp thin plate workpieces.

[0005] The utility model provides a universal gripper for a robot, specifically comprising: a connecting frame, the end of the connecting frame is connected to a reversing support by welding, the upper surface of the reversing support is fixedly connected to a mode switching driving member by bolts, the reversing support is fixedly connected to two support hinge plates, a gripping mechanism base, the gripping mechanism base is fixedly connected to a flip rotating shaft, the flip rotating shaft is rotatably connected to the support hinge plate through a bearing, two clamping push cylinders are fixedly connected to the gripping mechanism base, the inner end of the push rod of the clamping push cylinder is fixedly connected to a clamping frame, the clamping frame is movably connected to the gripping mechanism base, the gripping mechanism base is fixedly connected to a suction cup connecting rod, and the gripping mechanism base is fixedly connected to a suction cup control air pump.

[0006] In at least some embodiments, the end of the rotating shaft of the mode switching driving member is fixedly connected to a flip driving worm gear through a coupling, and the flip driving worm gear is located above the middle of the two support hinge plates.

[0007] In at least some embodiments, a rotating base is fixedly connected to the upper and lower parts of the gripping mechanism base, respectively. The rotating base is hollow in structure, and a base plate side slide groove is provided on the side of the rotating base.

[0008] In at least some embodiments, a flip driven worm gear is fixedly connected to the flip rotating shaft, and the flip driven worm gear is meshingly connected to the flip active worm.

[0009] In at least some embodiments, the bottom of the clamping frame is fixedly connected to a sliding base, the bottom of the sliding base is in a "U" shape, the edge of the sliding base is bent inward to form a guiding inner fold edge, the guiding inner fold edge is slidably connected to the side slide groove of the substrate, and the upper end of the clamping frame is fixedly connected to a clamping plate.

[0010] In at least some embodiments, an outer surface of the suction cup connecting rod is fixedly connected to a pneumatically controlled suction cup, and the pneumatically controlled suction cup is connected to a suction cup control air pump through a pipeline.

[0011] The utility model provides a robot universal gripper, which has the following beneficial effects:

[0012] The robot gripper in the utility model is equipped with a clamping gripper, which can be used to clamp box-like objects, objects with rough surfaces and irregular shapes. The object is clamped by the clamping gripper and transferred in cooperation with the mechanical arm. At the same time, it is combined with a suction cup gripper, which can be used to grasp objects with smooth surfaces and metal plate objects. Combining the two types of grippers into one can effectively improve the effective grasping range of the robot gripper, and effectively improve the applicability of the robot gripper, which is suitable for grasping a variety of different types of objects.

[0013] In addition, two different types of grippers are combined into one and are provided with a reversing mechanism. The reversing mechanism is used to switch the up and down directions of the clamping gripper and the suction cup gripper. The appropriate type of gripper can be used according to actual needs, so that the same robot has a multifunctional gripper. The functions of multiple sets of robotic arm grippers can be realized through one set of robotic arms, reducing the construction cost and operating cost of industrial production equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the embodiment of the utility model, the drawings of the embodiment will be briefly introduced below.

[0015] The drawings described below only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0016] In the attached picture:

[0017] Figure 1 A schematic diagram showing the overall structure of the present application;

[0018] Figure 2A schematic diagram of the structure of the present application installed in a robotic arm is shown;

[0019] Figure 3 The structural diagram at the bottom of this application is shown;

[0020] Figure 4 The schematic diagram of the structure of the gripping mechanism base of the present application is shown;

[0021] Figure 5 A schematic diagram of the structure of the clamping frame of the present application is shown;

[0022] Figure 6 A schematic structural diagram of the reversing support of the present application is shown.

