Multifunctional gripper of industrial robot

Abstract

The utility model discloses an industrial robot multifunctional gripper which comprises an end picking-up device, pneumatic lifting mechanisms are arranged at the two ends of the two sides of the end picking-up device, suction cup bases are connected into the pneumatic lifting mechanisms in a sliding mode, and vacuum suction cup assemblies are connected to the surfaces of the suction cup bases in a threaded mode. The vacuum suction cup assembly comprises a buffer rod, a threaded cap and a suction cup, and a servo variable-pitch mechanism is arranged in the tooling. In the utility model, firstly, the servo variable pitch system in the tooling is connected with the two groups of inner support type clamps through the linear guide rail, during working, the control is carried out through a robot program, the clamping jaws at the tail ends of the clamps are inserted into the inner hole of the coiled section to carry out inner support clamping, and the center distance of the two groups of inner support type clamps can be subjected to automatic variable pitch adjustment according to the posture of a workpiece; according to the design of the inner supporting clamp, the compatibility of the roll profiles of different sizes is considered, and the universality of the inner supporting clamp is improved.

Description

Technical Field

[0001] The utility model relates to the field of multifunctional grippers of robots, in particular to a multifunctional gripper of an industrial robot. Background Art

[0002] The multifunctional gripper of industrial robots is used for materials that can be carried by internal support and materials carried by suction cups. It is suitable for the field of tobacco auxiliary material grasping. It can be used in multiple scenarios such as auxiliary material tray matching, auxiliary material loading and unloading, auxiliary material handling, etc. It is also suitable for all scenarios that require internal support grasping.

[0003] In modern industrial automation production lines, the robot's internal support gripper is one of the indispensable core components. Most traditional internal support grippers have a single-function design and are difficult to adapt to diverse production needs. Especially in the material handling process, the robot not only needs to carry a variety of materials in multiple postures, but also needs to handle partitions and auxiliary materials between different layers of materials. The existing technical solutions usually solve the actual production process requirements by frequently replacing the robot's internal support gripper. It is difficult to efficiently and accurately complete the simultaneous grasping and handling of multiple materials in different postures, which seriously affects production efficiency.

[0004] The defects of the existing industrial robot multifunctional gripper are: in view of the problem that the single-function internal support claw in the existing technical solution cannot meet the diversified grasping needs, the utility model provides a robot multifunctional internal support claw, which can grasp multiple workpieces in different postures at the same time, and can absorb the partition auxiliary materials between different layers of materials and place them as required, greatly improving the production efficiency Utility Model Content

[0005] The purpose of the utility model is to provide a multifunctional gripper for an industrial robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multifunctional gripper of an industrial robot, including an end picker, both ends of both sides of the end picker are provided with pneumatic lifting mechanisms, the inside of the pneumatic lifting mechanism is slidably connected with a suction cup seat, the surface of the suction cup seat is threadedly connected with a vacuum suction cup assembly, the vacuum suction cup assembly includes a buffer rod, a threaded cap and a suction cup, the inside of the end picker is provided with a servo pitch changing mechanism, the servo pitch changing mechanism includes a servo motor, a left ball screw nut pair and a right ball screw nut pair, the bottoms of the left ball screw nut pair and the right ball screw nut pair are provided with internal support clamps, and the inside of the internal support clamps is provided with internal support claws.

[0007] Preferably, the top surface of the end picker is threadedly connected to a connecting flange via a threaded bolt, and the connecting flange is connected to an external robot. Through the setting of the flange top plate, a plurality of through holes are provided on the flange top plate, which facilitates the disassembly and fixation of the internal support claws of the industrial robot.

[0008] Preferably, the surface of the buffer rod is threadedly connected to the surface of the suction cup seat, the outer surface of the buffer rod is threadedly connected to a threaded cap, and a suction cup is provided at the bottom of the buffer rod. The threaded column and the threaded cap facilitate fixing the suction cup, and the threaded column and the threaded cap can adjust the height of the suction cup.

[0009] Preferably, the servo motor is fixedly installed inside the end picker, and the output end of the servo motor is rotationally connected to a left ball screw nut pair and a right ball screw nut pair through meshing gears.

[0010] Preferably, the inner supporting jaw is arranged inside the inner supporting fixture, and the inner supporting fixture is connected to the inside of the inner supporting jaw via a linear guide rail.

[0011] Preferably, a multi-station chuck is provided inside the end picker, a material detection sensor is provided outside the end picker, and the material detection sensor is controlled by a program. The automatic variable pitch structure of the servo variable pitch mechanism facilitates the control of the position of the end picker. The setting of the end picker with the material detection sensor makes the internal support clamp of the industrial robot more intelligent.

