Robot gripper and robot

Abstract

The embodiment of the utility model provides a robot gripper and a robot. The robot gripper comprises a connecting piece, two mounting plates, a driving air cylinder, a transmission mechanism and at least two clamping pieces, and one end of the connecting piece is detachably connected with a mechanical arm; the two mounting plates are oppositely arranged in the horizontal direction, one ends of the mounting plates are connected with the other end of the connecting piece, and a first space is formed between the two mounting plates; the driving cylinder is connected to the mounting plate; one end of the transmission mechanism is connected with the driving cylinder; one end of the clamping piece is connected with the other end of the transmission mechanism, and the driving air cylinder is used for driving the clamping piece to move in the opposite direction or the opposite direction. The clamping piece comprises a clamping part and an avoiding part, the avoiding part is located above the clamping part and communicates with the first space to form a second space, and when the clamping part clamps the workpiece, the non-clamping part of the clamping piece does not make contact with the workpiece. The robot gripper can grab workpieces of special structures, automatic feeding and discharging of the special workpieces are achieved, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and particularly to a robot gripper and a robot. Background Art

[0002] With the improvement of the degree of intelligence, industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. Most of the grippers of industrial robots are driven by motors to realize the tightening and releasing of the claw fingers, and are controlled by upper computers such as PLCs, industrial PCs, single-chip microcomputers, and motion controllers to realize functions such as workpiece grasping and positioning, and are flexible execution terminals of mechanical equipment.

[0003] However, for some special workpieces, traditional jaw-type robot grippers cannot grasp them, resulting in difficult realization of automatic feeding and severely restricting production efficiency. Summary of the Utility Model

[0004] The purpose of the embodiments of the present application is to provide a robot gripper and a robot to realize the grasping of special workpieces and improve production efficiency. The specific technical solutions are as follows:

[0005] A first aspect of the present application provides a robot gripper, including: a connecting member, one end of the connecting member is detachably connected to a robotic arm; two mounting plates, which are arranged opposite to each other in the horizontal direction, one end of which is connected to the other end of the connecting member, and a first space is formed between the two mounting plates; a driving cylinder, connected to the mounting plate; a transmission mechanism, one end of the transmission mechanism is connected to the driving cylinder; at least two clamping members, one end of the clamping member is connected to the other end of the transmission mechanism, and the driving cylinder is used to drive the clamping members to move towards or away from each other; the clamping member includes a clamping portion and an avoidance portion, the avoidance portion is located above the clamping portion and communicates with the first space to form a second space, and when the clamping portion clamps the workpiece, the non-clamping part of the clamping member does not contact the workpiece.

[0006] In some embodiments, each clamping member includes a horizontal plate and a vertical plate arranged vertically, the avoidance portion is arranged in the middle of the horizontal plate, both ends of the horizontal plate are connected to the transmission mechanism, and at least a part of the vertical plate is the clamping portion.

[0007] In some embodiments, the vertical plate includes a first part and a second part arranged vertically, the first part is connected to the horizontal plate, and the dimension of the first part in the first direction is greater than the dimension of the second part in the first direction, and the second part is the clamping portion.

[0008] In some embodiments, a first buffer pad is provided on the inner side of the second part.

[0009] In some embodiments, the transmission mechanism includes a guide rail disposed below the cylinder, and the clamping member is slidably connected to the guide rail.

[0010] In some embodiments, the transmission mechanism further includes a slider, the slider is slidably connected to the guide rail, and the clamping member is fixedly connected to the slider.

[0011] In some embodiments, there are two driving cylinders. The two driving cylinders are respectively located below the mounting plate and are connected to the corresponding mounting plate. The extending direction of the driving cylinder is consistent with the length direction of the bottom surface of the mounting plate. A guide rail is provided below each driving cylinder, and the extending direction of the guide rail is consistent with the extending direction of the driving cylinder.

[0012] In some embodiments, the two driving cylinders are connected in parallel.