[0023] Reference numerals list

[0024] 1. Connecting frame; 2. Reversing support; 201. Support hinge plate; 3. Mode switching drive; 301. Flip active worm; 4. Grasping mechanism base; 401. Flip rotation axis; 402. Flip driven worm gear; 403. Rotating substrate; 404. Substrate side slide groove; 5. Clamping push cylinder; 6. Clamping frame; 601. Sliding base; 602. Guide inner folding edge; 603. Clamping plate; 7. Suction cup connecting rod; 701. Air-controlled suction cup; 8. Suction cup control air pump. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings of the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Example 1: Please refer to Figures 1 to 6 :

[0027] The utility model proposes a universal gripper for a robot, comprising: a connecting frame 1, the end of the connecting frame 1 is connected to a reversing support 2 by welding, the upper surface of the reversing support 2 is fixedly connected to a mode switching driving member 3 by bolts, the reversing support 2 is fixedly connected to two support hinge plates 201, a grasping mechanism base 4, a flip rotating shaft 401 is fixedly connected to the grasping mechanism base 4, the flip rotating shaft 401 is rotatably connected to the support hinge plate 201 through a bearing, two clamping push cylinders 5 are fixedly connected to the grasping mechanism base 4, the inner end of the push rod of the clamping push cylinder 5 is fixedly connected to a clamping frame 6, and the clamping frame 6 is movably connected to On the gripping mechanism base 4, a suction cup connecting rod 7 is fixedly connected to the gripping mechanism base 4, and a suction cup control air pump 8 is fixedly connected to the gripping mechanism base 4; the end of the rotating shaft of the mode switching driving member 3 is fixedly connected to the flip active worm 301 through a coupling, and the flip active worm 301 is located above the middle of the two support hinge plates 201; the mode switching driving member 3 and the gripping mechanism base 4 are supported by the reversing support 2. When the universal gripper is installed, the connecting seat at the end of the connecting frame 1 is connected to the end of the mechanical arm by bolts, so that the robot gripper is easy to install and disassemble, and is suitable for use with various types of mechanical arms.

[0028] In the embodiment of the present disclosure, a rotating base plate 403 is fixedly connected to the top and bottom of the gripping mechanism base 4 respectively. The rotating base plate 403 is a hollow structure, and a base plate side slide groove 404 is opened on the side of the rotating base plate 403; a flip driven worm gear 402 is fixedly connected to the flip shaft 401, and the flip driven worm gear 402 is meshedly connected to the flip active worm 301; when the position of the clamping gripper and the suction cup gripper is switched, the flip active worm 301 is controlled to rotate by the mode switching drive member 3, and the gripping mechanism base 4 is driven to rotate as a whole through the worm gear transmission between the flip active worm 301 and the flip driven worm gear 402, so that the gripping mechanism base 4 can be rotated one hundred and eighty degrees with the axis of the flip shaft 401 as the center, so as to switch the upper and lower positions of the clamping gripper and the suction cup gripper, so as to better adapt to the gripping of different materials.

[0029] In the disclosed embodiment, the bottom of the clamping frame 6 is fixedly connected to a sliding base 601, and the bottom of the sliding base 601 is in a "U"-shaped structure. The edge of the sliding base 601 is bent inward to form a guiding inner fold edge 602, and the guiding inner fold edge 602 is slidably connected in the slide groove 404 on the side of the substrate to play a guiding role. The upper end of the clamping frame 6 is fixedly connected to a clamping plate 603, which contacts the material through the clamping plate 603 to clamp the material; the clamping frame 6 is controlled to translate by the clamping push cylinder 5, and the material is clamped and fixed when the distance between the two clamping frames 6 is reduced.

[0030] Embodiment 2, on the basis of embodiment 1, the outer surface of the suction cup connecting rod 7 is fixedly connected with an air-controlled suction cup 701, and the air-controlled suction cup 701 is connected to the suction cup control air pump 8 through a pipeline; the internal air pressure of the air-controlled suction cup 701 is controlled by the suction cup control air pump 8, and when the surface of the grasped object is flat and smooth, the manipulator is controlled to move so that the air-controlled suction cup 701 contacts with the surface of the object and the air-controlled suction cup 701 fits with the surface of the object, and the suction cup control air pump 8 is controlled so that the suction cup control air pump 8 discharges the air inside the air-controlled suction cup 701, and the object is adsorbed by the air-controlled suction cup 701, thereby realizing the picking up and fixing of the object.

