Automatic feeding and discharging robot gripper device

Abstract

The utility model belongs to the technical field of robot grippers, and particularly relates to an automatic feeding and discharging robot gripper device which comprises a pneumatic gripper, a guide rail is arranged at the bottom end of the pneumatic gripper, two groups of guide blocks are nested in the guide rail, a mounting block is mounted on one side of each guide block through a bolt, and the bottom end of each mounting block is fixedly connected with a gripper. The device is characterized in that pulley clamping pieces are symmetrically arranged at the upper end and the lower end of the inner side face of the clamping hand, a rubber plate is installed between the two pulley clamping pieces through an installation structure, and a plurality of suction cups are arranged on the outer side face of the rubber plate, so that smooth objects such as metal plates, plastic parts or glass products are stably clamped, and the objects are prevented from falling off.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot grippers, and particularly relates to an automatic loading and unloading robot gripper device. Background Art

[0002] When a robot is in use, a workpiece is clamped by a gripper thereon, and then the robotic arm of the robot places the gripped workpiece at a designated loading position, thereby realizing automatic loading of the workpiece. Generally, this loading method is simple and solves the problem of labor shortage of manual work.

[0003] Chinese Utility Model Patent CN219152927U discloses a robot automatic loading flexible gripper, including: a pneumatic gripper, a guide rail is provided at one end of the pneumatic gripper, two groups of chucks are nested inside the guide rail, an installation block is arranged on one side of the chuck, and a gripper is fixedly connected to one end of the installation block. Through the mutual cooperation among the gripper, the rotating shaft and the clamping wheel, the workpiece can be clamped and positioned by the clamping wheel, and the workpiece can be flexibly clamped by the rolling of the clamping wheel. While clamping the workpiece, the workpiece will not be deformed and damaged due to excessive clamping force, which is convenient for the automatic loading of the robot.

[0004] In the above technical solution, for smooth items such as metal sheets, plastic parts or glass products, the clamping wheel may be difficult to provide uniform pressure on the entire contact surface, which may lead to uneven clamping force and cause displacement or instability of the workpiece during the clamping process. Summary of the Utility Model

[0005] The purpose of the utility model is to provide an automatic loading and unloading robot gripper device for the above-mentioned existing technical problems, which can stably clamp smooth items such as metal sheets, plastic parts or glass products and avoid the items from falling.

[0006] In view of this, the utility model provides an automatic loading and unloading robot gripper device, including: a pneumatic gripper, a guide rail is provided at the bottom end of the pneumatic gripper, two groups of guide blocks are nested inside the guide rail, an installation block is installed on one side of the guide block through a bolt, and a gripper is fixedly connected to the bottom end of the installation block. The characteristic is that pulley clamping members are symmetrically arranged at the upper and lower ends of the inner side surface of the gripper, a rubber plate is installed between the two pulley clamping members through an installation structure, and a plurality of suction cups are arranged on the outer side surface of the rubber plate.

[0007] In this technical solution, the workpiece is clamped and positioned by a pulley clamping member. The rolling of the pulley clamping member can flexibly clamp the workpiece. While keeping the workpiece clamped, it will not cause deformation and damage to the workpiece due to excessive clamping force, facilitating the automatic loading and unloading of the robot. At the same time, a number of suction cups on the outer side of the rubber plate can generate additional adsorption force during the clamping process, further improving the clamping stability and preventing the item from falling during handling.

[0008] In the above technical solution, further, the installation structure includes: two installation boxes. One side of the installation box is fixedly connected to the bottom surface of the rubber plate, and the other end of the installation box is provided with two buckles. The inner side of the gripper is provided with a card slot adapted to the two buckles.

[0009] In this technical solution, the two buckles match the preset card slots on the inner side of the gripper. Thus, by easily inserting the buckles into the corresponding card slots, the rubber plate can be conveniently and tightly inserted into the card slots, realizing the rapid installation of the rubber plate, with time-saving and efficient operation.

[0010] In the above technical solution, further, a sliding groove is provided in the installation box, and two sliding blocks are slidably connected in the sliding groove. The two sliding blocks are respectively fixedly connected to the two buckles, and a return spring is fixedly connected between the two sliding blocks.

[0011] In the above technical solution, further, inclined surfaces are correspondingly installed on the upper edge of the card slot and the bottom edge of the buckle, and a limiting cavity for the two buckles to be inserted is provided at the bottom of the card slot.

[0012] In this technical solution, when the rubber plate is moved into the card slot, under the action of the inclined surfaces on the buckle and the card slot, the buckle easily enters the card slot. And the outer sides of the two buckles are squeezed by the inner wall of the card slot. Under the action of the return spring and the sliding block, the two buckles move inward into the card slot. Then, after the buckle enters the bottom of the card slot, under the action of the limiting cavity, the return spring rebounds, and the buckle is snapped into the limiting cavity, realizing the fixation of the rubber plate.