[0013] In some embodiments, the robot gripper further includes a quick-change mechanism. One end of the quick-change mechanism is connected to the connecting member, and the other end of the quick-change mechanism is engaged with the end of the robotic arm.

[0014] A second aspect of the present application provides a robot, and the robot includes the above-mentioned robot gripper.

[0015] The robot gripper and the robot provided by the embodiments of the present application. The two mounting plates of the robot gripper are oppositely arranged in the first direction, and a first space can be formed between the two mounting plates. The avoidance portion of the clamping member communicates with the first space to form a second space. Therefore, when the clamping portion of the clamping member clamps the workpiece, the existence of the second space enables the non-clamping part of the clamping member not to contact the workpiece. Therefore, special workpieces can be grasped, such as hexagonal flanges, or workpieces with lower strength at the top and suitable for bottom grasping. Therefore, the automatic loading and unloading of workpieces with special structures is realized through the robot gripper, and the production efficiency can be improved.

[0016] Of course, it is not necessary for any product implementing the present application to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0018] Figure 1 It is a schematic structural diagram of a perspective of the robot gripper provided by the embodiments of the present application;

[0019] Figure 2 Schematic diagram of another perspective of the robot gripper provided by the embodiment of the present application;

[0020] Figure 3 Exploded view of the robot gripper provided by the embodiment of the present application;

[0021] Figure 4 Schematic diagram of yet another perspective of the robot gripper provided by the embodiment of the present application.

[0022] The reference numerals are as follows:

[0023] Flange 1; First flange plate 11; Positioning member 111; Connecting portion 12; Second flange plate 13; Mounting plate 2; First space 21; Mounting frame 22; Driving cylinder 3; Third air inlet 31; Third air outlet 32; Transmission mechanism 4; Guide rail 41; Slide block 42; Clamping member 5; Clamping portion 5a; Avoidance portion 5b; Horizontal plate 51; Vertical plate 52; First portion 521; Second buffer pad 521a; Second portion 522; First buffer pad 522a; Quick-change mechanism 6; Sensor 7; Connector 8; Second space S; Air inlet valve F1; Air outlet valve F2; First three-way valve F3; First air inlet F31; First air outlet F32; Second three-way valve F4; Second air inlet F41; Second air outlet F42; Workpiece M. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0025] The first aspect of the present application provides a robot gripper, as Figure 1 shown. The robot gripper includes: a connecting member, two mounting plates 2, a driving cylinder 3, a transmission mechanism 4, and at least two clamping members 5. The two mounting plates 2 are arranged opposite to each other in the horizontal direction. One end of the connecting member is detachably connected to the robotic arm, and the other end is connected to one end of the mounting plate 2, and a first space 21 is formed between the two mounting plates 2. The driving cylinder 3 is connected to the mounting plate 2. One end of the transmission mechanism 4 is connected to the driving cylinder 3, and the other end is connected to one end of the clamping member 5. The driving cylinder 3 is used to drive the clamping member 5 to move towards or away from each other. The clamping member 5 includes a clamping portion 5a and an avoidance portion 5b. The avoidance portion 5b is located above the clamping portion 5a and communicates with the first space 21 to form a second space S. When the clamping portion 5a clamps the workpiece M, the non-clamping portion 5a of the clamping member 5 does not contact the workpiece M. The non-clamping portion 5a refers to the remaining part except the clamping portion 5a.

[0026] In the embodiments of the present application, two mounting plates 2 of the robot gripper are arranged opposite to each other in the first direction. A first space 21 can be formed between the two mounting plates 2. The avoidance portion 5b of the clamping member 5 communicates with the first space 21 to form a second space S. Therefore, when the clamping portion 5a of the clamping member 5 clamps the workpiece M, the presence of the second space S prevents the non-clamping portion 5a of the clamping member 5 from contacting the workpiece M. Thus, special workpieces M can be grasped, such as hexagonal flanges, or workpieces M with lower strength at the top and suitable for bottom grasping. Therefore, the automatic picking and placing of workpieces M with special structures is realized through this robot gripper, which can improve production efficiency.