[0031] The working principle of this embodiment is as follows: first, the docking seat at the end of the connecting frame 1 is fixedly connected to the end of the manipulator by bolts, screws and other connecting parts. When the object to be grasped is a thin plate workpiece made of hard materials such as metal and plastic with a smooth surface, the manipulator is controlled to move so that the air-controlled suction cup 701 fits the outer surface of the workpiece, and the suction cup controls the air pump 8 so that the suction cup controls the air pump 8 to discharge the air inside the air-controlled suction cup 701, and the object is adsorbed by the air-controlled suction cup 701 to achieve the picking and fixing of the object, and cooperate with the manipulator to grasp and transfer the workpiece. When the workpiece to be grasped is an object with irregular shape and rough surface, the mode switching drive 3 is used to control the rotation of the flip active worm 301, and the worm gear transmission between the flip active worm 301 and the flip driven worm wheel 402 drives the grasping mechanism base 4 to rotate as a whole, so that the grasping mechanism base 4 rotates one hundred and eighty degrees with the axis of the flip rotation shaft 401 as the center, and the clamping gripper is switched downward. The gripper position is controlled by the manipulator and the clamping push cylinder 5 is cooperated to push the clamping frame 6 to clamp the workpiece, so as to better adapt to the grasping of different materials.

[0032] In this article, there are a few points to note:

[0033] 1. The drawings of the embodiments of the present disclosure only involve structures related to the embodiments of the present disclosure, and other structures may refer to general designs.

[0034] 2. In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0035] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A robot universal gripper, characterized in that: include: A connecting frame (1), the end of the connecting frame (1) is connected to a reversing support (2) by welding, the upper surface of the reversing support (2) is fixedly connected to a mode switching drive member (3) by bolts, the reversing support (2) is fixedly connected to two support hinge plates (201), a gripping mechanism base (4), the gripping mechanism base (4) is fixedly connected to a flip shaft (401), the flip shaft (401) is rotatably connected to the support hinge plate (201) through a bearing, the gripping mechanism base (4) is fixedly connected to two clamping push cylinders (5), the inner end of the push rod of the clamping push cylinder (5) is fixedly connected to a clamping frame (6), the clamping frame (6) is movably connected to the gripping mechanism base (4), the gripping mechanism base (4) is fixedly connected to a suction cup connecting rod (7), and the gripping mechanism base (4) is fixedly connected to a suction cup control air pump (8).

2. A universal robot gripper according to claim 1, characterized in that: The end of the rotating shaft of the mode switching driving member (3) is fixedly connected to a turning active worm (301) via a coupling, and the turning active worm (301) is located above the middle of the two support hinge plates (201).

3. The universal gripper of a robot according to claim 1, characterized in that: A rotating base plate (403) is fixedly connected to the top and bottom of the gripping mechanism base (4) respectively. The rotating base plate (403) is a hollow structure, and a base plate side sliding groove (404) is provided on the side of the rotating base plate (403).

4. The universal gripper of a robot according to claim 1, characterized in that: The flip rotating shaft (401) is fixedly connected with a flip driven worm gear (402), and the flip driven worm gear (402) is meshingly connected with the flip active worm gear (301).

5. The universal gripper of a robot according to claim 1, characterized in that: The bottom of the clamping frame (6) is fixedly connected to a sliding base (601), the bottom of the sliding base (601) is in a "U"-shaped structure, the edge of the sliding base (601) is bent inward to form a guiding inner fold edge (602), the guiding inner fold edge (602) is slidably connected to the side sliding groove (404) of the substrate, and the upper end of the clamping frame (6) is fixedly connected to a clamping plate (603).

6. The universal gripper of the robot according to claim 1, characterized in that: The outer surface of the suction cup connecting rod (7) is fixedly connected with a pneumatically controlled suction cup (701), and the pneumatically controlled suction cup (701) is connected to a suction cup control air pump (8) via a pipeline.

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