Buffer mechanism of feeding and discharging gripper

Abstract

The utility model belongs to the technical field of robot feeding and discharging grippers, particularly relates to a buffering mechanism of a feeding and discharging gripper, and aims to solve the problem that a robot cannot judge whether the end face of a workpiece is attached to a clamping face of equipment or not due to manufacturing errors of the workpiece when the robot grips the workpiece and pushes the workpiece to the equipment. In order to solve the problem that when a robot clamps a workpiece, the robot moves towards equipment when the robot clamps the workpiece, according to the following scheme, the robot clamping device comprises two symmetrically-arranged fixing plates, a connecting rod fixedly installed between the two fixing plates and a guiding assembly located at one set of fixing plates; wherein a buffering air cylinder is fixedly installed at the center of one set of fixing plates, and jacking air cylinders are fixedly installed on the two sides of the buffering air cylinder. The guiding assembly is pushed through the buffering air cylinder and the jacking air cylinders, and the buffering air cylinder and the jacking air cylinders push the guiding assembly respectively; the compressed and incompressible states of the guide assembly in the feeding and discharging process of the robot are achieved, and therefore the safety of the robot and equipment is guaranteed.

Description

Technical Field

[0001] The utility model relates to a buffer mechanism, in particular to a buffer mechanism of a loading and unloading gripper, belonging to the technical field of robot loading and unloading grippers. Background Art

[0002] The buffer mechanism of the robot's loading and unloading gripper is a component that plays a key role in the robot's grasping and placing of materials. It can ensure that the robot has sufficient flexibility when in contact with the material to avoid damage to the material, while ensuring the accuracy and stability of the operation. The buffer mechanism is usually designed at the end of the gripper to provide a buffering effect when the robot comes into contact with the material. It reduces impact by absorbing and releasing energy, allowing the robot to grasp and place materials smoothly.

[0003] In the prior art, there is a mechanical gripper with a buffer mechanism disclosed in announcement number CN220446496U. By setting up an auxiliary mechanism, this type of mechanical gripper can effectively prevent the gripping plate from being deformed due to contact with hard objects during use. This type of mechanical gripper divides the gripping plate into gripping plate one and gripping plate two. Under the action of the buffer mechanism, gripping plate two can only be bent inward at a certain angle while ensuring normal use.

[0004] However, in actual use, when using the above-mentioned mechanical gripper, an auxiliary mechanism is used to place the gripper's gripping plate in contact with hard objects, and the gripping plate is divided into gripping plate one and gripping plate two to buffer the hard objects and avoid damage to the workpiece. During the gripping process of the gripper, due to the manufacturing error of the workpiece, the robot cannot determine whether the end face of the workpiece is in contact with the clamping surface of the equipment, which will cause the robot to move toward the equipment when clamping the workpiece. Even if gripping plate two is foldable, gripping plate one will still squeeze inward and may damage the workpiece. Utility Model Content

[0005] The utility model is to solve the problem that during the use of the above-mentioned mechanical gripper, the mechanical gripper's gripping plate is placed in contact with hard objects through an auxiliary mechanism, and the hard objects are buffered by dividing the gripping plate into gripping plate one and gripping plate two to avoid damage to the workpiece. In the gripping process of the gripper, due to the manufacturing error of the workpiece, the robot cannot determine whether the end face of the workpiece is in contact with the clamping surface of the equipment, which will cause the robot to move toward the equipment when clamping the workpiece. Even if gripping plate two is foldable, gripping plate one will still be squeezed inward and may damage the workpiece. Therefore, a buffer mechanism for a loading and unloading gripper is provided, and a limit rod is fixedly installed on the inner side of the fixed plate located at the guide assembly.

[0006] The utility model achieves the above-mentioned purpose through the following technical scheme: a buffer mechanism of a loading and unloading gripper, comprising two symmetrically arranged fixed plates, a connecting rod fixedly installed between the two fixed plates and a guide assembly located at one group of the fixed plates, a buffer cylinder is fixedly installed at the center of one group of the fixed plates, the telescopic end of the buffer cylinder is connected to the guide assembly, and a tightening cylinder is fixedly installed on both sides of the buffer cylinder;

[0007] The guide assembly comprises a guide sleeve, which is fixedly installed around the fixed plate, and a guide rod is passed through the middle of the guide sleeve, one end of the guide rod passes through the fixed plate, and floating plates are fixedly installed at both ends of the guide rod.