[0027] In addition, by providing the avoidance portion 5b, the clamping member 5 can avoid the upper part structure of the workpiece M, so that there is no need to extend the length of the mounting plate 2, enabling the robot gripper to adapt to the special structure of the workpiece M. Because increasing the length of the mounting plate 2 will reduce the rigidity of the robot gripper and affect the clamping effect.

[0028] Specifically, the connection manner between the driving cylinder 3 and the clamping member 5 can be: the piston rod of the driving cylinder 3 is respectively connected to the same end of the two clamping members 5, and the connection between the piston rod and the clamping member 5 can be realized through an intermediate connecting member. When the piston rod of the driving cylinder 3 moves telescopically, the two clamping members 5 can be driven to move towards or away from each other. It can be seen that the driving of one driving cylinder 3 can realize the movement of the two clamping members 5 towards or away from each other, thereby completing the grasping action.

[0029] It should be noted that Figures 1 - 4 in, the marks 522 and 5a are in the same position, which means that the second part 522 is also the clamping portion 5a. The two are described with different concepts and are in the same position in the figure.

[0030] In some embodiments, as Figure 2 、 Figure 3 shown, each clamping member 5 includes a horizontal plate 51 and a vertical plate 52 arranged vertically. The avoidance portion 5b is provided in the middle of the horizontal plate 51. The two ends of the horizontal plate 51 are connected to the transmission mechanism 4. At least part of the vertical plate 52 is the clamping portion 5a.

[0031] In this embodiment, the vertically arranged horizontal plate 51 and vertical plate 52 are specifically: the vertical plate 52 is located outside the horizontal plate 51, and the two are vertically connected. The outside means the side where the two vertical plates 52 are away from each other. In this way, the distance between the two clamping members 5 can be increased, so that workpieces M with a larger diameter can be grasped. The avoidance portion 5b is provided in the middle of the horizontal plate 51, so that the avoidance portion 5b can communicate with the first space 21 between the mounting plates 2 to form a second space S with a larger accommodation range. Workpieces M with a larger diameter at the top can also be grasped, which can improve the applicable range of the robot gripper.

[0032] Among them, as Figure 3 shown, the horizontal plate 51 and the vertical plate 52 can be integrally formed structures. Of course, the two can also be fixedly connected, such as by welding, screwing, riveting, etc.

[0033] Furthermore, as Figure 3 shown, the vertical plate 52 includes a first portion 521 and a second portion 522 arranged in the vertical direction. The first portion 521 is connected to the horizontal plate 51, and the dimension of the first portion 521 in the first direction is greater than the dimension of the second portion 522 in the first direction. The second portion 522 is the clamping portion 5a.

[0034] The vertical plate 52 includes a first portion 521 directly connected to the horizontal plate 51, and a second portion 522 located below the first portion 521 in the vertical direction. The larger dimension of the first portion 521 can increase the connection area with the horizontal plate 51, thereby improving the connection strength between the horizontal plate 51 and the vertical plate 52. The second portion 522 as the clamping portion 5a has a smaller dimension, which is more convenient for the hexagonal flange or a workpiece M similar to the hexagonal flange type to enter the gap between adjacent two corners for grasping the workpiece M.

[0035] To reduce the risk of scratching the workpiece M, as Figure 3 、 Figure 4 shown, a first buffer pad 522a is provided inside the second portion 522. The first buffer pad 522a has a soft texture, so it is not easy to scratch the workpiece M. In addition, the first buffer pad 522a has good elastic deformation ability, and can also fully fill the gap between the clamping member 5 and the workpiece M, so that the clamping member 5 and the workpiece M can be closely matched, thereby improving the clamping effect of the clamping member 5 on the workpiece M. During the process of grasping the workpiece M, the workpiece M is not easy to slip off.

