Servo flexible gripper

Abstract

The utility model relates to a servo flexible gripper which comprises a frame, at least six servo mechanisms and at least six positioning structures, the frame comprises a base, two first guide rails and at least two supporting rods, the two first guide rails extend in the first direction and are oppositely distributed in the second direction, and the supporting rods both extend in the second direction and are distributed in the first direction at intervals. The two ends of each supporting rod are connected to the two first guide rails correspondingly, the base is installed in a frame hole between the two first guide rails and the two supporting rods and used for being detachably connected with the mechanical arm, every three servo mechanisms are installed on one first guide rail in a sliding mode, and each servo mechanism comprises an installation part movably arranged in the second direction and the third direction. The six positioning structures are mounted on the six mounting parts in a one-to-one correspondence manner; the six positioning structures are divided into four clamping mechanisms and two positioning pins; wherein the first direction, the second direction and the third direction are arranged in a pairwise staggered mode. The servo flexible gripper is good in overall use flexibility and can grab various machined objects.

Description

Technical Field

[0001] The utility model relates to the field of automobile production servo grippers, in particular to a servo flexible gripper. Background Art

[0002] As the entire manufacturing industry has higher and higher requirements for automation and energy conservation, the application scope of robotic arms is becoming wider and wider, and various mechanical equipment are widely used in factories. In the actual production and manufacturing in some factories, it is usually necessary to grasp and transport the processed objects. However, some objects are large and heavy, and it is very difficult to move them manually. Robot grippers are usually used to assist the work.

[0003] The existing grippers have poor overall flexibility in use. During use, they can only grip a single processing object. Each part requires a pair of grippers, which results in high production costs, occupies space, requires a gun changer, and is costly. Utility Model Content

[0004] Based on the above description, the utility model provides a servo flexible gripper to solve the problem that the existing grippers have poor overall flexibility and can mostly only grip a single processing object.

[0005] The technical solution of the utility model to solve the above technical problems is as follows:

[0006] A servo flexible gripper, comprising:

[0007] The frame comprises a base, two first guide rails extending in a first direction and arranged opposite to each other in a second direction, and at least two support rods extending in the second direction and arranged at intervals in the first direction, wherein two ends of each support rod are respectively connected to the two first guide rails, and the base is installed in a frame hole between the two first guide rails and the two support rods, and is used to be detachably connected to the robot arm;

[0008] at least six servo mechanisms, each three of the servo mechanisms are slidably mounted on one of the first guide rails, and each of the servo mechanisms comprises a mounting portion movably arranged along the second direction and the third direction; and

[0009] At least six positioning structures are installed on the six mounting parts in a one-to-one correspondence, and the six positioning structures are divided into four clamping mechanisms and two positioning pins;

[0010] Wherein, the first direction, the second direction and the third direction are arranged alternately in pairs.

[0011] On the basis of the above technical solution, the present invention can also be improved as follows:

[0012] Furthermore, each of the servo mechanisms comprises:

[0013] A slider, slidably mounted on the first guide rail;

[0014] A second guide rail extending along a third direction and slidably mounted on the slider along the third direction;

[0015] a third guide rail extending along the second direction and connected to the second guide rail; and

[0016] Three driving mechanisms are respectively arranged on the first guide rail, the second guide rail and the third guide rail, and are used to drive the slider to slide on the first guide rail, the second guide rail to slide on the slider, and the mounting portion to slide on the third guide rail.

[0017] Furthermore, each of the driving mechanisms comprises:

[0018] a rack mounted on the guide rail and extending in the same direction as the corresponding guide rail; and

[0019] a gear meshing with the rack; and

[0020] The motor is mounted on the slider or the mounting portion and is used to drive the gear to rotate.

[0021] Furthermore, each of the slide blocks is provided with a guide groove extending along the first direction, and the width of the groove bottom of the guide groove is greater than the width of the groove opening thereof;

[0022] The first guide rail comprises:

[0023] A main rod extending along a first direction, with two ends of which are respectively connected to the two support rods; and

[0024] The guide plate extends along the first direction and is connected to one side of the main rod, and the guide plate is adapted to the guide groove.

[0025] Furthermore, each of the main rods and each of the support rods is configured as an octagonal tube;

[0026] The frame also includes a connecting member, which includes:

[0027] A first connecting plate, extending along the first direction and connected to the main rod;

[0028] A second connecting plate extending along a second direction, connected to one end of the first connecting plate, and connected to the support rod; and

[0029] The reinforcing plate is arranged in a triangular shape, is arranged between the first connecting plate and the second connecting plate, and is connected to the first connecting plate and the second connecting plate.