[0008] As a further solution of the utility model: a protection pad is provided on one side of the guide rod passing through the fixing plate, and the protection pad is fixedly mounted on the fixing plate.

[0009] As a further solution of the utility model: a set of the floating plates and the fixed plate at a side away from the floating plates are both provided with through holes in the middle.

[0010] As a further solution of the utility model: a support frame is fixedly installed on the inner side of the fixed plate located on the other side of the guide assembly, and a sensor is fixedly installed on the support frame.

[0011] As a further solution of the utility model: the cylinder diameter of the buffer cylinder is much smaller than the cylinder diameter of the tightening cylinder.

[0012] As a further solution of the utility model: the diameter of the floating plate is smaller than the diameter of the fixed plate, and a square groove is provided in the middle of one group of the floating plates.

[0013] As a further solution of the utility model: a plurality of groups of fixing rods are fixedly installed on the outer side of one group of the fixing plates, and the fixing rods are circularly arranged on the outer side of the through holes.

[0014] The beneficial effect of the utility model is that when the floating plate is compressed, the sensor can obtain and send a signal to the robot. When the buffering function of the overall structure is used, the buffer cylinder extends and the tightening cylinder retracts. The floating plate is only subjected to the output force of the buffer cylinder. At this time, the floating plate can be easily compressed after being subjected to external force. When the buffer mechanism is used without using the buffering function, the tightening cylinder extends. At this time, the floating plate is firmly pressed on the limit rod. The output force of the tightening cylinder is large, so the floating plate will not be pushed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the side surface of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the top end surface of the utility model;

[0018] Figure 4 It is a structural schematic diagram of the front end of the floating plate of the utility model.

[0019] In the figure: 1. fixed plate; 2. connecting rod; 3. guide assembly; 301. guide sleeve; 302. guide rod; 303. floating plate; 4. buffer cylinder; 5. tightening cylinder; 6. protection pad; 7. perforation; 8. support frame; 9. sensor; 10. fixed rod; 11. limit rod. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0021] Embodiment 1, as Figures 1 to 4 As shown, a buffer mechanism of a loading and unloading gripper comprises two symmetrically arranged fixed plates 1, and connecting rods 2 fixedly installed between the two fixed plates 1 and a guide assembly 3 located at one set of the fixed plates 1, four sets of connecting rods 2 are arranged, and the connecting rods 2 are fixedly installed around the fixed plates 1, a buffer cylinder 4 is fixedly installed at the center of one set of the fixed plates 1, the telescopic end of the buffer cylinder 4 is connected to the guide assembly 3, and tightening cylinders 5 are fixedly installed on both sides of the buffer cylinder 4, and a limit rod 11 is fixedly installed on the inner side of the fixed plate 1 located at the guide assembly 3;

[0022] The guide assembly 3 includes a guide sleeve 301 , which is fixedly installed around the fixed plate 1 , and a guide rod 302 is passed through the middle of the guide sleeve 301 , one end of the guide rod 302 passes through the fixed plate 1 , and floating plates 303 are fixedly installed at both ends of the guide rod 302 .

[0023] The cylinder diameter of the buffer cylinder 4 is much smaller than that of the tightening cylinder 5. In this way, in the subsequent use of the buffer cylinder 4 and the tightening cylinder 5, the telescopic force generated by the tightening cylinder 5 can be higher than that of the buffer cylinder 4, so that the floating plate 303 can be pressed against the limit rod 11.

[0024] Embodiment 2, in addition to all the technical features of Embodiment 1, this embodiment also includes: a guide rod 302 is passed through and a protection pad 6 is provided on one side of the fixed plate 1, and the protection pad 6 is fixedly installed on the fixed plate 1. The protection pad 6 can protect the floating plate 303 when it is compressed during the movement of the floating plate 303 driven by the guide rod 302, thereby avoiding collision between the floating plate 303 and the fixed plate 1, and affecting the service life of the floating plate 303 and the fixed plate 1.