[0036] Furthermore, as Figure 3 、 Figure 4 shown, a second buffer pad 521a is provided inside one end of the first portion 521 close to the second portion 522. By providing the second buffer pad 521a at one end of the first portion 521 close to the clamping portion 5a, it is avoided that the non-clamping portion 5a of the clamping member 5 directly contacts the workpiece M, causing unnecessary damage to the workpiece M.

[0037] The first buffer pad 522a and the second buffer pad 521a can be integrally formed, and the first buffer pad 522a and the second buffer pad 521a can be made of materials such as silica gel or rubber.

[0038] In some embodiments, as Figure 1 、 Figure 2 and Figure 3 shown, the transmission mechanism 4 includes a guide rail 41 provided below the air cylinder, and the clamping member 5 is slidably connected to the guide rail 41.

[0039] In this embodiment, the guide rail 41 can guide the moving direction of the clamping member 5. The two are slidably connected, so that the clamping member 5 can be clamped or loosened along a predetermined path, ensuring that the workpiece M will not be collided with during the grasping or releasing process, thereby damaging the workpiece M.

[0040] Furthermore, as Figure 1 , Figure 2 and Figure 3 shown, the transmission mechanism 4 further includes a slider 42. The slider 42 is slidably connected to the guide rail 41, and the clamping member 5 is fixedly connected to the slider 42.

[0041] The clamping member 5 is fixed to the slider 42 and is slidably connected to the guide rail 41 through the slider 42, without changing the structure of the clamping member 5. The slider 42 and the guide rail 41 can be used as consumable accessories, which can reduce the maintenance cost of the robot gripper.

[0042] It can be understood that the form of the transmission mechanism 4 is not limited to the guide rail 41 and the slider 42, and can also be in the form of a gear rack or a gear chain, etc.

[0043] In some embodiments, as Figure 1 , Figure 2 and Figure 3 shown, there are two driving cylinders 3. The two driving cylinders 3 are respectively located below the mounting plate 2 and are connected to the corresponding mounting plate 2. The extending direction of the driving cylinder 3 is consistent with the length direction of the bottom surface of the mounting plate 2. A guide rail 41 is provided below each driving cylinder 3, and the extending direction of the guide rail 41 is consistent with the extending direction of the driving cylinder 3.

[0044] One driving cylinder 3 is provided below each mounting plate 2 to jointly control the clamping action of the clamping member 5, and the clamping force is greater. When the robot gripper grasps the workpiece M and moves, the workpiece M is not easily slipped off, which can improve the safety of automatic grasping. The extending direction of the driving cylinder 3 is arranged along the length direction of the bottom surface of the mounting plate 2, and the extending direction of the guide rail 41 is consistent with the extending direction of the driving cylinder 3. Compared with being arranged along the width direction of the bottom surface of the mounting plate 2, the movable distance of the clamping member 5 is larger, so that the robot gripper can be applied to workpieces M of larger sizes. This design can also reasonably utilize the mounting space below the mounting plate 2, so that the volume of the robot gripper can be made smaller, which is beneficial to the miniaturization of the robot gripper.

[0045] Optionally, the two driving cylinders 3 are connected in parallel. The two driving cylinders 3 are connected in parallel. Compared with the two driving cylinders 3 being controlled separately, a set of control systems can be saved, and the steps of the two driving cylinders 3 are more consistent. The delay can be reduced to the minimum, and the clamping action or the releasing action can be carried out simultaneously, and the effect is better when clamping the workpiece M.

[0046] AsFigure 1 , Figure 2 and Figure 3 As shown in and

[0047] , the robot gripper further includes a quick-change mechanism 6. One end of the quick-change mechanism 6 is connected to the connecting member, and the other end of the quick-change mechanism 6 is engaged with the end of the robotic arm. By providing the quick-change mechanism 6 on the robot gripper and engaging it with the robotic arm through the quick-change mechanism 6, the disassembly of the robot gripper is facilitated, the time for replacing the robot gripper is shortened, and the production efficiency can be further improved.