[0030] Furthermore, each of the clamping mechanisms comprises:

[0031] a clamping cylinder mounted on the mounting portion; and

[0032] The clamping jaw is connected to the clamping cylinder, and the clamping jaw includes two claw parts, one of which can be turned toward the third direction to be close to or away from the other claw part.

[0033] Furthermore, the mounting portion is provided with a mounting hole;

[0034] The positioning pin comprises:

[0035] A connecting portion having a plurality of connecting holes spaced apart along a third direction, wherein the plurality of connecting holes can be selectively connected to the mounting hole; and

[0036] a pin portion, mounted on the connecting portion and extending along the third direction;

[0037] Furthermore, the support rods are arranged in four numbers, wherein two of the support rods are connected to the middle part of the first guide rail, and the other two support rods are arranged close to the ends of the first guide rail respectively.

[0038] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0039] Every three of the servo mechanisms are slidably installed on one of the first guide rails, and each of the servo mechanisms includes a mounting portion that can be movably arranged along the second direction and the third direction, and the mounting portion can be adjusted to move in the first direction, the second direction and the third direction. There are six mounting portions, and six positioning structures are installed on the six mounting portions in a one-to-one correspondence. The six positioning structures are divided into four clamping mechanisms and two positioning pins. The four clamping devices clamp the processing object, and the two positioning pins are used to pass through the positioning holes of the processing object to position the processing object. The positions of each of the clamping mechanisms and each of the positioning pins in the first direction, the second direction and the third direction can also be adjusted to grab more types of processing parts; the base is used for the connection of the robot arm to facilitate the handling of the processing object; in this way, it has high versatility, reduces the number of grippers and site occupancy, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the structure of a servo flexible gripper provided in an embodiment of the utility model;

[0041] Figure 2 A schematic diagram of the structure of a servo flexible gripper grabbing a car door cover provided by an embodiment of the utility model;

[0042] Figure 3 for Figure 2 A partial enlarged schematic diagram of the middle A area;

[0043] Figure 4 A schematic top view of a servo flexible gripper provided in an embodiment of the utility model;

[0044] Figure 5 A schematic diagram of the structure of a servo flexible gripper grabbing a car hood provided by an embodiment of the utility model;

[0045] Figure 6 It is a partial structural schematic diagram of the servo flexible gripper in an embodiment of the utility model.

[0046] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0047] 1. Frame; 11. Base; 12. First guide rail; 121. Main rod; 122. Guide plate; 13. Support rod; 14. Connector; 141. First connecting plate; 142. Second connecting plate; 143. Reinforcement plate; 2. Servo mechanism; 21. Mounting part; 211. Third guide groove; 22. Slider; 221. First guide groove; 222. Second guide groove; 23. Second guide rail; 24. Third guide rail; 25. Driving mechanism; 251. First rack; 252. Second rack; 253. Third rack; 254. First motor; 255. Second motor; 26. Third motor; 3. Clamping mechanism; 31. Clamping cylinder; 32. Clamping claw, 321. Claw; 4. Positioning pin; 41. Connecting part; 411. Connecting hole; 42. Pin; 5. Mounting block. DETAILED DESCRIPTION

[0048] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0050] It will be appreciated that spatial relationship terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be appreciated that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0051] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0052] Reference Figure 1 , Figure 2 and Figure 5 The utility model provides a servo flexible gripper, comprising:

[0053] The frame 1 comprises a base 11, two first guide rails 12 extending in a first direction and arranged opposite to each other in a second direction, and at least two support rods 13 extending in the second direction and arranged at intervals in the first direction, wherein both ends of each support rod 13 are respectively connected to the two first guide rails 12, and the base 11 is installed in a frame hole between the two first guide rails 12 and the two support rods 13, and is used to be detachably connected to the robot arm;

[0054] at least six servo mechanisms 2, each three of the servo mechanisms 2 are slidably mounted on one of the first guide rails 12, and each of the servo mechanisms 2 comprises a mounting portion 21 movably arranged along the second direction and the third direction; and,

[0055] At least six positioning structures are mounted on the six mounting portions 21 in a one-to-one correspondence, and the six positioning structures are divided into four clamping mechanisms 3 and two positioning pins 4;

[0056] The first direction, the second direction and the third direction are arranged alternately in pairs.

