A robot gripper with coaxiality correction function

Abstract

The utility model discloses a robot gripper with a coaxiality correction function, including a fixed seat, a sliding plate, a connecting seat, a grabbing cylinder and a finger assembly, wherein the fixed seat is fixedly connected with a fixed plate, the sliding plate is slidably connected to the fixed plate, the fixed plate is located between the sliding plate and the connecting seat, the fixed plate is provided with a movable hole, a connecting shaft assembly is provided between the connecting seat and the sliding plate, the connecting shaft assembly is respectively fixed to the connecting seat and the sliding plate, the connecting shaft assembly is passed through the movable hole and a gap is provided between the connecting shaft assembly and the movable hole in the radial direction, the grabbing cylinder is fixedly mounted on the connecting seat, and the finger assembly is mounted on the output end of the grabbing cylinder. The utility model has the beneficial effects of realizing the correction of the hinge plate hole and the inner hole of the circular lap on the fixed hinge plate, achieving the advantage of being able to correct the coaxiality.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a robot gripper with a coaxiality correction function. Background Art

[0002] As an important component of the robot system, the robot gripper is one of the key devices for realizing automated operations. In the development of intelligent manufacturing, the robot gripper plays an increasingly important role. The robot gripper is an actuator used for automated operations such as grasping, handling, and assembly in the robot system.

[0003] The Chinese utility model patent with announcement number CN214136076U discloses a high-precision gripper device based on a welding robot, which relates to the field of robot technology, including a column and a beam, the upper end of the side wall of the column is rotatably sleeved with a first sleeve through a first bearing, the right end of the beam is fixedly connected to the first sleeve, and the lower side wall of the beam is fixedly embedded with an electric slide rail, the electric slide rail is internally slidably connected with an electric slider, the lower end of the electric slider is fixedly connected with an electric telescopic rod, the lower end of the electric telescopic rod is fixedly connected with a motor box, the inside of the motor box is fixedly connected with a first servo motor, and the lower end of the first servo motor is rotatably connected with a first rotating shaft through a coupling. The clamping force of the workpiece is detected to avoid damage to the workpiece or the clamping plate due to excessive clamping force, and to avoid the workpiece from falling due to insufficient clamping force, and it is convenient to adjust the positions of the two clamping plates in multiple directions, so as to facilitate accurate clamping of the workpiece.

[0004] The hinged plate is a component used in a loader. The hinged plate is provided with a hinged plate hole. During the production process, the circular yoke needs to be placed on the hinged plate fixed on the tooling, and then the circular yoke is positioned to be coaxial with the hinged plate hole, so that the fixed hinged plate and the circular yoke remain fixed, and the circular yoke is welded to the hinged plate. The existing robot gripper can grasp the circular yoke and place it on the hinged plate, and can ensure that the circular yoke can be placed in the same position every time. However, since there is often a certain error in the positioning of the hinged plate on the tooling, the existing robot gripper cannot ensure that the coaxiality of the hinged plate hole and the circular yoke meets the requirements, resulting in a decrease in processing accuracy. Therefore, the robot gripper in the prior art has a technical problem that it cannot correct the coaxiality. Utility Model Content

[0005] In order to solve the above technical problems, the purpose of the utility model is to provide a robot gripper with a coaxiality correction function, which includes a fixed seat, a sliding plate, a connecting seat, a gripping cylinder and a finger assembly. The robot gripper with a coaxiality correction function has the advantage of being able to correct coaxiality.

[0006] In order to achieve the above utility model purpose, the technical solution adopted by the utility model is as follows:

[0007] A robot gripper with a coaxiality correction function comprises a fixed seat, a sliding plate, a connecting seat, a grabbing cylinder and a finger assembly, wherein the fixed seat is fixedly connected to a fixed plate, the sliding plate is slidably connected to the fixed plate, the fixed plate is located between the sliding plate and the connecting seat, the fixed plate is provided with a movable hole, a connecting shaft assembly is provided between the connecting seat and the sliding plate, the connecting shaft assembly is respectively fixed to the connecting seat and the sliding plate, the connecting shaft assembly is penetrated through the movable hole and a gap is provided between the connecting shaft assembly and the movable hole in a radial direction, the grabbing cylinder is fixedly mounted on the connecting seat, and the finger assembly is mounted on the output end of the grabbing cylinder.

[0008] Through such an arrangement: the sliding plate slides on the fixed plate, so that the claws, the connecting seat and the sliding plate can adapt to the offset of the axis of the hinge plate hole on the fixed seat, and the hinge plate hole and the inner hole of the circular lap are corrected by the claws on the fixed hinge plate, achieving the advantage of being able to correct coaxiality.