[0013] In the above technical solution, further, a sliding opening is provided on one side of the installation box near the buckle, and one end of each of the two buckles passes through the sliding opening and is fixedly connected to the buckle.

[0014] In the above technical solution, further, an installation groove for embedding the installation box body is further provided at the outer end of the gripper card slot.

[0015] In the above technical solution, further, a groove is formed on the surface of the gripper, and the pulley clamping member is rotatably arranged inside the groove. The pulley clamping member includes: a rotating shaft is movably connected to one side of the gripper, and a clamping wheel is movably penetrated through the surface of the rotating shaft.

[0016] In this technical solution, when using a pneumatic gripper, the workpiece is placed between the two grippers, enabling the grippers to clamp the workpiece. While the grippers are clamping the workpiece, the clamping wheels rotate around the rotating shaft, allowing the clamping wheels to provide clamping buffering for the workpiece.

[0017] The beneficial effects of the present utility model are as follows:

[0018] 1. The workpiece is clamped and positioned by the pulley clamping member. The rolling of the pulley clamping member enables flexible clamping of the workpiece. While keeping the workpiece clamped, it will not cause deformation and damage to the workpiece due to excessive clamping force, facilitating the automatic loading and unloading of the robot. Meanwhile, several suction cups on the outer side of the rubber plate can generate additional adsorption force during the clamping process, further improving the clamping stability and preventing the item from falling during handling.

[0019] 2. The two buckles match the preset card slots on the inner side of the gripper. Thus, by easily inserting the buckles into the corresponding card slots, the rubber plate can be conveniently and tightly embedded into the card slots, achieving the rapid installation of the rubber plate. The operation is time-saving and efficient. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of a gripper device for an automatic loading and unloading robot of the present utility model;

[0021] Figure 2 is a partial exploded view of the gripper of a gripper device for an automatic loading and unloading robot of the present utility model;

[0022] Figure 3 is a cross-sectional view of the gripper of a gripper device for an automatic loading and unloading robot of the present utility model;

[0023] The markings in the figure are indicated as:

[0024] 1. Pneumatic gripper; 2. Guide rail; 3. Guide block; 4. Mounting block; 5. Gripper; 6. Bolt; 7. Pulley clamping member; 701. Groove; 702. Rotating shaft; 703. Clamping wheel; 8. Rubber plate; 9. Suction cup; 10. Installation box; 11. Buckle; 12. Slide groove; 13. Slide block; 14. Return spring; 15. Card slot; 16. Slide opening; 17. Installation groove; 18. Limiting cavity; 19. Inclined surface. Detailed Implementation Modes

[0025] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope protected by the present application.

[0026] In the description of the present application, it should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present application. For the convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same category and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0028] It should be noted that in the description of the present application, the orientation or positional relationships indicated by the orientation terms such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are usually based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description. Without contrary instructions, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present application; the orientation terms "inside, outside" refer to the inside and outside of the contour of each component itself.

[0029] It should be noted that in this application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0030] Embodiment 1:

[0031] As Figures 1-3 shown, this embodiment provides an automatic loading and unloading robot gripper device, which includes: a pneumatic gripper 51. A guide rail 2 is provided at the bottom end of the pneumatic gripper 51. Two sets of guide blocks 3 are nested inside the guide rail 2. One side of the guide block 3 is provided with a mounting block 4 through a bolt 6. The bottom end of the mounting block 4 is fixedly connected with a gripper 5. Two pulley clamping members 7 are symmetrically arranged at the upper and lower ends of the inner side of the gripper 5. A rubber plate 8 is installed between the two pulley clamping members 7 through a mounting structure. A plurality of suction cups 9 are provided on the outer side of the rubber plate 8.

[0032] The workpiece is clamped and positioned by the pulley clamping member 7. The workpiece can be flexibly clamped by the rolling of the pulley clamping member 7. While keeping the workpiece clamped, it will not cause deformation and damage to the workpiece due to excessive clamping force, which is convenient for the automatic loading and unloading of the robot. At the same time, a plurality of suction cups 9 on the outer side of the rubber plate 8 can generate additional adsorption force during the clamping process, further improving the clamping stability and preventing the item from falling during the handling process.

[0033] Furthermore, the mounting structure includes: two mounting boxes 10. One side of the mounting box 10 is fixedly connected to the bottom surface of the rubber plate 8. The other end of the mounting box 10 is provided with two buckles 11. A clamping groove 15 adapted to the two buckles 11 is provided on the inner side of the gripper 5. The two buckles 11 match the clamping grooves 15 preset on the inner side of the gripper 5. Thus, by easily inserting the buckles 11 into the corresponding clamping grooves 15, the rubber plate 8 can be conveniently and tightly inserted into the clamping grooves 15, realizing the rapid installation of the rubber plate 8, and the operation is time-saving and efficient.