[0057] Every three of the servo mechanisms 2 are slidably installed on one of the first guide rails 12, and each of the servo mechanisms 2 includes a mounting portion 21 that can be movably arranged along the second direction and the third direction, and the mounting portion 21 can be adjusted to move in the first direction, the second direction and the third direction. There are six mounting portions 21, and the six positioning structures are installed on the six mounting portions 21 in a one-to-one correspondence. The six positioning structures are divided into four clamping mechanisms 3 and two positioning pins 4. The four clamping devices clamp the processing object, and the two positioning pins 4 are used to pass through the positioning holes of the processing object to position the processing object. The positions of each of the clamping mechanisms 3 and each of the positioning pins 4 in the first direction, the second direction and the third direction can also be adjusted to grab more types of processing parts; the base 11 is used for the connection of the robot arm to facilitate the handling of the processing object; in this way, it has high versatility, reduces the number of grippers and site occupancy, and improves production efficiency.

[0058] It should be noted that, refer to Figure 1 , Figure 2 and Figure 5 The processing object can be a car door cover, a car front floor and a car front cover. When grabbing the car front cover, the four clamping mechanisms 3 are grouped in twos, and the two groups of clamping mechanisms 3 respectively clamp the two sides of the car front cover distributed in the driving direction of the car. At this time, the two positioning pins 4 are set away from the car front cover; when grabbing the car front floor, the two positioning pins 4 are respectively located on the same side of the two clamping mechanisms 3, and the four clamping mechanisms 3 are grouped in twos to clamp the two sides of the car front floor respectively. The two positioning pins 4 are used to penetrate the positioning holes of the car front floor. ; When grabbing the car door cover, the two clamping mechanisms 3 and the one positioning pin 4 are arranged on the first track, and the positioning pin 4 is located between the two clamping mechanisms 3, the four clamping mechanisms 3 clamp the car door cover, and the two positioning pins 4 are passed through the positioning holes of the car door cover; here, the clamping mechanism 3 and the positioning pin 4 are detachably connected to the mounting part 21 by bolts, and the mounting part 21 at different positions can be selected to install the positioning pin 4 and the clamping mechanism 3 to achieve the purpose of grabbing different processing objects.

[0059] Specifically, refer to Figure 1 , Figure 2 , Figure 5 and Figure 6Each of the servo mechanisms 2 includes a slider 22, a second guide rail 23, a third guide rail 24 and three driving mechanisms 25. The slider 22 is slidably mounted on the first guide rail 12; the second guide rail 23 extends along the third direction and is slidably mounted on the slider 22 along the third direction; the third guide rail 24 extends along the second direction and is connected to the second guide rail 23, and the mounting portion 21 is slidably mounted on the third guide rail 24. The three driving mechanisms 25 are respectively arranged on the first guide rail 12, the second guide rail 23 and the third guide rail 24, and are used to drive the slider 22 to slide on the first guide rail 12, the second guide rail 23 to slide on the slider 22, and the mounting portion 21 to slide on the third guide rail 24; thereby, the mounting portion 21 can move in the first direction, the second direction and the third direction, and has a simple structure and is easy to set up.

[0060] More specifically, in this embodiment, referring to Figure 1 , Figure 5 and Figure 6 The slider 22 is provided with a guide groove extending along the first direction, and the width of the bottom of the guide groove is greater than the width of the groove opening; each of the first guide rails 12 includes a main rod 121 and a guide plate 122, the main rod 121 extends along the first direction, and its two ends are respectively connected to two main rods 121; the guide plate 122 extends along the first direction, and the two guide plates 122 are respectively connected to the opposite sides of the two main rods 121 to facilitate the movement of the servo mechanism 2 in the first direction, and the guide plate 122 is adapted to the guide groove; so that the slider 22 can slide on the guide plate 122 and is not easy to fall off.

[0061] In this embodiment, continue to refer to Figure 1 , Figure 5 and Figure 6 The guide grooves are provided on both sides of the slider 22 distributed along the second direction. The two guide grooves are divided into a first guide groove 221 and a second guide groove 222. The first guide groove 221 extends along the first direction and is used for sliding connection with the guide plate 122. The second guide groove 222 extends along the third direction and is slidingly connected with the second guide rail 23. The mounting portion 21 is provided with a third guide groove 211 extending along the second direction and is used for sliding connection with the third guide rail 24. The structure is simple and easy to set up.