[0047] As an implementable manner, the quick-change mechanism 6 of the robot gripper can be a male head or a female head, and a female head or a male head that cooperates with the quick-change mechanism 6 is installed at the end of the robotic arm, and the two are plugged together for quick assembly.

[0048] When the robot gripper includes two driving cylinders 3, the robot gripper includes: an intake valve F1 and an exhaust valve F2, a first three-way valve F3 and a second three-way valve F4. The intake valve F1 and the exhaust valve F2 are provided on the quick-change mechanism 6. The first intake port F31 of the first three-way valve F3 is communicated with the intake valve F1, and the two first exhaust ports F32 of the first three-way valve F3 are respectively communicated with the third intake ports 31 of the two driving cylinders 3; the two second intake ports F41 of the second three-way valve F4 are respectively communicated with the third exhaust ports 32 of the two driving cylinders 3, and the second exhaust port F42 of the second three-way valve F4 is communicated with the exhaust valve F2, so that the two driving cylinders 3 are connected in parallel.

[0049] By providing two three-way valves, the parallel connection of the two driving cylinders 3 is realized, which has the advantage of simple structure. The first three-way valve F3 is used to supply air to the two driving cylinders 3, and the second three-way valve F4 is used for the exhaust of the two driving cylinders 3.

[0050] The opening and closing of the intake pipeline between the intake valve F1 and the driving cylinder 3 can be controlled by an electromagnetic valve, and the opening and closing of the exhaust pipeline between the driving cylinder 3 and the exhaust valve F2 can also be controlled by an electromagnetic valve. By the conduction and power-off of the electromagnetic valve, the intake pipeline or the exhaust pipeline is controlled to open, so that the driving cylinder 3 drives the clamping member 5 to clamp or loosen.

[0051] In some other embodiments, when the robot gripper includes two driving cylinders 3, the intake valve F1 and the exhaust valve F2 can also be provided on the connecting member or the mounting plate 2. The parallel connection of the two driving cylinders 3 is also realized by using the first three-way valve F3 and the second three-way valve F4. The first three-way valve F3 is used to supply air to the two driving cylinders 3, and the second three-way valve F4 is used for the exhaust of the two driving cylinders 3.

[0052] Such as Figure 1 , Figure 2 and Figure 3As shown, the connecting member can be a flange 1. The flange 1 includes a first flange plate 11, a connecting portion 12, and a second flange plate 13. The first flange plate 11 and the second flange plate 13 are arranged in parallel and are connected by the connecting portion 12. The first flange plate 11 is used to connect with the robotic arm.

[0053] Using the flange 1 as the connecting member has the advantages of simple structure, high bonding strength, good tightness, convenient disassembly and maintenance, and low manufacturing cost.

[0054] Specifically, as Figure 3 shown, the first flange plate 11 is cylindrical, the second flange plate 13 is cuboid-shaped, and two mounting plates 2 are arranged opposite to each other along the length direction of the second flange plate 13. The two flange plates of the flange 1 have different shapes, which is convenient for the first flange plate 11 to connect with the robotic arm and is also convenient for arranging two mounting plates 2 at one end of the second flange plate 13. The two mounting plates 2 are arranged along the length direction of the second flange plate 13, that is, along the length direction of the second flange plate 13 in the horizontal direction.

[0055] In some embodiments, as Figure 1 、 Figure 2 shown, the robot gripper further includes a sensor 7. The sensor 7 is installed on one of the mounting plates 2 through a mounting bracket 22 and is located between the two mounting plates 2. The sensor 7 is used to sense whether the robot gripper has clamped the workpiece M. If the robot gripper has clamped the workpiece M, the next operation can be carried out. Through the induction of the sensor 7, non-contact detection can be achieved, which has the advantages of convenience and speed.

[0056] Optionally, the sensor 7 can be an infrared sensor 7. The infrared sensor 7 has the advantages of high sensitivity and fast response in induction.

[0057] In some embodiments, as Figure 2 shown, the robot gripper further includes a positioning member 111. The positioning member 111 is arranged on the bottom surface of the first flange plate 11 and is used for the storage positioning of the robot gripper in the idle state.

