Robot material pouring clamping jaw and robot with same

Abstract

The utility model provides a robot material pouring clamping jaw which comprises a connecting part, a clamping jaw body, a first clamping jaw arm and a second clamping jaw arm. The clamping jaw body comprises a shell, a first telescopic rod, a second telescopic rod and a telescopic rod driver, the first telescopic rod and the second telescopic rod are arranged on the shell in a penetrating mode and are arranged in parallel, and the telescopic rod driver is installed on the shell and connected with the first telescopic rod and the second telescopic rod. The driving mechanism is used for driving the first telescopic rod and the second telescopic rod to extend out of the shell or contract towards the inner side of the shell; the first clamping jaw arm is arranged on the outer side of the clamping jaw body, and one end of the first clamping jaw arm is connected with the first telescopic rod. The second clamping jaw arm is arranged on the outer side of the clamping jaw body and located on the side, opposite to the first clamping jaw arm, of the outer side of the clamping jaw body. The utility model further discloses a robot provided with the material pouring clamping jaw. The material pouring clamping jaw is simple in structure, good in sealing performance and good in durability under the condition of fine dust.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a robot pouring gripper and a robot with the gripper. Background Art

[0002] A robot is a machine device that automatically performs work and can assist or replace human work. In some workplaces with harsh working environments that are prone to causing human injuries, using robots to replace humans can reduce the harm caused by the working environment to workers. Therefore, robots are often used in workplaces with harsh working environments.

[0003] With the development of the lithium battery industry, the demand for graphite crucibles is also increasing. During the production process of graphite crucibles, processes such as cutting, grinding, and drilling are required. In these processes, due to the physical properties of the materials and the processing methods, fine particulate matter, i.e., dust, is easily generated. Moreover, the total weight of a single crucible is large, and manual handling is laborious. Therefore, robots are often used for grasping and transferring. The robot grasps the object to be grasped through the gripper connected to the robotic arm. The gripper is in direct contact with the object to be grasped and is greatly affected by the environment and the object to be grasped. However, the existing robot gripper has a complex structure and a high failure rate when used in a dusty environment, which hinders the high-speed development of the industry. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the above deficiencies in the prior art and provide a robot pouring gripper and a robot with the gripper. It has a simple structure, good sealing performance, and good durability under the condition of fine dust.

[0005] To solve the above problems, the utility model provides a robot pouring gripper, which is characterized in that it includes a connecting part, a gripper main body, a first gripper arm, and a second gripper arm; one end of the connecting part is connected to the robotic arm; the gripper main body is connected to the other end of the connecting part. The gripper main body includes a housing, a first telescopic rod, a second telescopic rod, and a telescopic rod driver. The first telescopic rod and the second telescopic rod are both arranged on the housing, and the first telescopic rod and the second telescopic rod are arranged in parallel. The telescopic rod driver is installed on the housing and is connected to the first telescopic rod and the second telescopic rod for driving the first telescopic rod and the second telescopic rod to extend outwards from the housing or contract inwards into the housing; the first gripper arm is arranged on the outside of the gripper main body, and one end of the first gripper arm is connected to the first telescopic rod; the second gripper arm is arranged on the outside of the gripper main body, and the second gripper arm is located on the side of the outside of the gripper main body opposite to the first gripper arm.

[0006] The above-mentioned robot pouring gripper is characterized in that: a guide sleeve is arranged in the housing, the number of the guide sleeves corresponds to the number of the first telescopic rod and the second telescopic rod, and the first telescopic rod and the second telescopic rod are both arranged in the corresponding guide sleeves.

[0007] The above-mentioned robot dumping gripper is characterized in that: the guide sleeve is a PTFE guide sleeve with self-lubrication.

[0008] The above-mentioned robot dumping gripper is characterized in that: the number of the first telescopic rods is three, and the second telescopic rod has the same structure as the first telescopic rod.

[0009] The above-mentioned robot dumping gripper is characterized in that: the telescopic rod drive includes a pneumatic motor, a drive shaft, a gear, a first rack and a second rack. The pneumatic motor is installed on the housing, the drive shaft is installed inside the housing, the gear is installed on the drive shaft, the first rack is installed on the first telescopic rod, the second rack is installed on the second telescopic rod, the first rack and the second rack are respectively located on the left and right sides of the gear, and are simultaneously engaged with the gear.

[0010] The above-mentioned robot dumping gripper is characterized in that: the robot dumping gripper further includes a first bellows cover and a second bellows cover. The first bellows cover is arranged outside the first telescopic rod. One end of the first bellows cover is hermetically connected to the gripper body, and the other end of the first bellows cover is hermetically connected to the first gripper arm. The second bellows cover is arranged outside the second telescopic rod. One end of the second bellows cover is hermetically connected to the gripper body, and the other end of the second bellows cover is hermetically connected to the second gripper arm.