[0062] It should be noted that, refer to Figure 1 and Figure 6, the guide plate 122 is adapted to the guide groove, the first guide rail 12 also includes mounting blocks 5 respectively mounted on both ends of the guide plate 122, the slider 22 is slidably mounted on the guide plate 122 from the end of the guide plate 122, and then the two mounting blocks 5 are mounted on both ends of the guide plate 122, so that the servo flexible gripper can grasp more types of processing objects and prevent the slider 22 from falling off the guide plate 122 by adjusting the installation sequence of the three servo mechanisms 2 on one of the first guide rails 12; it has good versatility, reduces cost investment, reduces floor space, and improves production efficiency and safety performance.

[0063] It should be noted that the mounting block 5 is detachably connected to the end of the guide plate 122 via bolts.

[0064] In this embodiment, refer to Figure 1 and Figure 6 , each of the driving mechanisms 25 includes a rack, a gear and a motor. The rack is mounted on the guide rail and extends in the same direction as the corresponding guide rail; the gear meshes with the rack; the motor is mounted on the slider 22 or the mounting portion 21 to drive the gear to rotate. Three driving mechanisms 25 are provided on one of the first guide rails 12. The driving mechanism 25 corresponding to the first guide rail 12 includes a first rack 251, a first gear and a first motor 254. The driving mechanism 25 corresponding to the second guide rail 23 includes a second gear, a second rack 252 and a second motor 255. The driving mechanism 25 corresponding to the third guide rail 24 includes a third gear, a third rack 253 and a third motor 26. The three first racks 251 are integrally arranged and mounted on the main rod 121. The first motor 254 is mounted on the slider 22. Each of the second racks 25 2 is installed on the side of the second guide rail 23 away from the first guide rail 12, each of the second motors 255 is installed on the slider 22, each of the third racks 253 is installed on the third guide rail 24, and the third motor 26 is installed on the installation portion 21; so that the driving shafts of the first motor 254, the second motor 255 and the third motor 26 can be rotated so that the installation portion 21 can be adjusted in the first direction, the second direction and the third direction, with good flexibility, and the adjustment position of each of the installation portions 21 can be used to grab different processing objects, thereby improving production capacity and efficiency.

[0065] In this embodiment, refer to Figure 1 and Figure 4 The support rods 13 are arranged in four, two of which are connected to the middle of the first guide rail 12, and the other two support rods 13 are arranged near the ends of the first guide rail 12. Thus, the structure of the frame 1 can be strengthened, the connection is firm, and the stability is strong.

[0066] Further, continue to refer to Figure 1 and Figure 4 Each of the main rods 121 and each of the support rods 13 is configured as an octagonal tube; the frame 1 also includes a connecting member 14, the connecting member 14 includes a first connecting plate 141, a second connecting plate 142 and a reinforcing plate 143, the first connecting plate 141 extends along the first direction and is connected to the main rod 121, the second connecting plate 142 extends along the second direction, is connected to one end of the first connecting plate 141, and is connected to the support rod 13, the reinforcing plate 143 is configured as a triangle, and the two side plates of the reinforcing plate 143 are respectively connected to two of the connecting plates, the angle between the two connecting plates is adapted to the angle of the connection between the main rod 121 and the support rod 13, and each of the connecting plates is a portion of the octagonal tube cut along its axis, so that when the connecting member 14 is installed at the connection between the main rod 121 and the main rod 121, the first connecting plate 141 and the second connecting plate 142 are respectively tightly attached to the surfaces of the first connecting plate 141 and the second connecting plate 142, with beautiful appearance, stable connection and low maintenance cost.

[0067] Specifically, in this embodiment, refer to Figure 1 , Figure 2 and Figure 6 Each of the clamping mechanisms 3 includes a clamping cylinder 31 and a clamping claw 32, wherein the clamping cylinder 31 is mounted on the mounting portion 21; the clamping claw 32 is drivingly connected to the clamping cylinder 31, and the clamping claw 32 includes two claws 321, wherein one of the claws 321 can be flipped toward the third direction to approach or move away from the other claw 321. Thus, the two claws 321 of each of the clamping mechanisms 3 can approach to grasp a large and thin processing object, such as a car door cover, a car front cover, and a car front floor, and then be connected to the base 11 through a mechanical arm to transfer and transport the processing object, and then the two claws 321 of each of the clamping mechanisms 3 move away to put down the processing object; the operation is simple and manpower is saved.

