High-flexibility robot gripper

Abstract

The high-flexibility robot gripper comprises a base, one side of the base is fixedly connected with a disc base, the surface of the disc base is provided with three first sliding rails, and the three first sliding rails are connected with a second sliding block, a third sliding block and a fourth sliding block respectively in a sliding mode. The position of a hole site of a speed reducer shell is determined through the 3D camera, when the device is used, the motor enables the sliding block moving left and right to move left and right through the ball screw, the distance between the first clamping arm and the second clamping arm can correspond to the hole site in the shell, the first clamping arm and the second clamping arm are attached to a workpiece in an expanding mode, and the speed reducer shell is clamped. Compared with an existing manipulator, the high-precision clamping manipulator has the advantages that the high-precision clamping can be carried out on the speed reducer shell, the high-precision clamping manipulator can be suitable for speed reducer shells of various models and different types, and the carrying efficiency is high.

Description

Technical Field

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

[0002] The main reducer is a mechanism that can change torque and rotational speed in the drive axle. Its basic function is to increase the torque from the transmission or the universal drive device, while reducing the rotational speed and changing the transmission direction of the torque. The main reducer consists of one or several pairs of reduction gear pairs. Power is input from the driving gear and output through the driven gear. The main reducer is a main component in the transmission system that reduces rotational speed and increases torque. When the engine is longitudinally installed, it also has the function of changing the rotational direction of the torque. It relies on the gear with fewer teeth to drive the gear with more teeth to achieve speed reduction. Using bevel gear transmission can change the rotational direction of the torque.

[0003] The robotic arm is an automated mechanical device that has been most widely applied in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although they have different forms, they all have a common feature, that is, they can accept instructions and accurately locate to a certain point in three-dimensional or two-dimensional space for operation.

[0004] There are various types of main reducer housings in the prior art, and the internal mounting hole positions of different reducer housings are also different. During the processing and production process, it is difficult for the robotic arm gripper to accurately clamp and grasp various types of reducer housings. The traditional method still uses trusses and steel cables to lift the housings, which is time-consuming and has certain safety hazards.

[0005] Therefore, how to provide a highly flexible robot gripper to solve the problems existing in the prior art is of great significance for its application. Summary of the Utility Model

[0006] In view of this, the purpose of this application is to provide a highly flexible robot gripper to solve the problem that it is difficult for the existing robotic arm gripper to accurately clamp and grasp various types of reducer housings, and the traditional method still uses trusses and steel cables to lift the housings, which is time-consuming and has certain safety hazards.

[0007] To achieve the above purpose, the utility model provides the following technical solutions:

[0008] A highly flexible robotic gripper, comprising a base, one side of the base is fixedly connected with a disc base, the surface of the disc base is provided with three first slide rails, and the three first slide rails are respectively slidably connected with a second slider, a third slider and a fourth slider. The tops of the second slider, the third slider and the fourth slider are all fixedly connected with a first clamping arm. The surface of the disc base is also provided with two mounting flanges, and the two mounting flanges are both slidably connected with a first slider. Both sides of the two first sliders are hinged with a first connecting rod; one side of the third slider, one side of the second slider and both sides of the fourth slider are all hinged with the end of the first connecting rod. One side of the disc base is provided with a first oil cylinder, and the telescopic end of the first oil cylinder is fixedly connected with the fourth slider;

[0009] A fourth slide rail is installed on the surface of the base, the fourth slide rail is slidably connected with a slide plate, and a second slide rail, a third slide rail and a second oil cylinder are installed on the surface of the slide plate. The second slide rail is slidably connected with a fifth slider and a sixth slider, the third slide rail is slidably connected with a seventh slider, the telescopic end of the second oil cylinder is fixedly connected with the seventh slider, and the seventh slider is respectively hinged with the fifth slider and the sixth slider through two second connecting rods. The tops of the fifth slider and the sixth slider are both fixedly connected with a second clamping arm.