[0011] The above-mentioned robot dumping gripper is characterized in that: the first gripper arm includes a first gripper arm body, an adjustable hook and a hook locking bolt. A hook mounting hole is formed on the first gripper arm body. One end of the adjustable hook is inserted into the hook mounting hole. The hook locking bolt is threadedly connected to the first gripper arm body, and the end of the threaded end of the hook locking bolt extends into the hook mounting hole and presses against the adjustable hook.

[0012] The above-mentioned robot dumping gripper is characterized in that: the second gripper arm has the same structure as the first gripper arm.

[0013] The above-mentioned robot dumping gripper is characterized in that: pads are arranged on the parts of the first gripper arm in contact with the grabbed part and the parts of the second gripper arm in contact with the grabbed part.

[0014] The present utility model also discloses a robot, which is characterized in that: the above-mentioned robot dumping gripper is installed on the robot.

[0015] The present utility model has the following advantages compared with the prior art:

[0016] 1. The structure of the present utility model is simple, the dust-proof effect is good, the use is reliable, and the failure rate is low.

[0017] 2. The utility model adopts a polytetrafluoroethylene guide sleeve, which not only has a lubricating effect, but also has a certain ability to accommodate dust, and can prevent dust from entering the shell, thus avoiding the failure of the dumping gripper of the robot.

[0018] 3. The whole device of the utility model has no magnetic components, and will not cause the adsorption of dust and the introduction of other metal substances.

[0019] 4. The utility model adopts a bellows guard, which can prevent dust from entering the transmission and guiding components, and meets the long-term durability under the condition of fine dust.

[0020] 5. The utility model adopts a double-split mechanism of a gear and a rack, so that the grippers on both sides can be opened and closed synchronously. The gear-rack mechanism has good durability and ensures long-term usability.

[0021] The following further describes the utility model in detail through the drawings and embodiments. Description of the Drawings

[0022] The specification drawings forming a part of this application are used to provide a further understanding of the utility model. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an improper limitation to the utility model. In the drawings:

[0023] Figure 1 is the top view of the overall structure of the dumping gripper in the embodiment of the utility model.

[0024] Figure 2 is the top view of the dumping gripper in the embodiment of the utility model after removing the bellows guard and part of the adjustable hooks.

[0025] Figure 3 is the vertical sectional view of the dumping gripper in the embodiment of the utility model.

[0026] Figure 4 is the horizontal sectional view of the dumping gripper in the embodiment of the utility model.

[0027] Figure 5 is the three-dimensional structure diagram of the dumping gripper in the embodiment of the utility model.

[0028] Figure 6 is Figure 5 the enlarged view of part A of

[0029] Figure 7 is the three-dimensional structure diagram of the adjustable hook in the embodiment of the utility model.

[0030] Description of the Reference Numerals:

[0031] 1 - connecting part; 2 - gripper body; 21 - shell;

[0032] 22 - The first telescopic rod; 23 - The second telescopic rod; 24 - Telescopic rod drive

[0033] 241 - Pneumatic motor; 242 - Drive shaft; 243 - Gear

[0034] 244 - The first rack; 245 - The second rack; 25 - Guide sleeve

[0035] 3 - The first jaw arm; 31 - The body of the first jaw arm; 32 - Adjustable hook

[0036] 33 - Hook - locking bolt; 34 - Hook mounting hole; 4 - The second jaw arm

[0037] 5 - The first bellows cover; 6 - The second bellows cover Detailed implementation mode

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way restrictive of the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0039] As Figures 1 to 5 shown, a robot dumping jaw includes a connecting portion 1, a jaw body 2, a first jaw arm 3 and a second jaw arm 4. One end of the connecting portion 1 is connected to a robotic arm; the jaw body 2 is connected to the other end of the connecting portion 1. The jaw body 2 includes a housing 21, a first telescopic rod 22, a second telescopic rod 23 and a telescopic rod drive 24. The first telescopic rod 22 and the second telescopic rod 23 are both arranged on the housing 21, and the first telescopic rod 22 and the second telescopic rod 23 are arranged in parallel. The telescopic rod drive 24 is installed on the housing 21 and is connected to the first telescopic rod 22 and the second telescopic rod 23 for driving the first telescopic rod 22 and the second telescopic rod 23 to extend outward from the housing 21 or contract inward into the housing 21; the first jaw arm 3 is arranged outside the jaw body 2, and one end of the first jaw arm 3 is connected to the first telescopic rod 22; the second jaw arm 4 is arranged outside the jaw body 2, and the second jaw arm 4 is located on the side of the outside of the jaw body 2 opposite to the first jaw arm 3.

[0040] In this embodiment, the robot dumping gripper drives the first telescopic rod 22 and the second telescopic rod 23 through the telescopic rod driver 24. The first telescopic rod 22 and the second telescopic rod 23 drive the first gripper arm 3 and the second gripper arm 4 to move towards each other to grip the grabbed part or move away from each other to release the grabbed part. Its structure is simple and the failure rate is low.

[0041] As Figure 5 and Figure 6 shown, a guide sleeve 25 is arranged in the housing 21. The number of the guide sleeves 25 corresponds to the number of the first telescopic rod 22 and the second telescopic rod 23, and the first telescopic rod 22 and the second telescopic rod 23 are both arranged in the corresponding guide sleeves 25. The guide sleeve 25 is a polytetrafluoroethylene guide sleeve with self-lubrication.

[0042] In this embodiment, the guide sleeve 25 is a polytetrafluoroethylene guide sleeve made of polytetrafluoroethylene material with self-lubrication. The polytetrafluoroethylene guide sleeve not only has a lubricating effect, but also has a certain ability to accommodate dust, avoiding dust entering the housing 21 and causing failures of the robot dumping gripper.

[0043] As Figure 3 and Figure 4 shown, the number of the first telescopic rods 22 is three, and the three first telescopic rods 22 are arranged in a triangular shape, which not only has good guiding performance but also good stability, and can provide sufficient mechanical strength for the robot dumping gripper when gripping the grabbed part. A rack structure for driving the telescopic rod to move is arranged on one of the three first telescopic rods 2 close to the second telescopic rod 23.

[0044] In this embodiment, the second telescopic rod 23 has the same structure as the first telescopic rod 22. It is convenient for manufacturing and processing and has a low cost.

[0045] As Figure 3 and Figure 4 shown, the telescopic rod driver 24 includes a pneumatic motor 241, a drive shaft 242, a gear 243, a first rack 244 and a second rack 245. The pneumatic motor 241 is installed on the housing 21, the drive shaft 242 is installed in the housing 21, the gear 243 is installed on the drive shaft 242, the first rack 244 is installed on the first telescopic rod 22, the second rack 245 is installed on the second telescopic rod 23, the first rack 244 and the second rack 245 are respectively located on the left and right sides of the gear 243, and are simultaneously engaged with the gear 243.

[0046] In this embodiment, a pneumatic motor 241 is used for driving, that is, a rotary cylinder is used for transmission. The transmission components are all inside the equipment, there is no risk of dust entering, and the whole equipment has no magnetic components and will not cause adsorption of dust. The double-split gear-rack mechanism enables the two-side grippers to open and close synchronously. The gear-rack mechanism has good durability and ensures the long-term usability of the equipment.

[0047] As Figure 1 shown, the robot blanking gripper further includes a first bellows shield 5 and a second bellows shield 6. The first bellows shield 5 is disposed outside the first telescopic rod 22. One end of the first bellows shield 5 is hermetically connected to the gripper body 2, and the other end of the first bellows shield 5 is hermetically connected to the first gripper arm 3. The second bellows shield 6 is disposed outside the second telescopic rod 23. One end of the second bellows shield 6 is hermetically connected to the gripper body 2, and the other end of the second bellows shield 6 is hermetically connected to the second gripper arm 4.

[0048] In this embodiment, both ends of the first bellows shield 5 and the second bellows shield 6 are hermetically connected by sealant, which can effectively prevent dust from entering the moving parts.

[0049] As Figure 2 shown, the first gripper arm 3 includes a first gripper arm body 31, an adjustable hook 32 and a hook locking bolt 33. A hook mounting hole 34 is formed on the first gripper arm body 31. One end of the adjustable hook 32 is inserted into the hook mounting hole 34. The hook locking bolt 33 is threadedly connected to the first gripper arm body 31, and the threaded end of the hook locking bolt 33 extends into the hook mounting hole 34 and presses against the adjustable hook 32.

[0050] In this embodiment, the number of the adjustable hooks 32 can be multiple. Each adjustable hook 32 can be provided with a plurality of adjustment positioning holes on the column connected to the hook mounting hole 34 according to the size of the grabbed part, for the threaded end of the hook locking bolt 33 to press against and hold in the adjustment positioning holes.

[0051] In this embodiment, in order to prevent the hook locking bolt 33 from loosening, a through hole is drilled at the end of the hook locking bolt 33. A steel wire is passed through the through holes on several hook locking bolts 33 on the same side of the gripper body 2 in sequence to connect several hook locking bolts 33, thereby preventing the hook locking bolt 33 from loosening.

[0052] In this embodiment, the number of the adjustment positioning holes on each adjustable hook 32 is three.

[0053] As Figures 1 to 4 shown, the second gripper arm 4 has the same structure as the first gripper arm 3.

[0054] As Figure 1 、 Figure 2 、 Figure 4 and Figure 5 shown, pads 7 are provided on the parts of the first gripper arm 3 and the second gripper arm 4 that contact the grabbed part.

[0055] In this embodiment, the backing plate 7 is made of a PTFE plate, and the PTFE plate is fixed on the jaw arm by high-strength and high-temperature-resistant PEEK screws. The PEEK screws are locked with high-temperature thread locking glue to prevent loosening.

[0056] The present invention also discloses a robot, on which the above-mentioned robot blanking jaw is installed.

[0057] In this embodiment, the model of the robot can be Yaskawa GP180, and the blanking jaw is connected to the robot's robotic arm.

[0058] As described above, the above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the embodiments of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A robot unloading gripper, characterized in that: include: A connecting part (1), one end of which is connected to the robot arm; A clamping jaw body (2), the clamping jaw body (2) being connected to the other end of the connecting portion (1), the clamping jaw body (2) comprising a shell (21), a first telescopic rod (22), a second telescopic rod (23) and a telescopic rod drive (24), the first telescopic rod (22) and the second telescopic rod (23) both being passed through the shell (21), and the first telescopic rod (22) and the second telescopic rod (23) being arranged in parallel, the telescopic rod drive (24) being installed on the shell (21) and being connected to the first telescopic rod (22) and the second telescopic rod (23), and being used for driving the first telescopic rod (22) and the second telescopic rod (23) to extend outward from the shell (21) or to retract toward the inner side of the shell (21); A first clamping claw arm (3), wherein the first clamping claw arm (3) is arranged on the outside of the clamping claw body (2), and one end of the first clamping claw arm (3) is connected to the first telescopic rod (22); A second clamping jaw arm (4), wherein the second clamping jaw arm (4) is arranged on the outside of the clamping jaw body (2), and the second clamping jaw arm (4) is located on the side of the outside of the clamping jaw body (2) opposite to the first clamping jaw arm (3).

2. The robot material unloading gripper according to claim 1, characterized in that: A guide sleeve (25) is arranged in the shell (21), the number of the guide sleeves (25) corresponds to the number of the first telescopic rods (22) and the second telescopic rods (23), and the first telescopic rod (22) and the second telescopic rod (23) are both inserted into the corresponding guide sleeves (25).

3. The robot material unloading gripper according to claim 2, characterized in that: The guide sleeve (25) is a self-lubricating polytetrafluoroethylene guide sleeve.

4. The robot material unloading gripper according to claim 1, characterized in that: The number of the first telescopic rods (22) is three, and the second telescopic rods (23) have the same structure as the first telescopic rods (22).

5. The robot material unloading gripper according to claim 1, characterized in that: The telescopic rod drive (24) comprises an air motor (241), a drive shaft (242), a gear (243), a first rack (244) and a second rack (245); the air motor (241) is mounted on a housing (21); the drive shaft (242) is mounted in the housing (21); the gear (243) is mounted on the drive shaft (242); the first rack (244) is mounted on the first telescopic rod (22); the second rack (245) is mounted on the second telescopic rod (23); the first rack (244) and the second rack (245) are respectively located on the left and right sides of the gear (243) and are meshed with the gear (243) at the same time.

6. The robot material unloading gripper according to claim 1, characterized in that: The robot unloading clamp also includes a first accordion shield (5) and a second accordion shield (6), wherein the first accordion shield (5) is arranged on the outside of the first telescopic rod (22), one end of the first accordion shield (5) is sealed and connected to the clamp body (2), and the other end of the first accordion shield (5) is sealed and connected to the first clamp arm (3), and the second accordion shield (6) is arranged on the outside of the second telescopic rod (23), one end of the second accordion shield (6) is sealed and connected to the clamp body (2), and the other end of the second accordion shield (6) is sealed and connected to the second clamp arm (4).

7. The robot material unloading gripper according to claim 1, characterized in that: The first clamping arm (3) comprises a first clamping arm body (31), an adjustable hook (32) and a hook locking bolt (33); a hook mounting hole (34) is provided on the first clamping arm body (31); one end of the adjustable hook (32) is inserted into the hook mounting hole (34); the hook locking bolt (33) is threadedly connected to the first clamping arm body (31); and the end of the threaded end of the hook locking bolt (33) extends into the hook mounting hole (34) and is pressed against the adjustable hook (32).

8. The robot material unloading gripper according to claim 1, characterized in that: The second clamping jaw arm (4) has the same structure as the first clamping jaw arm (3).

9. The robot material unloading gripper according to claim 1, characterized in that: A pad (7) is provided on the portion of the first clamping jaw arm (3) that contacts the grasped object and on the portion of the second clamping jaw arm (4) that contacts the grasped object.

10. A robot, characterized in that: The robot is equipped with a robot unloading gripper as described in any one of claims 1 to 9.

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