[0009] Preferably, the connecting shaft assembly includes a connecting column and a sleeve, and a first fixing part and a second fixing part are respectively provided at both ends of the connecting column, and the first fixing part and the second fixing part are respectively passed through the sliding plate and the connecting seat, and the sleeve is sleeved on the connecting column, and the sleeve is inserted into the movable hole, and the outer wall diameter of the sleeve is smaller than the inner wall diameter of the movable hole.

[0010] Through such an arrangement, the sliding plate can provide supporting force to the connecting seat.

[0011] Preferably, the shaft sleeve is fixedly connected with a clamping plate, and the clamping plate is clamped with a side of the fixed plate away from the sliding plate.

[0012] Such an arrangement can improve the reliability of the connecting shaft assembly.

[0013] Preferably, an elastic member is provided between the clamping plate and the connecting seat, and a clamping groove for the elastic member to be inserted into is provided on a side of the clamping plate away from the fixing plate.

[0014] Through such an arrangement, the connecting seat and the clamping claw can maintain angular stability.

[0015] Preferably, the connecting seat is slidably connected with a locking column, and the fixing plate is provided with a locking hole cooperating with the locking column.

[0016] Through such a setting, the advantage of higher applicability is achieved.

[0017] Preferably, the locking column is provided with a conical surface which fits with the fixing plate, and the conical surface is arranged inclined.

[0018] Such an arrangement can improve the stability between the locking column and the fixing plate.

[0019] Preferably, a driving member is fixedly mounted on the connecting seat, and an output end of the driving member is connected to a locking column.

[0020] Such an arrangement facilitates the insertion of the locking column into the locking hole, which is beneficial to improving the automation rate and production efficiency.

[0021] Preferably, a receiving groove is provided in the middle of the connecting seat, and the driving member is located in the receiving groove.

[0022] Such an arrangement can protect the driving parts.

[0023] Preferably, the finger assembly comprises two claws, and the two claws are symmetrically arranged.

[0024] Through such an arrangement, the function of the grasping cylinder driving the finger assembly to grasp an object is achieved.

[0025] Preferably, the claw is provided with a plurality of steps.

[0026] Through such a setting, the applicability can be improved.

[0027] Compared with the prior art, the utility model has achieved beneficial technical effects:

[0028] 1. By sliding the sliding plate on the fixed plate, the claws, the connecting seat and the sliding plate can adapt to the offset of the axis of the hinge plate hole on the fixed seat, thereby ensuring that the axis of the hinge plate hole is located at the center of the finger assembly after the two claws are pressed against the hinge plate, and then the axis of the circular ledge pressed by the two claws coincides with the axis of the hinge plate hole, realizing the correction of the hinge plate hole and the inner hole of the circular ledge on the fixed hinge plate, achieving the advantage of being able to correct the coaxiality.

[0029] 2. When coaxiality correction is not required, slide the locking column on the connecting seat, insert the locking column into the locking hole on the fixed plate, and make the locking column engage with the fixed plate, thereby realizing the locking between the connecting seat and the fixed plate, preventing the connecting seat from shaking on the fixed plate, improving the stability of the claws, and achieving the advantage of higher applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of a robot gripper with a coaxiality correction function in an embodiment of the utility model;

[0031] Figure 2 It is a cross-sectional view of a robot gripper with a coaxiality correction function in an embodiment of the utility model.

[0032] The technical features indicated by the reference numerals are as follows:

[0033] 11. Fixed seat; 12. Fixed plate; 13. Movable hole; 21. Sliding plate; 22. Connecting column; 23. Bushing; 24. First fixing member; 25. Second fixing member; 26. Clamping plate; 27. Elastic member; 28. Clamping groove; 31. Connecting seat; 32. Locking column; 33. Locking hole; 34. Conical surface; 35. Driving member; 36. Accommodating groove; 41. Grasping cylinder; 42. Clamping claw; 43. Step. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with embodiments, but the scope of protection claimed in the utility model is not limited to the following specific embodiments.

[0035] refer to Figure 1 and Figure 2 A robot gripper with a coaxiality correction function includes a fixed seat 11, a sliding plate 21, a connecting seat 31, a grasping cylinder 41 and a finger assembly.