[0010] Preferably, a motor is installed on one side of the base, the output end of the motor is drivingly connected with a lead screw, and the lead screw is in threaded connection with the slide plate.

[0011] Preferably, a mounting flange is highly connected to one side of the base, and a 3D camera is installed on the front of the mounting flange.

[0012] Preferably, a first rotary oil cylinder is installed inside each of the three first clamping arms, a first clamping block is arranged on the rotary shaft of each of the three first rotary oil cylinders, a second rotary oil cylinder is installed inside each of the two second clamping arms, and a second clamping block is fixedly connected to the rotary shaft of each of the two second rotary oil cylinders.

[0013] Preferably, the disc base and the slide plate are in the same plane, and one side of the disc base close to the slide plate is flat.

[0014] Preferably, distance sensors, proximity sensors and rubber anti-collision blocks are arranged at the end points and the origin points of the strokes of the lead screw, the first oil cylinder and the second oil cylinder.

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

[0016] The utility model determines the position of the holes on the reducer housing through a 3D camera. During use, the motor drives the slider that moves left and right through a ball screw to achieve a left and right translation action, so that the distance between the two clamping arms one and two can correspond to the hole positions on the housing. When the slider is in the position to be clamped, the robotic arm controls the clamping arms to insert into the hole positions. Subsequently, the first oil cylinder and the second oil cylinder drive the three clamping arms one and the two clamping arms two to open respectively, so that the three clamping arms one and the two clamping arms two are in contact with and tightened against the workpiece, and the three clamping arms one and the two clamping arms two can be applicable to the housing hole positions with multiple diameters. The first rotary oil cylinder and the second rotary oil cylinder drive the first clamping block and the second clamping block to push out respectively to clamp the workpiece. Compared with the existing manipulator, the utility model can achieve high-precision clamping of the reducer housing, and can be applicable to reducer housings of various models and different types, with high handling efficiency.

[0017] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, so as to be implemented in accordance with the content of the specification, and in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following takes the preferred embodiments of this application and combines with the drawings to describe in detail as follows.

[0018] According to the following detailed description of the specific embodiments of this application in combination with the drawings, those skilled in the art will understand the above and other purposes, advantages and features of this application more clearly. Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this 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 some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In all the drawings, similar elements or parts are generally marked with similar reference numerals. In the drawings, the elements or parts do not necessarily draw according to the actual ratio.

[0020] Figure 1 It is a schematic structural diagram of the utility model;

[0021] Figure 2 It is a side view of the utility model.

[0022] In the figure: 1. First oil cylinder; 2. Second oil cylinder; 3. First slider; 4. Disc base; 5. Second slider; 6. Third slider; 7. Fourth slider; 8. Fifth slider; 9. Sixth slider; 10. Slide plate; 11. Lead screw; 12. Motor; 13. First rotary oil cylinder; 14. Second rotary oil cylinder; 15. 3D camera; 16. First slide rail; 17. Mounting flange; 18. First connecting rod; 19. Base; 20. Second slide rail; 21. Third slide rail; 22. Seventh slider; 23. Fourth slide rail; 24. Second connecting rod; 25. First clamping arm; 26. Second clamping arm. Detailed implementation manner

[0023] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. In the following description, specific details such as specific configurations and components are provided only to assist in a comprehensive understanding of the embodiments of the present application. Therefore, those skilled in the art should clearly understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and structures are omitted in the embodiments for clarity and conciseness.

[0024] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or arrangements discussed.

[0025] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, B exists alone, and both A and B exist simultaneously. The term " / and" in this article describes another association object relationship, indicating that two relationships may exist. For example, A / and B may represent: A exists alone, and both A and B exist alone. In addition, the character " / " in this article generally represents that the associated objects before and after are an "or" relationship.

[0026] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion.

