Special robot gripper

Abstract

The utility model discloses a special robot gripper which comprises a connecting column, a first connecting frame, a second connecting frame, a first rectangular frame, a second rectangular frame, a first two-claw clamping hand, a second two-claw clamping hand, a second rotation driving mechanism and a first rotation driving mechanism. Two battery covers can be clamped at a time, the first rotary driving mechanism drives the first rectangular frame to rotate, the second rotary driving mechanism drives the second rectangular frame to rotate, so that the first rectangular frame and the second rectangular frame rotate to a certain position, and the first two-claw clamping hand and the second two-claw clamping hand are opened and are in a to-be-clamped state; the robot drives the mechanism to move to a workpiece clamping position, the first rectangular frame and the second rectangular frame which are symmetrical on the two sides are sleeved with workpieces respectively, the first two-claw clamping hand and the second two-claw clamping hand are closed to clamp the workpieces, and compared with an existing gripper, the manipulator can clamp two workpieces, and the carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and particularly relates to a special robot gripper. Background Art

[0002] 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 a certain point in three-dimensional or two-dimensional space for operation.

[0003] Industrial robots have the characteristics of flexible production. In the lead-acid battery assembly transfer workstation, the overall layout of the industrial robot needs to be arranged, and various functional actions of the robot are set, mainly including the grasping, commutation and handling actions of the battery cover by the robot.

[0004] The existing end gripper of industrial robots can only grip one battery cover at a time, and the gripping and handling efficiency is low.

[0005] Therefore, how to provide a special 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 special robot gripper to solve the problems.

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

[0008] A special robot gripper includes a connecting column, a first connecting frame, a second connecting frame, a first rectangular frame, a second rectangular frame, a first two-jaw gripper, a second two-jaw gripper, a second rotation driving mechanism and a first rotation driving mechanism;

[0009] A connecting flange is installed at the top end of the connecting column. The first connecting frame and the second connecting frame are symmetrically installed on both sides of the bottom end of the connecting column. The second rectangular frame is rotatably connected inside the second connecting frame, and the first rectangular frame is rotatably connected inside the first connecting frame;

[0010] The first two-jaw gripper is installed inside the first rectangular frame, and the second two-jaw gripper is installed inside the second rectangular frame;

[0011] The second rotation driving mechanism is installed on one side of the second connecting frame, and the output shaft of the second rotation driving mechanism is in transmission connection with the second rectangular frame. The first rotation driving mechanism is installed on one side of the first connecting frame, and the output shaft of the first rotation driving mechanism is in transmission connection with the first rectangular frame.

[0012] Preferably, the number of the second two-jaw grippers is six, three of which are installed at the top of the second rectangular frame, and the other three are installed at the bottom of the second rectangular frame.

[0013] Preferably, the number of the first two-jaw grippers is six, three of which are installed at the top of the first rectangular frame, and the other three are installed at the bottom of the first rectangular frame.

[0014] Preferably, position sensors are installed on the jaws of the first two-jaw grippers and the second two-jaw grippers, and inductive proximity switches are installed on the rotating shafts of the second rectangular frame and the first rectangular frame.

[0015] Preferably, the second rotary drive mechanism and the first rotary drive mechanism have the same specifications. The second rotary drive mechanism includes a mechanism housing, a transmission sprocket, a drive motor, a drive sprocket, and a transmission chain. The transmission sprocket, the drive motor, the drive sprocket, and the transmission chain are all installed inside the mechanism housing. The drive sprocket is connected to the transmission sprocket through the transmission chain, and the transmission sprocket is connected to the rotating shaft of the second rectangular frame in a transmission manner.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] The present utility model can grip two battery covers at a time. During use, the workpiece blank is transported to the position to be gripped through the roller conveyor line. The top of the connecting column is connected to the robot through a flange. At this time, the first rotary drive mechanism drives the first rectangular frame to rotate, and the second rotary drive mechanism drives the second rectangular frame to rotate, so that the first rectangular frame and the second rectangular frame rotate to a certain position, and the first two-jaw grippers and the second two-jaw grippers open and are in a state of waiting to grip. The robot drives the mechanism to move to the workpiece gripping position, and the first rectangular frame and the second rectangular frame on both sides symmetrically sleeve the workpiece respectively. The first two-jaw grippers and the second two-jaw grippers all close to clamp the workpiece. Compared with the existing grippers, the present utility model can grip two workpieces and improve the handling efficiency.

[0018] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following describes in detail with reference to the preferred embodiments of the present application and the accompanying drawings.

[0019] Those skilled in the art will understand the above and other purposes, advantages and features of the present application more clearly according to the following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. Description of the Drawings

[0020] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present 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 identified by similar reference numerals. In the drawings, the elements or parts do not necessarily draw according to the actual scale.

[0021] Figure 1 It is a schematic structural diagram of the present utility model;

[0022] Figure 2 It is a bottom upward view of the present utility model;

[0023] Figure 3 It is a side view of the present utility model.

[0024] In the figure: 1, connecting column; 2, first connecting frame; 3, second connecting frame; 4, first rectangular frame; 5, second rectangular frame; 6, first two-claw gripper; 7, second two-claw gripper; 8, second rotation driving mechanism; 9, first rotation driving mechanism; 81, mechanism housing; 82, driving sprocket; 83, driving motor; 84, driven sprocket; 85, driving chain. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the 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, providing specific details such as specific configurations and components is only to help comprehensively understand 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 here without departing from the scope and spirit of the present application. In addition, for the sake of clarity and conciseness, the description of known functions and structures is omitted in the embodiments.