[0034] Further, a chute 12 is provided in the mounting box 10. Two sliders 13 are slidably connected in the chute 12. The two sliders 13 are respectively fixedly connected to the two buckles 11. A return spring 14 is fixedly connected between the two sliders 13. Inclined surfaces 19 are correspondingly installed on the upper edge of the card slot 15 and the bottom edge of the buckle 11. A limiting cavity 18 for the two buckles 11 to be inserted into is provided at the bottom of the card slot 15. When the rubber plate 8 is moved into the card slot 15, under the action of the inclined surfaces 19 on the buckle 11 and the card slot 15, the buckle 11 easily enters the card slot 15. And the outer sides of the two buckles 11 are squeezed by the inner wall of the card slot 15. Under the action of the return spring 14 and the slider 13, the two buckles 11 move inward into the card slot 15. Then after the buckle 11 enters the bottom of the card slot 15, under the action of the limiting cavity 18, the return spring 14 rebounds, and the buckle 11 is snapped into the limiting cavity 18 to realize the fixation of the rubber plate 8.

[0035] Further, a sliding opening 16 is provided on one side of the mounting box 10 near the buckle 11. One end of each of the two buckles 11 passes through the sliding opening 16 and is fixedly connected to the buckle 11.

[0036] Further, an installation groove 17 for the mounting box 10 to be embedded is further provided at the outer end of the card slot 15 of the clamping hand 5.

[0037] Further, a groove 701 is formed on the surface of the clamping hand 5. The pulley clamping member 7 is rotatably arranged inside the groove 701. The pulley clamping member 7 includes: a rotating shaft 702 is movably connected to one side of the clamping hand 5. A clamping wheel 703 is movably penetrated through the surface of the rotating shaft 702. When using the pneumatic clamping hand 51, the workpiece is placed between the two clamping hands 5, so that the clamping hand 5 can clamp the workpiece. And while the clamping hand 5 clamps the workpiece, the clamping wheel 703 rotates around the rotating shaft 702, so that the clamping wheel 703 can perform clamping buffering on the workpiece.

[0038] The embodiments of the present application have been described above in conjunction with the accompanying drawings. Without conflict, the embodiments and the features in the embodiments in the present application can be combined with each other. The present application is not limited to the above specific embodiments. The above specific embodiments are only illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all belong to the protection scope of the present application.

Claims

1. An automatic loading and unloading robot gripper device, comprising: A pneumatic gripper (5) (1), wherein a guide rail (2) is provided at the bottom end of the pneumatic gripper (5) (1), wherein two sets of guide blocks (3) are nested inside the guide rail (2), wherein a mounting block (4) is mounted on one side of the guide block (3) via a bolt (6), wherein the bottom end of the mounting block (4) is fixedly connected to a gripper (5), and wherein pulley clamping members (7) are symmetrically provided at the upper and lower ends of the inner side surface of the gripper (5), a rubber plate (8) is installed between the two pulley clamping members (7) via a mounting structure, and a plurality of suction cups (9) are provided on the outer side surfaces of the rubber plates (8).

2. The automatic loading and unloading robot gripper device according to claim 1 is characterized in that: The mounting structure comprises: two mounting boxes (10), one side of the mounting boxes (10) is fixedly connected to the bottom surface of the rubber plate (8), the other end of the mounting boxes (10) is provided with two buckles (11), and the inner side surface of the clamping hand (5) is provided with a clamping groove (15) adapted to the two buckles (11).

3. The automatic loading and unloading robot gripper device according to claim 2 is characterized in that: The installation box (10) is provided with a slide groove (12), and two sliders (13) are slidably connected in the slide groove (12). The two sliders (13) are fixedly connected to the two buckles (11) respectively, and a return spring (14) is fixedly connected between the two sliders (13).

4. The automatic loading and unloading robot gripper device according to claim 3 is characterized in that: Inclined surfaces (19) are correspondingly installed on the upper edge of the slot (15) and the bottom edge of the buckle (11), and a limiting cavity (18) is provided at the bottom of the slot (15) for the two buckles (11) to be snapped into.

5. The automatic loading and unloading robot gripper device according to claim 4 is characterized in that: The installation box (10) is provided with a sliding opening (16) on one side close to the buckle (11), and one end of the two buckles (11) passes through the sliding opening (16) and is fixedly connected to the buckles (11).

6. The automatic loading and unloading robot gripper device according to claim 5, characterized in that: The outer end of the clamping groove (15) of the clamping hand (5) is also provided with an installation groove (17) for the installation box (10) to be embedded.

7. The automatic loading and unloading robot gripper device according to claim 1 is characterized in that: The surface of the clamping hand (5) is provided with a groove (701), and the pulley clamping member (7) is rollingly arranged inside the groove (701). The pulley clamping member (7) comprises: a rotating shaft (702) movably connected to one side of the clamping hand (5), and a clamping wheel (703) movably penetrates and is connected to the surface of the rotating shaft (702).

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