Sucking and grabbing integrated dexterous hand device for robot

Abstract

The suction and grabbing integrated dexterous hand device for the robot comprises an installation frame assembly, at least two clamping jaws, an adsorption piece, a first telescopic device and at least two second telescopic devices, the adsorption piece is arranged in the middle of one end of the installation frame assembly, the first telescopic device is installed in the installation frame assembly, and the telescopic end of the first telescopic device is connected with the adsorption piece; the at least two clamping jaws are distributed on the periphery of the adsorption part at intervals and hinged to one end of the mounting frame assembly, the at least two second telescopic devices are installed on the periphery of the mounting frame assembly, and the telescopic ends of the second telescopic devices are connected with the at least two clamping jaws in a one-to-one correspondence mode. The second telescopic device is used for driving the clamping jaw to close or open towards the adsorption piece. The goods grabbing device has the advantages that the flexibility and convenience of grabbing the goods are effectively improved in the mode that the goods are sucked in a telescopic mode and then clamped on the periphery through the clamping jaws, meanwhile, the goods grabbing efficiency is improved, and the varieties of the grabbed goods are increased.

Description

Technical Field

[0001] The utility model relates to the field of manipulator equipment, and particularly relates to a suction and grasping integrated dexterous hand device for a robot. Background Art

[0002] With the development of industrial technology, robots and various non-standard automation devices are widely used in all walks of life. The dexterous hand of a robot is one of the important tools in robots and non-standard equipment, and is usually used to clamp workpieces to achieve the displacement action of the workpieces. At present, pneumatic and hydraulic dexterous hands are more widely used in the industry. The dexterous hand is also called an end effector, which is the direct medium for the interaction between the machine, the environment and humans. Key factors such as its own weight, cost, movement flexibility, environmental adaptability, and reliability index determine its application and expansion in the market.

[0003] With the further expansion of e-commerce retail and the continuous increase of labor costs in the logistics industry, enterprises' demand for fully automated commodity grasping is becoming more and more urgent. For the current commodity retail industry, the sizes and shapes of commodities are diverse. The existing single gripper or single suction cup cannot meet the needs of the diversity of commodity types. Therefore, it is very necessary to develop a suction and grasping integrated dexterous hand for commodity grasping in the utility model. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a suction and grasping integrated dexterous hand device for a robot, which effectively overcomes the defects of the prior art.

[0005] The technical solution of the utility model to solve the above technical problem is as follows:

[0006] A suction and grasping integrated dexterous hand device for a robot includes a mounting frame assembly, at least two grippers, a suction attachment, a first telescopic device, and at least two second telescopic devices. The suction attachment is arranged in the middle of one end of the mounting frame assembly. The first telescopic device is installed in the mounting frame assembly, and its telescopic end is connected to the suction attachment, and is used to telescopically drive the suction attachment to approach or move away from one end of the mounting frame assembly. At least two grippers are distributed around the suction attachment at intervals and are respectively hinged to one end of the mounting frame assembly. At least two second telescopic devices are respectively installed on the periphery of the mounting frame assembly, and their respective telescopic ends are respectively connected to at least two grippers one by one. The second telescopic device is used to drive the grippers to flip and close or open towards the suction attachment.

[0007] On the basis of the above technical solution, the utility model can also be improved as follows.

[0008] Furthermore, the above-mentioned mounting frame assembly includes a first mounting frame and a second mounting frame that are spaced apart, one end of the above-mentioned first telescopic device is connected and fixed to the above-mentioned first mounting frame, and its telescopic end passes through the middle part of the above-mentioned first mounting frame, the main body of the above-mentioned first telescopic device passes through the above-mentioned second mounting frame, and is connected and fixed to the above-mentioned second mounting frame, one end of at least two of the above-mentioned clamping claws is respectively hinged to the periphery of one end of the above-mentioned first mounting frame, and the main bodies of at least two of the above-mentioned second telescopic devices are respectively movably mounted on the periphery of the above-mentioned second mounting frame, and the respective telescopic ends are respectively connected to one end of at least two of the above-mentioned clamping claws in a one-to-one manner.

[0009] Furthermore, the above-mentioned clamping claws are provided with two, and correspondingly, the above-mentioned second telescopic devices are provided with two.