[0027] Please refer to Figure 1-2, the present invention provides a technical solution for a highly flexible robot gripper: including a base 19, a disc base 4 is fixedly connected to one side of the base 19, three first slide rails 16 are installed on the surface of the disc base 4, and a second slider 5, a third slider 6, and a fourth slider 7 are respectively slidably connected to the three first slide rails 16. The tops of the second slider 5, the third slider 6, and the fourth slider 7 are all fixedly connected to a first clamping arm 25. Two mounting flanges 17 are also installed on the surface of the disc base 4. Two first sliders 3 are slidably connected to the two mounting flanges 17. Connecting rods 18 are hinged to both sides of the two first sliders 3; one side of the third slider 6, one side of the second slider 5, and both sides of the fourth slider 7 are hinged to the ends of the connecting rods 18. An oil cylinder 1 is installed on one side of the disc base 4, and the telescopic end of the oil cylinder 1 is fixedly connected to the fourth slider 7;

[0028] The oil cylinder 1 can drive the fourth slider 7 to slide left and right. The fourth slider 7 drives the second slider 5 and the third slider 6 to slide along the first slide rail 16 through the connecting rod 18 and the first slider 3, realizing the opening and closing of the three first clamping arms 25, so as to be applicable to the mounting holes of speed reducers with different diameters.

[0029] A fourth slide rail 23 is installed on the surface of the base 19. A slide plate 10 is slidably connected to the fourth slide rail 23. A second slide rail 20, a third slide rail 21, and an oil cylinder 2 are installed on the surface of the slide plate 10. A sixth slider 9 and a fifth slider 8 are slidably connected to the second slide rail 20. A seventh slider 22 is slidably connected to the third slide rail 21. The telescopic end of the oil cylinder 2 is fixedly connected to the seventh slider 22. The seventh slider 22 is hinged to the fifth slider 8 and the sixth slider 9 through two connecting rods 24 respectively. The tops of the fifth slider 8 and the sixth slider 9 are both fixedly connected to a second clamping arm 26.

[0030] The oil cylinder 2 drives the seventh slider 22 to slide left and right. The seventh slider 22 is opened and closed with the fifth slider 8 and the sixth slider 9 through two connecting rods 24 respectively, so as to be applicable to the mounting holes of speed reducers with different diameters.

[0031] A motor 12 is installed on one side of the base 19. The output end of the motor 12 is drivingly connected to a lead screw 11. The lead screw 11 is threadedly connected to the slide plate 10. The rotation of the lead screw 11 drives the slide plate 10 to move horizontally, thereby adjusting the distance between the two groups of clamping arms, so as to be applicable to speed reducer housings of different models.

[0032] A mounting flange 17 is highly connected to one side of the base 19, and a 3D camera 15 is installed on the front of the mounting flange 17.

[0033] Three first rotary oil cylinders 13 are installed inside the three first clamping arms 25. Clamping blocks 1 are provided on the rotating shafts of the three first rotary oil cylinders 13. Two second rotary oil cylinders 14 are installed inside the two second clamping arms 26. Clamping blocks 2 are fixedly connected to the rotating shafts of the two second rotary oil cylinders 14.

[0034] The disc base 4 and the slide plate 10 are located in the same plane, and the side of the disc base 4 close to the slide plate 10 is set to be flat.

[0035] Distance sensors, proximity sensors and rubber anti-collision blocks are provided at the stroke end points and the origin of the lead screw 11, the first oil cylinder 1 and the second oil cylinder 2 for double protection and limit, and can feedback the positions of the clamping arms, the slider and the slide plate 10, so as to be applicable to the handling of different types of reducer housings.

[0036] The utility model can handle reducer housings with a weight of 200 - 800 kg and can cover common reducer types on the market.