[0036] The fixed seat 11 is fixedly connected with the fixed plate 12, the sliding plate 21 is slidably connected with the fixed plate 12, the fixed plate 12 is located between the sliding plate 21 and the connecting seat 31, the fixed plate 12 is provided with a movable hole 13, a connecting shaft assembly is provided between the connecting seat 31 and the sliding plate 21, the connecting shaft assembly is respectively fixed to the connecting seat 31 and the sliding plate 21, the connecting shaft assembly is passed through the movable hole 13, and a gap is provided between the connecting shaft assembly and the movable hole 13 in the radial direction. The connecting shaft assembly includes a connecting column 22 and a sleeve 23, the two ends of the connecting column 22 are respectively provided with a first fixing member 24 and a second fixing member 25, the first fixing member 24 and the second fixing member 25 are both screws. The first fixing member 24 and the second fixing member 25 are respectively passed through the sliding plate 21 and the connecting seat 31, the sleeve 23 is sleeved on the connecting column 22, the sleeve 23 is inserted into the movable hole 13, and the outer wall diameter of the sleeve 23 is smaller than the inner wall diameter of the movable hole 13. The shaft sleeve 23 is fixedly connected with a clamping plate 26, which is clamped with the side of the fixed plate 12 away from the sliding plate 21. An elastic member 27 is provided between the clamping plate 26 and the connecting seat 31, and the elastic member 27 is a spring with two ends respectively abutting against the clamping plate 26 and the connecting seat 31. A clamping groove 28 for the elastic member 27 to be clamped is provided on the side of the clamping plate 26 away from the fixed plate 12.

[0037] The grabbing cylinder 41 is fixedly mounted on the connecting seat 31, and the finger assembly is mounted on the output end of the grabbing cylinder 41. The connecting seat 31 is slidably connected with a locking column 32, and the fixing plate 12 is provided with a locking hole 33 that matches the locking column 32. The locking column 32 is provided with a conical surface 34 that fits the fixing plate 12, and the conical surface 34 is inclined. The connecting seat 31 is fixedly mounted with a driving member 35, and the output end of the driving member 35 is connected to the locking column 32, and the driving member 35 is a cylinder.

[0038] A receiving groove 36 is provided in the middle of the connecting seat 31, and the driving member 35 is located in the receiving groove 36. The finger assembly includes two claws 42, which are symmetrically arranged and have a plurality of steps 43.

[0039] This embodiment has the following advantages:

[0040] The fixing seat 11 is installed on the robot's mechanical arm, and the robot drives the fixing seat 11 to move, thereby realizing the function of driving the robot gripper to move. The two claws 42 are inserted into the inner hole of the circular ledge, and the grabbing cylinder 41 drives the two claws 42 to move in opposite directions, so that the two claws 42 are pressed against the inner hole of the circular ledge, thereby realizing the function of grabbing the circular ledge. The robot moves the circular ledge to the hinged plate through the robot gripper, and simultaneously inserts the claws 42 into the inner hole circular ledge and the hinged plate hole, and the grabbing cylinder 41 drives the two claws 42 to simultaneously press against the circular ledge and the hinged plate. When the two claws 42 are pressed against the hinge plate, the sliding plate 21 slides on the fixed plate 12, so that the claws 42, the connecting seat 31 and the sliding plate 21 can adapt to the offset of the axis of the hinge plate hole on the fixed seat 11, thereby ensuring that the axis of the hinge plate hole is located at the center of the finger assembly after the two claws 42 are pressed against the hinge plate, and then the axis of the circular bridge pressed by the two claws 42 coincides with the axis of the hinge plate hole, thereby realizing the correction of the hinge plate hole and the inner hole of the circular bridge on the fixed hinge plate, achieving the advantage of being able to correct coaxiality.

[0041] Through the gap between the connecting shaft assembly and the movable hole 13, the connecting shaft assembly can move in the movable hole 13 when the sliding plate 21 slides on the fixed plate 12, ensuring that the sliding plate 21 will not be stuck by the connecting shaft assembly during the sliding process on the fixed plate 12.

[0042] The first fixing member 24 fixes the upper end of the connecting column 22 on the sliding plate 21, and the second fixing member 25 fixes the lower end of the connecting column 22 on the connecting seat 31, thereby realizing the function of connecting the sliding plate 21 and the connecting seat 31 as a whole through the connecting shaft assembly, so that the sliding plate 21 can provide support force to the connecting seat 31.

[0043] The support sleeve 23 is located in the movable hole 13 , and the connecting column 22 is protected by the support sleeve to prevent the connecting column 22 from directly colliding with the fixing plate 12 , thereby improving the reliability of the connecting shaft assembly.

[0044] The elastic member 27 provides elastic support force to the clamping plate 26, so that the clamping plate 26 is clamped with the fixed plate 12, thereby improving the stability between the connecting shaft assembly and the fixed plate 12, and driving the connecting column 22 assembly to remain perpendicular to the fixed plate 12, so that the connecting seat 31 and the claw 42 can maintain angular stability.

[0045] When coaxiality correction is not needed, slide the locking column 32 on the connecting seat 31, insert the locking column 32 into the locking hole 33 on the fixing plate 12, so that the locking column 32 is engaged with the fixing plate 12, thereby achieving locking between the connecting seat 31 and the fixing plate 12, preventing the connecting seat 31 from shaking on the fixing plate 12, improving the stability of the claw 42, and achieving the advantage of higher applicability.