[0010] Furthermore, the first mounting frame is a U-shaped frame, the two clamping claws are respectively hingedly mounted on both ends of the U-shaped opening of the first mounting frame, and the second mounting frame is an annular frame and is sleeved on the outside of the first telescopic device.

[0011] Furthermore, one end of the clamping jaws is respectively connected to an articulated seat, and is respectively articulated to the first mounting frame through the articulated seat, and the telescopic end of the second telescopic device is movably connected to the corresponding articulated seat.

[0012] Furthermore, the first telescopic device is a pneumatic cylinder, an electric push rod or a hydraulic cylinder.

[0013] Furthermore, the second telescopic device is a pneumatic cylinder, an electric push rod or a hydraulic cylinder.

[0014] Furthermore, it also includes a shell, which is wrapped around the outside of the first mounting frame, the second mounting frame, the first telescopic device and the second telescopic device, the clamping claw and the adsorption component are exposed to the outside of one end of the shell, the other end of the first telescopic device is provided with a base, and the other end of the shell is connected and fixed to the base.

[0015] Furthermore, a connecting block adapted to and connected to the mechanical arm of the robot is provided at one end of the base away from the first telescopic device.

[0016] Furthermore, the adsorption component is a suction nozzle, and is connected to the negative pressure device through a pipeline.

[0017] The beneficial effects of the utility model are: the structural design is simple, reasonable and ingenious, and the flexibility and convenience of grabbing objects are effectively improved by telescopically sucking objects and then clamping the objects on the periphery with the clamping claws, while also improving the efficiency of grabbing goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the robot suction and grasping integrated dexterous hand device of the utility model;

[0019] Figure 2 This is a schematic structure diagram of the integrated suction and grasping dexterous hand device for robots of the present utility model, which is provided with a housing.

[0020] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0021] 1. First mounting bracket; 2. Second mounting bracket; 3. Claw; 4. Suction attachment; 5. First telescopic device; 6. Second telescopic device; 7. Housing; 8. Base; 31. Hinge seat; 81. Connecting block. Specific embodiments

[0022] The principles and features of the present utility model will be described below in conjunction with the attached drawings. The examples given are only used to explain the present utility model and are not intended to limit the scope of the present utility model.

[0023] Embodiment: As Figure 1 shown, the integrated suction and grasping dexterous hand device for robots in this embodiment includes a mounting bracket assembly, at least two claws 3, a suction attachment 4, a first telescopic device 5, and at least two second telescopic devices 6. The above suction attachment 4 is arranged in the middle of one end of the above mounting bracket assembly. The above first telescopic device 5 is installed in the above mounting bracket assembly, and its telescopic end is connected to the above suction attachment 4, and is used to telescopically drive the above suction attachment 4 to approach or move away from one end of the above mounting bracket assembly. At least two of the above claws 3 are spaced apart around the above suction attachment 4 and are respectively hinged to one end of the above mounting bracket assembly. At least two of the above second telescopic devices 6 are respectively installed on the periphery of the above mounting bracket assembly, and their respective telescopic ends are respectively connected to at least two of the above claws 3 one by one. The above second telescopic device 6 is used to drive the above claws 3 to flip and close or open towards the above suction attachment 4.

[0024] The integrated suction and grasping dexterous hand device for robots in this embodiment is used in cooperation with the robotic arm of the robot. After reaching above the target object, the first telescopic device 5 extends, so that the suction attachment 4 approaches the object and sucks the object. Then, the first telescopic device 5 drives the suction attachment 4 to retract. At the same time, at least two second telescopic devices 6 extend synchronously, driving the claws 3 to flip and approach the suction attachment 4, and clamping the object from the periphery. Then, it can be moved in cooperation with the robotic arm. The overall structure of the device is designed simply, reasonably, and ingeniously. By the method of telescoping to suck the object and then cooperating with the claws to clamp the object from the periphery, the flexibility and convenience of grasping the object are effectively improved, and at the same time, the efficiency of grasping the commodity is also improved.