[0037] During specific use, the workpiece blank is transported to the position to be clamped through the roller conveyor line. The 3D camera 15 operates to inform the robot of the approximate position of the workpiece. The first oil cylinder 1 pushes the fourth slider 7, and the fourth slider 7 drives the second slider 5 and the third slider 6 to move through the first slider 3, so that the three first clamping arms 25 are closed. The second oil cylinder 2 drives the seventh slider 22 to slide, and the seventh slider 22 drives the fifth slider 8 and the sixth slider 9 to approach each other through the two second connecting rods 24, closing and clamping the two second clamping arms 26 tightly. The first rotary oil cylinder 13 and the second rotary oil cylinder 14 drive the first clamping block and the second clamping block to retract respectively, being in the state of waiting to clamp. The motor 12 moves the left and right slide plate 10 horizontally left and right through the ball screw 11. When the slide plate 10 is at the position to be clamped, the first oil cylinder 1 and the second oil cylinder 2 drive the three first clamping arms 25 and the two second clamping arms 26 to open respectively, fitting and tightening with the workpiece. The first rotary oil cylinder 13 and the second rotary oil cylinder 14 drive the first clamping block and the second clamping block to push out respectively to clamp the workpiece.

[0038] The above are only the preferred embodiments of the present utility model, and it does not limit the protection scope of the present utility model thereby. For those skilled in the art, various changes and modifications can be made to the present utility model. All changes, modifications, substitutions, integrations and parameter changes made to these embodiments by conventional substitutions or capable of achieving the same functions without departing from the principle and spirit of the present utility model fall within the protection scope of the present utility model.

Claims

1. A highly flexible robot gripper, characterized in that: The utility model comprises a base (19), one side of which is fixedly connected to a disc base (4), and the surface of the disc base (4) is provided with three slide rails (16), and the three slide rails (16) are respectively slidably connected to a slider (5), a slider (6) and a slider (7), and the tops of the sliders (5), (6) and (7) are fixedly connected to a clamping arm (25). The surface of the disc base (4) is also provided with two mounting flanges (17), and the two mounting flanges (17) are both slidably connected to a slider (3), and the two sides of the two sliders (3) are both hinged to a connecting rod (18); one side of the slider (6), one side of the slider (5) and both sides of the slider (7) are hinged to the end of the connecting rod (18), and one side of the disc base (4) is provided with an oil cylinder (1), and the telescopic end of the oil cylinder (1) is fixedly connected to the slider (7); The surface of the base (19) is provided with a slide rail four (23), the slide rail four (23) is slidably connected to a slide plate (10), the surface of the slide plate (10) is provided with a slide rail two (20), a slide rail three (21) and an oil cylinder two (2), the slide rail two (20) is slidably connected to a slider six (9) and a slider five (8), the slide rail three (21) is slidably connected to a slider seven (22), the telescopic end of the oil cylinder two (2) is fixedly connected to the slider seven (22), the slider seven (22) is hinged to the slider five (8) and the slider six (9) respectively through two connecting rods two (24), and the top ends of the slider five (8) and the slider six (9) are fixedly connected to a clamping arm two (26).

2. A highly flexible robot gripper as claimed in claim 1, characterized in that: A motor (12) is installed on one side of the base (19), and the output end of the motor (12) is drivingly connected to a screw rod (11), and the screw rod (11) is threadedly connected to the slide plate (10).

3. A highly flexible robot gripper as claimed in claim 2, characterized in that: A mounting flange (17) is highly connected to one side of the base (19), and a 3D camera (15) is mounted on the front of the mounting flange (17).

4. A highly flexible robot gripper as claimed in claim 3, characterized in that: The three clamping arms (25) are each internally installed with a rotating cylinder (13), and the rotating shafts of the three rotating cylinders (13) are each provided with a clamping block (1). The two clamping arms (26) are each internally installed with a rotating cylinder (14), and the rotating shafts of the two rotating cylinders (14) are each fixedly connected with a clamping block (2).

5. A highly flexible robot gripper as claimed in claim 3, characterized in that: The disc base (4) and the slide plate (10) are located in the same plane, and a side of the disc base (4) close to the slide plate (10) is arranged to be straight.

6. A highly flexible robot gripper as claimed in claim 3, characterized in that: The end points and origins of the travel of the screw rod (11), the first oil cylinder (1) and the second oil cylinder (2) are all provided with distance sensors, proximity sensors and rubber anti-collision blocks.

Images