[0025] A through hole 7 is provided in the middle of one group of floating plates 303 and the fixed plate 1 on the side away from the floating plate 303. A plurality of fixed rods 10 are fixedly installed on the outer side of one group of fixed plates 1. The fixed rods 10 are circularly arranged on the outer side of the through hole 7. The through hole 7 facilitates the use of the floating plate 303 and the fixed plate 1.

[0026] A support frame 8 is fixedly installed on the inner side of the fixed plate 1 located on the other side of the guide assembly 3, and a sensor 9 is fixedly installed on the support frame 8. The support frame 8 can achieve a supporting effect on the sensor 9, and the sensor 9 can achieve a monitoring effect after the floating plate 303 is compressed by the buffer cylinder 4 and the tightening cylinder 5.

[0027] The diameter of the floating plate 303 is smaller than that of the fixed plate 1 , and a square groove is provided in the middle of one group of the floating plates 303 , which facilitates the buffering effect of the floating plates 303 .

[0028] First, the fixed plate 1 on one side of the buffer mechanism is fixedly connected to the mechanical gripper through the through hole 7. Then, when the gripper is used to load and unload the workpiece, the buffer cylinder 4 and the tightening cylinder 5 compress and move the floating plate 303. When the floating plate 303 is compressed and moved, the sensor 9 can transmit the monitoring information to the robot and control the buffer mechanism by controlling the robot. When the buffer function of the buffer mechanism is used, the buffer cylinder 4 is extended and the tightening cylinder 5 is retracted. The floating plate 303 is only subjected to the output force of the buffer cylinder 4. At this time, the floating plate 303 can be easily compressed after being subjected to external force. When the buffer mechanism is used without using the buffer function, the tightening cylinder 5 is extended. At this time, the floating plate 303 is firmly pressed on the limit rod 11. The output force of the tightening cylinder 5 is large, so the floating plate 303 will not be pushed by the buffer cylinder 4.

[0029] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0030] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A buffer mechanism for a loading and unloading gripper, characterized in that: The invention comprises two symmetrically arranged fixing plates (1), a connecting rod (2) fixedly mounted between the two fixing plates (1), and a guide assembly (3) located at one set of the fixing plates (1), wherein a buffer cylinder (4) is fixedly mounted at the center of one set of the fixing plates (1), the telescopic end of the buffer cylinder (4) is connected to the guide assembly (3), and a tightening cylinder (5) is fixedly mounted on both sides of the buffer cylinder (4), and a limit rod (11) is fixedly mounted on the inner side of the fixing plate (1) located at the guide assembly (3); The guide assembly (3) comprises a guide sleeve (301), the guide sleeve (301) being fixedly mounted around the fixed plate (1), and a guide rod (302) being passed through the middle of the guide sleeve (301), one end of the guide rod (302) passing through the fixed plate (1), and floating plates (303) being fixedly mounted on both ends of the guide rod (302).

2. The buffer mechanism of the loading and unloading gripper according to claim 1 is characterized in that: The guide rod (302) passes through one side of the fixing plate (1) and is provided with a protection pad (6), wherein the protection pad (6) is fixedly mounted on the fixing plate (1).

3. The buffer mechanism of the loading and unloading gripper according to claim 1 is characterized in that: A through hole (7) is provided in the middle of one group of the floating plates (303) and the fixed plate (1) on a side away from the floating plates (303).

4. The buffer mechanism of the loading and unloading gripper according to claim 1 is characterized in that: A support frame (8) is fixedly mounted on the inner side of the fixed plate (1) located on the other side of the guide assembly (3), and a sensor (9) is fixedly mounted on the support frame (8).

5. The buffer mechanism of the loading and unloading gripper according to claim 1 is characterized in that: The cylinder diameter of the buffer cylinder (4) is much smaller than the cylinder diameter of the tightening cylinder (5).

6. The buffer mechanism of the loading and unloading gripper according to claim 1 is characterized in that: The diameter of the floating plates (303) is smaller than the diameter of the fixed plates (1), and a square groove is provided in the middle of one group of the floating plates (303).

7. The buffer mechanism of the loading and unloading gripper according to claim 3 is characterized in that: A plurality of groups of fixing rods (10) are fixedly mounted on the outer side of one group of the fixing plates (1), and the fixing rods (10) are arranged in a circular shape on the outer side of the through holes (7).

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