[0025] As a preferred embodiment, the above mounting frame assembly includes a first mounting frame 1 and a second mounting frame 2 which are spaced apart. One end of the first telescopic device 5 is fixedly connected to the first mounting frame 1, and its telescopic end passes through the middle of the first mounting frame 1. The main body of the first telescopic device 5 passes through the second mounting frame 2 and is fixedly connected to the second mounting frame 2. One ends of at least two of the jaws 3 are respectively hinged to the periphery of one end of the first mounting frame 1. The main bodies of at least two of the second telescopic devices 6 are respectively movably installed on the periphery of the second mounting frame 2, and their respective telescopic ends are respectively connected to one ends of at least two of the jaws 3 in a one-to-one correspondence.

[0026] In the above implementation scheme, the structure design of the mounting frame assembly is simple. By arranging the first mounting frame 1 and the second mounting frame 2 at intervals, the first telescopic device 5 and the second telescopic device 6 can be stably assembled, the layout between the structures is relatively compact, and the operation is relatively flexible and convenient.

[0027] In this embodiment, there are two of the jaws 3, and correspondingly there are two of the second telescopic devices 6. When in use, the two jaws 3 clamp from both sides of the object, and then cooperate with adsorption to keep the object stably obtained.

[0028] As a preferred embodiment, the first mounting frame 1 is a U-shaped frame body, and the two jaws 3 are respectively hinged and installed at both ends of the U-shaped opening of the first mounting frame 1. The second mounting frame 2 is an annular frame body and is sleeved outside the first telescopic device 5.

[0029] In the above implementation scheme, connection ears are respectively provided at both ends of the U-shaped opening of the first mounting frame 1. One ends of the jaws 3 are respectively embedded in the connection ears and are hinged through a pin shaft passing through both of them.

[0030] Wherein, hinge seats 31 are respectively connected to one ends of the jaws 3, and are respectively hinged to the first mounting frame 1 through the hinge seats 31. The telescopic ends of the second telescopic devices 6 are movably connected to the corresponding hinge seats 31. The hinge seat 31 is shaped like a right-angled sheet-like member, which passes through the connection ears at both ends of the U-shaped opening of the first mounting frame 1. One end of the hinge seat 31 is fixedly connected to one end of the jaw 3, the middle of the hinge seat 31 is hinged to the connection ear through a pin shaft, and the other end of the hinge seat 31 is movably connected to the telescopic end of the second telescopic device 6 (which can be hinged through a pin shaft).

[0031] In this embodiment, the second mounting frame 2 can adopt an annular hoop. An installation seat adapted to the second telescopic device 6 is provided on the second mounting frame 2. An installation block is provided at the other end of the main body of the second telescopic device 6, and the installation block and the installation seat are connected (movably connected) through a pin shaft passing through both of them.

[0032] In this embodiment, the first telescopic device 5 is one of a cylinder, an electric push rod or a hydraulic cylinder.

[0033] In this embodiment, the second telescopic device 6 is one of a cylinder, an electric push rod or a hydraulic cylinder.

[0034] In the integrated suction and gripper dexterous hand device for a robot in this embodiment, taking the first telescopic device 5 and the second telescopic device 6 as cylinders respectively as an example, air inlet / outlet ports are respectively arranged in the rod chamber and the rodless chamber of the cylinder, and the air inlet / outlet ports are respectively connected to the interfaces of the solenoid valve through pipelines. The interfaces of the solenoid valve are then connected to a gas source (this gas source is provided by an air compressor or an air pump). By opening and closing the solenoid valve, the gas in the cavity is allowed to enter and exit, so as to achieve the purpose of the piston and the piston rod in the cylinder to expand and contract.

[0035] As a preferred embodiment, as Figure 2 shown, it further includes a housing 7. The housing 7 wraps the outside of the first mounting bracket 1, the second mounting bracket 2, the first telescopic device 5 and the second telescopic device 6. One end of the gripper 3 and the suction member 4 is exposed outside the housing 7. A base 8 is provided at the other end of the first telescopic device 5. The other end of the housing 7 is fixedly connected to the base 8.

[0036] In the above-mentioned implementation scheme, the design of the housing 7 makes most components of the whole device be hidden in the housing 7 and will not leak out, making the appearance more beautiful. At the same time, it also plays a role in protecting the components.

[0037] As a preferred embodiment, a connecting block 81 adapted to and connected to the robotic arm is provided at one end of the base 8 facing away from the first telescopic device 5.

[0038] In the above-mentioned implementation scheme, the shape of the connecting block 81 is not limited herein, as long as it is adapted to the robotic arm and can complete effective connection and assembly.