[0058] When the robot gripper is in the idle state, it can be stored through the positioning member 111. Specifically: the storage rack includes positioning holes, and the positioning member 111 cooperates with the positioning holes to suspend and store the robot gripper, which is convenient for storing the robot gripper and reduces the occupied floor space.

[0059] As Figure 1 、 Figure 2 、 Figure 3 shown, a wiring connector 8 is also arranged on the outer side surface of the mounting plate 2, which is convenient for electrically connecting the robot gripper with other components to control the actions of the robot gripper.

[0060] The second aspect of the present application provides a robot, which includes the robot gripper described above. The robot in this embodiment can grasp workpieces M with special structures, such as hexagonal flanges, etc., so as to improve the automatic loading and unloading of workpieces M with special structures and improve production efficiency.

[0061] The specific operation process of the robot is as follows: The robot moves to the position of the loading elevator, determines the position of the workpiece M through an induction component such as a camera, and then the robot drives the gripper to descend to grasp the workpiece M. The driving cylinder 3 drives the clamping member 5 to clamp inward. As Figure 4 shown by the arrow in the figure, the direction of the arrow is the clamping direction; after grasping the workpiece M, the robot rises and moves the workpiece M to the main line, places the workpiece M on the main line tray, and then the driving cylinder 3 drives the clamping member 5 to open, and the workpiece M falls onto the main line tray.

[0062] The above is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A robot gripper, characterized in that: include: A connecting piece, one end of which is detachably connected to the mechanical arm; Two mounting plates are arranged opposite to each other in a horizontal direction, one end of each mounting plate is connected to the other end of the connecting member, and a first space is formed between the two mounting plates; A driving cylinder connected to the mounting plate; A transmission mechanism, one end of which is connected to the driving cylinder; At least two clamping members, one end of each clamping member is connected to the other end of each transmission mechanism, and each driving cylinder is used to drive each clamping member to move toward or away from each other; The clamping member includes a clamping portion and an avoidance portion, wherein the avoidance portion is located above the clamping portion and communicates with the first space to form a second space. When the clamping portion clamps the workpiece, the non-clamping portion of the clamping member does not contact the workpiece.

2. The robot gripper according to claim 1, characterized in that: Each of the clamping members comprises a vertically arranged transverse plate and a vertical plate, the avoidance portion is arranged in the middle of the transverse plate, both ends of the transverse plate are connected to the transmission mechanism, and at least a part of the vertical plate is the clamping portion.

3. The robot gripper according to claim 2, characterized in that: The vertical plate includes a first part and a second part arranged along the vertical direction, the first part is connected to the horizontal plate, and the size of the first part along the first direction is larger than the size of the second part along the first direction, and the second part is the clamping part.

4. The robot gripper according to claim 3, characterized in that: A first buffer pad is disposed inside the second part.

5. The robot gripper according to claim 1, characterized in that: The transmission mechanism comprises a guide rail arranged below the cylinder, and the clamping member is slidably connected to the guide rail.

6. The robot gripper according to claim 5, characterized in that: The transmission mechanism further comprises a slider, the slider is slidably connected to the guide rail, and the clamping member is fixedly connected to the slider.

7. The robot gripper according to claim 5, characterized in that: There are two driving cylinders, which are respectively located below the mounting plates and connected to their corresponding mounting plates. The extension direction of the driving cylinders is consistent with the length direction of the bottom surface of the mounting plates. The guide rail is provided below each of the driving cylinders, and the extension direction of the guide rail is consistent with the extension direction of the driving cylinders.

8. The robot gripper according to claim 7, characterized in that: The two driving cylinders are connected in parallel.

9. The robot gripper according to any one of claims 1 to 8, characterized in that: The robot gripper also includes a quick-change mechanism, one end of which is connected to the connecting piece, and the other end of which is engaged with the end of the robotic arm.

10. A robot, characterized in that: The robot comprises the robot gripper according to any one of claims 1-9.

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