[0012] As a preferred embodiment, S1, the end picker 1 is provided with a multi-station chuck, adopts a servo automatic variable pitch structure, and detects whether the clamping claw effectively supports the workpiece according to the material detection sensor, so as to adapt to the one-time grasping of multiple pieces of auxiliary materials with different spacings of the same stack type;

[0013] S2. The end picker also integrates the automatic grabbing device for auxiliary material waste / paper separators. It adopts a suction cup structure and automatically grabs and places the paper separators of raw materials and auxiliary materials according to the material detection sensor;

[0014] S3. Multiple rolls of profiles or multiple paper products can be grabbed and transported in one operation, which improves production efficiency.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. In the utility model, through the setting of the inner support clamp, firstly, the servo pitch-changing system in the end picker is connected with two sets of inner support clamps through linear guide rails. When working, the robot program is controlled to insert the clamping claws at the end of the clamp into the inner hole of the coil profile for inner support clamping. The center distance of the two sets of inner support clamps can be automatically adjusted according to the posture of the workpiece, so as to realize clamping multiple coil profiles at one time. The design of the inner support clamp takes into account the compatibility of coil profiles of different sizes, which improves the versatility of the inner support clamp;

[0017] 2. In the utility model, through the setting of the suction cup assembly, four groups of suction cup assemblies are arranged on the periphery of the end picker. The suction cup assembly is driven up and down by a pneumatic lifting mechanism, and can also transport materials of different specifications by vacuum adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the bottom planar structure of the multifunctional gripper of an industrial robot of the utility model;

[0020] Figure 3 This is a schematic diagram of the planar cross-sectional structure of the multifunctional gripper of an industrial robot of the utility model;

[0021] Figure 4 The utility model is a schematic diagram of the internal structure of the multifunctional servo variable pitch mechanism of an industrial robot.

[0022] In the figure: 1. end picker; 3. pneumatic lifting mechanism; 4. suction cup seat; 5. vacuum suction cup assembly; 501. buffer rod; 502. threaded cap; 503. suction cup; 6. servo variable pitch mechanism; 601. left nut pair of ball screw; 602. right nut pair of ball screw; 7. internal support clamp; 8. internal support jaws; 9. connecting flange. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] An embodiment provided by the utility model:

[0027] A multifunctional gripper of an industrial robot comprises an end picker 1. Both ends of both sides of the end picker 1 are provided with pneumatic lifting mechanisms 3. A suction cup seat 4 is slidably connected inside the pneumatic lifting mechanism 3. A vacuum suction cup assembly 5 is threadedly connected to the surface of the suction cup seat 4. The vacuum suction cup assembly 5 comprises a buffer rod 501, a threaded cap 502 and a suction cup 503. A servo pitch-changing mechanism 6 is provided inside the end picker 1. The servo pitch-changing mechanism 6 comprises a servo motor, a left ball screw nut pair 601 and a right ball screw nut pair 602. The bottoms of the left ball screw nut pair 601 and the right ball screw nut pair 602 are both provided with an inner support clamp 7. An inner support jaw 8 is provided inside the inner support clamp 7. Through the setting of the inner support clamp 7, the inner support clamp 7 is set at the bottom of the inner support jaw 8 and connected through a linear guide rail. When working, it is controlled by a robot program to insert the clamp into the inner hole of the rolled profile for inner support clamping. The center distance of multiple sets of inner support clamps 7 can be automatically adjusted according to the posture of the workpiece, so as to achieve clamping of multiple coil profiles at one time. The design of the inner support clamps 7 takes into account the compatibility of coil profiles of different sizes, and improves the versatility of the inner support clamps 8;

[0028] The top surface of the end picker 1 is threadedly connected to a connecting flange 9 via a threaded bolt, and the connecting flange 9 is connected to an external robot. The setting of the connecting flange 9 facilitates the adjustment of the position of the mechanical inner support clamp 8.

[0029] The surface of the buffer rod 501 is threadedly connected to the surface of the suction cup seat 4, the outer surface of the buffer rod 501 is threadedly connected to a threaded cap 502, and a suction cup 503 is arranged at the bottom of the buffer rod 501. The setting of the threaded cap 502 facilitates the disassembly and fixation of the suction cup 503 and the manual adjustment of the height.

[0030] The servo motor is fixedly installed inside the end picker 1, and the output end of the servo motor is connected to the left ball screw nut pair 601 and the right ball screw nut pair 602 through meshing gears. Through the setting of the left ball screw nut pair 601 and the right ball screw nut pair 602, it plays a role in synchronously controlling the inner support jaws 8 to move inward or outward, thereby controlling the spacing of the inner support jaws 8.

[0031] The inner support jaws 8 are arranged inside the inner support fixture 7, and the inner support fixture 7 is connected to the inside of the inner support jaws 8 through a linear guide rail. The center distances of multiple groups of inner support fixtures 7 can be automatically adjusted according to the posture of the workpiece, thereby achieving clamping of multiple roll profiles at one time.