[0046] The tapered surface 34 abuts against the fixing plate 12 to guide the locking column 32 to be inserted into the locking hole 33. The inclined tapered surface 34 can also increase the contact area between the locking column 32 and the fixing plate 12, thereby improving the stability between the locking column 32 and the fixing plate 12.

[0047] The locking column 32 is driven to move on the connecting seat 31 by the driving member 35, which facilitates the insertion of the locking column 32 into the locking hole 33, facilitates automatic control of the movement of the locking column 32, and is conducive to improving the automation rate and production efficiency.

[0048] The driving member 35 is arranged in the accommodating groove 36 to prevent external objects from colliding with the driving member 35 when the connecting seat 31 drives the driving member 35 to move, thereby protecting the driving member 35 .

[0049] The grasping cylinder 41 drives the two claws 42 to move relative to and away from each other, thereby driving the two claws 42 to clamp and release the object, thereby realizing the function of the grasping cylinder 41 driving the finger assembly to grasp the object.

[0050] By providing a plurality of steps 43, the claw 42 can adapt to circular laps and hinge plate holes of different sizes, thereby improving applicability.

[0051] According to the disclosure and teaching of the above specification, the technicians in the field of the utility model can also change and modify the above implementation. Therefore, the utility model is not limited to the specific implementation methods disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the utility model.

Claims

1. A robot gripper with coaxiality correction function, characterized in that: The invention comprises a fixed seat (11), a sliding plate (21), a connecting seat (31), a grabbing cylinder (41) and a finger assembly, wherein the fixed seat (11) is fixedly connected to a fixed plate (12), the sliding plate (21) is slidably connected to the fixed plate (12), the fixed plate (12) is located between the sliding plate (21) and the connecting seat (31), the fixed plate (12) is provided with a movable hole (13), a connecting shaft assembly is provided between the connecting seat (31) and the sliding plate (21), the connecting shaft assembly is respectively fixed to the connecting seat (31) and the sliding plate (21), the connecting shaft assembly is passed through the movable hole (13), and a gap is provided between the connecting shaft assembly and the movable hole (13) in the radial direction, the grabbing cylinder (41) is fixedly mounted on the connecting seat (31), and the finger assembly is mounted on the output end of the grabbing cylinder (41).

2. The robot gripper with coaxiality correction function according to claim 1, characterized in that: The connecting shaft assembly comprises a connecting column (22) and a shaft sleeve (23), wherein a first fixing member (24) and a second fixing member (25) are respectively provided at both ends of the connecting column (22), wherein the first fixing member (24) and the second fixing member (25) are respectively inserted into the sliding plate (21) and the connecting seat (31), wherein the shaft sleeve (23) is sleeved on the connecting column (22), wherein the shaft sleeve (23) is inserted into the movable hole (13), and wherein the outer wall diameter of the shaft sleeve (23) is smaller than the inner wall diameter of the movable hole (13).

3. The robot gripper with coaxiality correction function according to claim 2 is characterized in that: The shaft sleeve (23) is fixedly connected with a clamping plate (26), and the clamping plate (26) is clamped with a side of the fixed plate (12) away from the sliding plate (21).

4. The robot gripper with coaxiality correction function according to claim 3 is characterized in that: An elastic member (27) is provided between the clamping plate (26) and the connecting seat (31), and a clamping groove (28) for the elastic member (27) to be clamped into is provided on a side of the clamping plate (26) away from the fixing plate (12).

5. The robot gripper with coaxiality correction function according to claim 1, characterized in that: The connection seat (31) is slidably connected with a locking column (32), and the fixing plate (12) is provided with a locking hole (33) matched with the locking column (32).

6. The robot gripper with coaxiality correction function according to claim 5, characterized in that: The locking column (32) is provided with a conical surface (34) that fits the fixing plate (12), and the conical surface (34) is arranged obliquely.

7. The robot gripper with coaxiality correction function according to claim 5, characterized in that: The connecting seat (31) is fixedly mounted with a driving member (35), and an output end of the driving member (35) is connected to a locking column (32).

8. The robot gripper with coaxiality correction function according to claim 7, characterized in that: A receiving groove (36) is provided in the middle of the connecting seat (31), and the driving member (35) is located in the receiving groove (36).

9. The robot gripper with coaxiality correction function according to claim 1, characterized in that: The finger assembly comprises two claws (42), and the two claws (42) are symmetrically arranged.

10. The robot gripper with coaxiality correction function according to claim 9, characterized in that: The clamping claw (42) is provided with a plurality of steps (43).

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