[0039] As a preferred embodiment, the suction member 4 is a suction nozzle and is connected to a negative pressure device through a pipeline.

[0040] In the above-mentioned implementation scheme, the suction member 4 adopts a conventional product. When in use, a suitable model can be selected. During adsorption, the negative pressure device is turned on to generate negative pressure at the negative pressure port of the suction member 4, and then an object can be sucked by using the negative pressure.

Claims

1. A robot suction and grasping dexterous hand device, characterized in that: The invention comprises a mounting frame assembly, at least two clamping jaws (3), an adsorbing member (4), a first telescopic device (5) and at least two second telescopic devices (6), wherein the adsorbing member (4) is arranged at the middle of one end of the mounting frame assembly, the first telescopic device (5) is installed in the mounting frame assembly, and its telescopic end is connected to the adsorbing member (4) and is used to telescopically drive the adsorbing member (4) to approach or move away from one end of the mounting frame assembly, at least two clamping jaws (3) are spaced around the adsorbing member (4) and are respectively hinged to one end of the mounting frame assembly, at least two second telescopic devices (6) are respectively installed on the periphery of the mounting frame assembly, and their respective telescopic ends are respectively connected to at least two clamping jaws (3) in a one-to-one correspondence, and the second telescopic device (6) is used to drive the clamping jaws (3) to close or open toward the adsorbing member (4).

2. The robot suction-grasping dexterous hand device according to claim 1, characterized in that: The mounting frame assembly comprises a first mounting frame (1) and a second mounting frame (2) which are arranged at an interval, one end of the first telescopic device (5) is connected and fixed to the first mounting frame (1), and the telescopic end thereof passes through the middle of the first mounting frame (1), the main body of the first telescopic device (5) passes through the second mounting frame (2) and is connected and fixed to the second mounting frame (2), one end of at least two of the clamping claws (3) are respectively hinged to the periphery of one end of the first mounting frame (1), the main bodies of at least two of the second telescopic devices (6) are respectively movably mounted on the periphery of the second mounting frame (2), and the respective telescopic ends are respectively connected to one end of at least two of the clamping claws (3) in a one-to-one correspondence.

3. The robot suction-grasping dexterous hand device according to claim 2, characterized in that: The clamping jaws (3) are provided with two, and correspondingly the second telescopic devices (6) are provided with two.

4. The robot suction-grasping dexterous hand device according to claim 3, characterized in that: The first mounting frame (1) is a U-shaped frame body, the two clamping claws (3) are respectively hingedly mounted at the two ends of the U-shaped opening of the first mounting frame (1), and the second mounting frame (2) is an annular frame body and is mounted on the outside of the first telescopic device (5).

5. The robot suction-grasping dexterous hand device according to claim 2, characterized in that: One end of the clamping claw (3) is respectively connected to a hinge seat (31), and is respectively hinged to the first mounting frame (1) through the hinge seat (31), and the telescopic end of the second telescopic device (6) is movably connected to the corresponding hinge seat (31).

6. The robot suction-grasping dexterous hand device according to claim 1, characterized in that: The first telescopic device (5) is a cylinder, an electric push rod or a hydraulic cylinder.

7. The robot suction-grasping dexterous hand device according to claim 1, characterized in that: The second telescopic device (6) is a cylinder, an electric push rod or a hydraulic cylinder.

8. A robot suction-grasping dexterous hand device according to any one of claims 2 to 5, characterized in that: The invention also comprises a shell (7), wherein the shell (7) is wrapped around the outside of the first mounting frame (1), the second mounting frame (2), the first telescopic device (5) and the second telescopic device (6); the clamping claw (3) and the adsorption member (4) are exposed outside one end of the shell (7); the other end of the first telescopic device (5) is provided with a base (8); and the other end of the shell (7) is connected and fixed to the base (8).

9. The robot suction-grasping dexterous hand device according to claim 8, characterized in that: An end of the base (8) facing away from the first telescopic device (5) is provided with a connection block (81) adapted to and connected to the mechanical arm of the robot.

10. A robot suction-grasping dexterous hand device according to any one of claims 1 to 7, characterized in that: The adsorption component (4) is a suction nozzle and is connected to the negative pressure equipment through a pipeline.

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