[0032] A multi-station chuck is arranged inside the end picker 1, and an automatic pitch-changing structure is adopted with a servo pitch-changing mechanism 6. A material detection sensor is arranged outside the end picker 1, and the material detection sensor is controlled by a program. By setting the end picker 1 with the material detection sensor, the internal support jaw 8 of the industrial robot is made more intelligent.

[0033] The working steps of the industrial robot multifunctional gripper are as follows:

[0034] S1, the end picker 1 is equipped with a multi-station chuck, which adopts a servo automatic variable pitch structure. According to the material detection sensor, it detects whether the clamping claw effectively supports the workpiece, so as to adapt to the one-time grasping of multiple pieces of auxiliary materials with different spacings in the same stack type;

[0035] S2, the end picker 1 also integrates the automatic grabbing device of auxiliary material waste / paper separator, adopts the suction cup structure, and automatically grabs and places the paper separator of the raw material auxiliary material according to the material detection sensor;

[0036] S3. Multiple rolls of profiles or multiple paper products can be grabbed and transported in one operation, which improves production efficiency.

[0037] Working principle: First, the servo variable pitch system in the end picker 1 is connected to two groups of internal support clamps through linear guides. When working, it is controlled by the robot program to insert the clamping claws at the end of the clamp into the inner hole of the rolled profile for internal support clamping. The center distance between the two groups of internal support clamps 7 can be automatically adjusted according to the posture of the workpiece, so as to achieve clamping of multiple rolled profiles at one time. The design of the internal support clamp 7 takes into account the compatibility of rolled profiles of different sizes, which improves the versatility of the internal support clamp 7. Four groups of suction cup assemblies are arranged on the periphery of the end picker. The suction cup assemblies are driven up and down by a pneumatic lifting mechanism, and can also transport materials of different specifications by vacuum adsorption.

[0038] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A multifunctional gripper of an industrial robot, comprising an end picker (1), characterized in that: Both ends of both sides of the end picker (1) are provided with pneumatic lifting mechanisms (3), the interior of the pneumatic lifting mechanisms (3) is slidably connected with a suction cup seat (4), the surface of the suction cup seat (4) is threadedly connected with a vacuum suction cup assembly (5), the vacuum suction cup assembly (5) includes a buffer rod (501), a threaded nut (502) and a suction cup (503), the interior of the end picker (1) is provided with a servo variable pitch mechanism (6), the servo variable pitch mechanism (6) includes a servo motor, a left ball screw nut pair (601) and a right ball screw nut pair (602), the bottoms of the left ball screw nut pair (601) and the right ball screw nut pair (602) are both provided with internal support clamps (7), and the interior of the internal support clamps (7) is provided with internal support jaws (8).

2. The multifunctional gripper of an industrial robot according to claim 1, characterized in that: The top surface of the end picker (1) is threadedly connected to a connecting flange (9) via a threaded bolt, and the connecting flange (9) is connected to an external robot.

3. The multifunctional gripper of an industrial robot according to claim 1, characterized in that: The surface of the buffer rod (501) is threadedly connected to the surface of the suction cup seat (4), the outer surface of the buffer rod (501) is threadedly connected to a threaded cap (502), and the bottom of the buffer rod (501) is provided with a suction cup (503).

4. The multifunctional gripper of an industrial robot according to claim 1, characterized in that: The servo motor is fixedly installed inside the end picker (1), and the output end of the servo motor is rotationally connected to a left ball screw nut pair (601) and a right ball screw nut pair (602) via meshing gears.

5. The multifunctional gripper of an industrial robot according to claim 1, characterized in that: The inner support clamp (8) is arranged inside the inner support fixture (7), and the inner support fixture (7) is connected to the inside of the inner support clamp (8) via a linear guide rail.

6. The multifunctional gripper of an industrial robot according to claim 1, characterized in that: A multi-station chuck is arranged inside the end picker (1), and a material detection sensor is arranged outside the end picker (1), and the material detection sensor is controlled by a program.

7. A multifunctional gripper for an industrial robot according to any one of claims 1 to 6, characterized in that: S1, the end picker (1) is provided with a multi-station chuck, adopts a servo automatic variable pitch structure, and detects whether the chuck effectively supports the workpiece according to the material detection sensor, so as to adapt to the one-time grasping of multiple pieces of auxiliary materials with different spacings in the same stack type; S2, the end picker (1) also integrates the automatic grabbing device for auxiliary material waste / paper separators, adopts a suction cup structure, and automatically grabs and places the paper separators of the raw material auxiliary materials according to the material detection sensor; S3. Multiple rolls of profiles or multiple paper products can be grabbed and transported in one operation, which improves production efficiency.

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