[0026] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0027] As used herein, the term "and / or" merely describes an associated relationship between 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" as used herein describes another associated object relationship, indicating that two relationships may exist. For example, A / and B may represent: A exists alone, and both A and B exist. Additionally, the character " / " as used herein generally indicates that the associated objects before and after are in an "or" relationship.

[0028] It should also be noted that in this text, 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 term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion.

[0029] Please refer to Figures 1 - 3 , the present invention provides a technical solution for a special robot gripper: including a connecting column 1, a first connecting frame 2, a second connecting frame 3, a first rectangular frame 4, a second rectangular frame 5, a first two-claw gripper 6, a second two-claw gripper 7, a second rotation driving mechanism 8, and a first rotation driving mechanism 9;

[0030] A connecting flange is installed at the top of the connecting column 1. The first connecting frame 2 and the second connecting frame 3 are symmetrically installed on both sides of the bottom end of the connecting column 1. The second rectangular frame 5 is rotatably connected inside the second connecting frame 3, and the first rectangular frame 4 is rotatably connected inside the first connecting frame 2;

[0031] The first two-claw gripper 6 is installed inside the first rectangular frame 4, and the second two-claw gripper 7 is installed inside the second rectangular frame 5;

[0032] The second rotation driving mechanism 8 is installed on one side of the second connecting frame 3. The output shaft of the second rotation driving mechanism 8 is in transmission connection with the second rectangular frame 5. The first rotation driving mechanism 9 is installed on one side of the first connecting frame 2. The output shaft of the first rotation driving mechanism 9 is in transmission connection with the first rectangular frame 4.

[0033] The number of the second two-claw grippers 7 is six, among which three second two-claw grippers 7 are installed at the top of the second rectangular frame 5, and the other three second two-claw grippers 7 are installed at the bottom of the second rectangular frame 5.

[0034] The number of the first two-claw grippers 6 is six, among which three first two-claw grippers 6 are installed at the top of the first rectangular frame 4, and the other three first two-claw grippers 6 are installed at the bottom of the first rectangular frame 4.

[0035] Position sensors are installed on the clamping jaws of the first two-jaw gripper 6 and the second two-jaw gripper 7, and inductive proximity switches are installed on the rotating shafts of the second rectangular frame 5 and the first rectangular frame 4.

[0036] The second rotary drive mechanism 8 and the first rotary drive mechanism 9 have the same specifications. The second rotary drive mechanism 8 includes a mechanism housing 81, a transmission sprocket 82, a drive motor 83, a drive sprocket 84, and a transmission chain 85. The transmission sprocket 82, the drive motor 83, the drive sprocket 84, and the transmission chain 85 are all installed inside the mechanism housing 81. The drive sprocket 84 is drivingly connected to the transmission sprocket 82 through the transmission chain 85, and the transmission sprocket 82 is drivingly connected to the rotating shaft of the second rectangular frame 5.

[0037] During specific use, the workpiece blank is transported to the position to be clamped through the roller conveyor line. The top of the connecting column 1 is connected to the robot through a flange. At this time, the first rotary drive mechanism 9 drives the first rectangular frame 4 to rotate, and the second rotary drive mechanism 8 drives the second rectangular frame 3 to rotate, so that the first rectangular frame 4 and the second rectangular frame 3 rotate to a certain position, and the first two-jaw gripper 6 and the second two-jaw gripper 7 open and are in a state of waiting to clamp. The robot drives the mechanism to move to the workpiece clamping position. The first rectangular frame 4 and the second rectangular frame 3 on both sides symmetrically are sleeved on the workpiece respectively, and the first two-jaw gripper 6 and the second two-jaw gripper 7 are all closed to clamp the workpiece. Compared with the existing gripper, the present utility model can clamp two workpieces and improve the handling efficiency.

[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, the present utility model can have various changes and modifications. Any changes, modifications, substitutions, integrations, and parameter changes made to these embodiments by means of 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 special robot gripper, characterized in that: It includes a connecting column (1), a first connecting frame (2), a second connecting frame (3), a first rectangular frame (4), a second rectangular frame (5), a first two-jaw gripper (6), a second two-jaw gripper (7), a second rotary drive mechanism (8) and a first rotary drive mechanism (9); A connecting flange is installed at the top of the connecting column (1). The first connecting frame (2) and the second connecting frame (3) are symmetrically installed on both sides of the bottom end of the connecting column (1). The second rectangular frame (5) is rotatably connected inside the second connecting frame (3), and the first rectangular frame (4) is rotatably connected inside the first connecting frame (2); The first two-jaw gripper (6) is installed inside the first rectangular frame (4), and the second two-jaw gripper (7) is installed inside the second rectangular frame (5); The second rotary drive mechanism (8) is installed on one side of the second connecting frame (3). The output shaft of the second rotary drive mechanism (8) is in transmission connection with the second rectangular frame (5). The first rotary drive mechanism (9) is installed on one side of the first connecting frame (2). The output shaft of the first rotary drive mechanism (9) is in transmission connection with the first rectangular frame (4).

2. The special robot gripper according to claim 1, characterized in that: The number of the second two-jaw grippers (7) is six. