Composite gripper of robot

Abstract

The utility model belongs to the technical field of composite grippers, and particularly relates to a robot composite gripper which comprises a support, linear sliding rails are arranged on the two sides of the support, a flange connecting plate is arranged at the top of the support, and a control electromagnetic valve is arranged at the top of the support. The four iron drum clamping jaw mechanisms are mounted on the outer sides of the linear sliding rails in a sliding manner and are used for clamping iron drums; the four tray clamping jaws are symmetrically arranged in pairs, the same overturning shaft is fixedly installed on the two tray clamping jaws on the same displacement side, fixing pieces are fixedly installed at the two ends of the support, and the two overturning shafts are rotationally installed on the two fixing pieces. Iron drum products are grabbed according to the principle of air cylinders and air claws, the distance between the clamping claws is adjusted through the horizontal air cylinders, iron drums with two diameters are grabbed, the distance between the clamping claws of the iron drums can be automatically adjusted through a program when the iron drums with different diameters are grabbed, manual adjustment is replaced, and automation is achieved.

Description

Technical Field

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

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operations or movements through programming and automatic control.

[0003] The existing robot composite gripper has two functions. One is to grasp four iron barrels with the same diameter, and the other is to grasp an empty pallet. The gripper can only meet the grasping of iron barrels with one diameter size. In most actual production, the diameters of the iron barrels are not exactly the same, which cannot meet the needs of actual production. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the shortcomings that the existing robot composite gripper has two functions. One is to grasp four iron barrels with the same diameter, and the other is to grasp an empty pallet. The gripper can only meet the grasping of iron barrels with one diameter size. In most actual production, the diameters of the iron barrels are not exactly the same, which cannot meet the needs of actual production, and a robot composite gripper is proposed.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A robot composite gripper, comprising:

[0007] A bracket, linear slide rails are arranged on both sides of the bracket, a flange connecting plate is arranged on the top of the bracket, and a control solenoid valve is arranged on the top of the bracket;

[0008] Four iron barrel gripper mechanisms, which are slidably installed outside the linear slide rails and are used for gripping the iron barrels;

[0009] Four pallet grippers, which are arranged in pairs symmetrically. The same turning shaft is fixedly installed on two pallet grippers on the same side. Fixing parts are fixedly installed at both ends of the bracket, and two turning shafts are rotatably installed on the two fixing parts.

[0010] Preferably, a horizontal push-pull cylinder is fixedly arranged above the iron barrel gripper mechanism on the bracket. The output shaft of the horizontal push-pull cylinder is connected to an iron barrel gripper mechanism and is used for adjusting the position of the iron barrel gripper mechanism and changing the distance between adjacent two iron barrel gripper mechanisms to grip iron barrels with different sizes.

[0011] Preferably, the iron bucket clamping jaw mechanism includes a connecting plate. Linear sliding plates are fixedly installed on both sides of the connecting plate. The two linear sliding plates are slidably connected to the linear sliding rails on both sides of the bracket. An iron bucket clamping jaw cylinder is installed on the top of the connecting plate. A connecting disc is installed on the output shaft of the iron bucket clamping jaw cylinder. An annular mating groove is formed on the outer side of the connecting disc. Four iron bucket clamping jaws are movably installed in the annular mating groove in a mating manner.

[0012] Preferably, the iron bucket clamping jaw is of an L-shaped structure. Four supporting members are evenly arranged at the bottom of the connecting plate. Axle pins are arranged on all four supporting members. All four axle pins are rotatably connected to the turning points of the iron bucket clamping jaws.

[0013] Preferably, a cylindrical head is arranged at the front end of the iron bucket clamping jaw and is rotationally mated with the annular mating groove to ensure that the iron bucket clamping jaw can be turned over to clamp the iron bucket.

[0014] Preferably, two tray clamping jaw cylinders are symmetrically and obliquely installed on the top of the bracket. Rotating arms are rotatably installed on the output shafts of the two tray clamping jaw cylinders. Eccentric positions of the two rotating arms are fixedly installed with two rotating shafts.

[0015] In the utility model, the beneficial effects of the robot composite gripper are as follows:

[0016] In the utility model, the iron bucket product is grabbed by adopting the principle of a cylinder air gripper. The distance between the clamping jaws is adjusted by a horizontal cylinder to realize the grabbing of iron buckets with two diameters. When grabbing iron buckets with different diameters, the distance between the iron bucket clamping jaws can be automatically adjusted through a program, replacing manual adjustment and realizing automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the robot composite gripper proposed by the utility model;

[0018] Figure 2 is a schematic top view structural diagram of the robot composite gripper proposed by the utility model;

[0019] Figure 3 is a schematic structural diagram of part A of the robot composite gripper proposed by the utility model.

[0020] In the figure: 1. Bracket; 11. Linear sliding rail; 2. Flange connecting plate; 3. Iron bucket clamping jaw mechanism; 31. Iron bucket clamping jaw cylinder; 32. Iron bucket clamping jaw; 33. Supporting member; 34. Axle pin; 35. Cylindrical head; 36. Connecting disc; 37. Annular mating groove; 38. Linear sliding plate; 39. Connecting plate; 4. Control solenoid valve; 5. Tray clamping jaw; 51. Rotating arm; 52. Tray clamping jaw cylinder; 53. Rotating shaft; 54. Fixed part; 6. Horizontal push-pull cylinder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The technical solutions in this embodiment will be clearly and completely described below in conjunction with the accompanying drawings in this embodiment. Obviously, the described embodiments are only a part of this embodiment, rather than all of the embodiments.

[0022] Embodiment 1

[0023] The following will be further described in detail with reference to Figures 1-3 make a further detailed description of this application.

[0024] The robotic composite gripper includes:

[0025] A bracket 1, linear slide rails 11 are arranged on both sides of the bracket 1, a flange connecting plate 2 is arranged on the top of the bracket 1, and a control solenoid valve 4 is arranged on the top of the bracket 1;

[0026] Four iron bucket gripper mechanisms 3, which are slidably installed outside the linear slide rails 11 and are used for gripping iron buckets;

[0027] Four tray grippers 5, which are arranged in pairs symmetrically. The same turnover shaft 53 is fixedly installed on the two tray grippers 5 on the same side. Fixed parts 54 are fixedly installed at both ends of the bracket 1, and the two turnover shafts 53 are rotatably installed on the two fixed parts 54.

[0028] In this embodiment, a horizontal push-pull cylinder 6 is fixedly arranged above the iron bucket gripper mechanism 3 on the bracket 1. The output shaft of the horizontal push-pull cylinder 6 is connected to an iron bucket gripper mechanism 3, which is used to adjust the position of the iron bucket gripper mechanism 3 and change the distance between two adjacent iron bucket gripper mechanisms 3 for gripping iron buckets of different sizes.

[0029] In this embodiment, the iron bucket gripper mechanism 3 includes a connecting plate 39. Linear slide plates 38 are fixedly installed on both sides of the connecting plate 39. The two linear slide plates 38 are slidably connected to the linear slide rails 11 on both sides of the bracket 1. An iron bucket gripper cylinder 31 is installed on the top of the connecting plate 39. A connecting disk 36 is installed on the output shaft of the iron bucket gripper cylinder 31. An annular fitting groove 37 is formed on the outside of the connecting disk 36, and four iron bucket grippers 32 are movably fitted in the annular fitting groove 37.

[0030] In this embodiment, the iron bucket gripper 32 is of an L-shaped structure. Four support members 33 are evenly arranged at the bottom of the connecting plate 39. Pivot pins 34 are arranged on the four support members 33, and the four pivot pins 34 are rotatably connected to the turning points of the iron bucket gripper 32.

[0031] In this embodiment, a cylindrical head 35 is arranged at the front end of the iron bucket gripper 32 and is rotationally fitted with the annular fitting groove 37 to ensure that the iron bucket gripper 32 can flip and grip the iron bucket.

[0032] In this embodiment, two tray gripper cylinders 52 are symmetrically and obliquely installed at the top of the bracket 1. Rotating arms 51 are rotatably installed on the output shafts of the two tray gripper cylinders 52, and eccentric positions of the two rotating arms 51 are fixedly installed with two rotating shafts 53.

[0033] When in operation, the power supply and the controller are turned on. The two tray gripper cylinders 52 push the two rotating arms 51 to flip. The two rotating arms 51 drive the two rotating shafts 53 to flip on the two fixing members 54. The rotating shafts 53 drive the corresponding two tray grippers 5 to flip, and the tray is grabbed by the four tray grippers 5. The four drum gripper cylinders 31 pull the four connecting plates 36 to move upward. The connecting plates 36 drive the four drum grippers 32 to flip through the annular mating grooves 37 to grab the drums. When the drum gripper cylinders 31 work in the reverse direction, the drums can be put down. The horizontal push-pull cylinder 6 is used to push the drum gripper mechanism 3 to move, changing the distance between two adjacent drum gripper mechanisms 3 to grip drums of different sizes.

[0034] Embodiment Two

[0035] The rest of Embodiment Two is the same as that of Embodiment One, except that: a rubber pad is provided at the bottom end of the drum gripper 32 to improve the friction force of the drum gripper 32 for gripping the drum and enhance the stability of grabbing. All the structural shapes, dimensions, and materials of Embodiment One are included in this application and can be selected and adjusted to meet specific usage situations. The attached drawings are all schematic structural diagrams, and appropriate adjustments can be made to the specific actual dimensions.

[0036] As mentioned above, the above are only the preferred specific implementation manners of this embodiment, but the protection scope of this embodiment is not limited thereto. Any person skilled in the art within the technical scope disclosed by this embodiment, according to the technical solution and the inventive concept of this embodiment, makes equivalent substitutions or changes, and all should be covered within the protection scope of this embodiment.

Claims

1. The robot composite gripper is characterized by: include: A bracket (1), linear slide rails (11) are arranged on both sides of the bracket (1), a flange connecting plate (2) is arranged on the top of the bracket (1), and a control solenoid valve (4) is arranged on the top of the bracket (1); Four iron barrel clamping mechanisms (3) are slidably mounted on the outside of the linear slide rail (11) and are used to clamp the iron barrel; The four pallet clamps (5) are symmetrically arranged in pairs, and the same flip axis (53) is fixedly installed on the two pallet clamps (5) on the same displacement side. Fixing members (54) are fixedly installed on both ends of the bracket (1), and the two flip axes (53) are rotatably installed on the two fixing members (54).

2. The robot composite gripper according to claim 1, characterized in that: A horizontal push-pull cylinder (6) is fixedly arranged on the bracket (1) above the iron barrel clamping mechanism (3); an output shaft of the horizontal push-pull cylinder (6) is connected to an iron barrel clamping mechanism (3) for adjusting the position of the iron barrel clamping mechanism (3).

3. The robot composite gripper according to claim 2, characterized in that: The iron barrel clamp mechanism (3) comprises a connecting plate (39), both sides of which are fixedly mounted with linear slides (38), the two linear slides (38) being slidably connected to the linear slide rails (11) on both sides of the bracket (1), the top of the connecting plate (39) being mounted with an iron barrel clamp cylinder (31), the output shaft of the iron barrel clamp cylinder (31) being mounted with a connecting plate (36), the outer side of the connecting plate (36) being provided with an annular matching groove (37), and four iron barrel clamps (32) being movably mounted in the annular matching groove (37).

4. The robot composite gripper according to claim 3, characterized in that: The iron barrel clamp (32) is an L-shaped structure, and four support members (33) are evenly arranged at the bottom of the connecting plate (39). The four support members (33) are all provided with axle pins (34), and the four axle pins (34) are all rotatably connected to the turning point of the iron barrel clamp (32).

5. The robot composite gripper according to claim 1, characterized in that: The front end of the iron barrel clamp (32) is provided with a cylindrical head (35) which is rotatably matched with the annular matching groove (37) to ensure that the iron barrel clamp (32) can be turned over to clamp the iron barrel.

6. The robot composite gripper according to claim 1, characterized in that: Two pallet clamping cylinders (52) are obliquely symmetrically mounted on the top of the bracket (1), and flip arms (51) are rotatably mounted on the output shafts of the two pallet clamping cylinders (52), and the eccentric positions of the two flip arms (51) are fixedly mounted on the two flip shafts (53).

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