[0068] In this embodiment, refer to Figure 2 and Figure 3The mounting portion 21 is provided with a mounting hole; the positioning pin 4 includes a connecting portion 41 and a pin portion 42, the connecting portion 41 is penetrated by a plurality of connecting holes 411 spaced apart along a third direction, and the plurality of connecting holes 411 can be selectively connected to the mounting hole; the pin portion 42 is mounted on the connecting portion 41 and extends along the third direction; the pin portion 42 is used to pass through the positioning hole of the workpiece, and the mounting portion 21 is selected to connect with the connecting holes 411 at different positions, so that the position of the pin portion 42 in the third direction can be finely adjusted, thereby improving the flexibility of the servo flexible gripper.

[0069] It should be noted that, in this embodiment, the connection hole 411 and the mounting hole are connected by bolts.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A servo flexible gripper, characterized in that: include: The frame comprises a base, two first guide rails extending in a first direction and arranged opposite to each other in a second direction, and at least two support rods extending in the second direction and arranged at intervals in the first direction, wherein two ends of each support rod are respectively connected to the two first guide rails, and the base is installed in a frame hole between the two first guide rails and the two support rods, and is used to be detachably connected to the robot arm; at least six servo mechanisms, each three of the servo mechanisms are slidably mounted on one of the first guide rails, and each of the servo mechanisms comprises a mounting portion movably arranged along the second direction and the third direction; and At least six positioning structures are installed on the six mounting parts in a one-to-one correspondence, and the six positioning structures are divided into four clamping mechanisms and two positioning pins; The first direction, the second direction and the third direction are arranged alternately in pairs.

2. The servo flexible gripper according to claim 1, characterized in that: Each of the servo mechanisms comprises: A slider, slidably mounted on the first guide rail; A second guide rail extends along a third direction and is slidably mounted on the slider along the third direction; a third guide rail extending along the second direction and connected to the second guide rail; and Three driving mechanisms are respectively arranged on the first guide rail, the second guide rail and the third guide rail, and are used to drive the slider to slide on the first guide rail, the second guide rail to slide on the slider, and the mounting portion to slide on the third guide rail.

3. The servo flexible gripper according to claim 2, characterized in that: Each of the driving mechanisms comprises: a rack mounted on the guide rail and extending in the same direction as the corresponding guide rail; and a gear meshing with the rack; and The motor is mounted on the slider or the mounting portion and is used to drive the gear to rotate.

4. The servo flexible gripper according to claim 2, characterized in that: Each of the slide blocks is provided with a guide groove extending along the first direction, and the width of the groove bottom of the guide groove is greater than the width of the groove opening; The first guide rail comprises: A main rod extending along a first direction, with two ends of which are respectively connected to the two support rods; and The guide plate extends along the first direction and is connected to one side of the main rod, and the guide plate is adapted to the guide groove.

5. The servo flexible gripper according to claim 4, characterized in that: Each of the main rods and each of the supporting rods is configured as an octagonal tube; The frame also includes a connecting member, which includes: A first connecting plate, extending along the first direction and connected to the main rod; A second connecting plate extending along a second direction, connected to one end of the first connecting plate, and connected to the support rod; and The reinforcing plate is arranged in a triangular shape, is arranged between the first connecting plate and the second connecting plate, and is connected to the first connecting plate and the second connecting plate.

6. The servo flexible gripper according to claim 1, characterized in that: Each of the clamping mechanisms comprises: a clamping cylinder mounted on the mounting portion; and The clamping jaw is connected to the clamping cylinder, and the clamping jaw includes two claw parts, one of which can be turned toward the third direction to be close to or away from the other claw part.

7. The servo flexible gripper according to claim 1, characterized in that: The mounting portion is provided with a mounting hole; The positioning pin comprises: A connecting portion having a plurality of connecting holes spaced apart along a third direction, wherein the plurality of connecting holes can be selectively connected to the mounting hole; and The pin portion is mounted on the connecting portion and extends along the third direction.

8. The servo flexible gripper according to claim 1, characterized in that: The support rods are arranged in four numbers, two of which are connected to the middle part of the first guide rail, and the other two support rods are arranged close to the ends of the first guide rail respectively.

Images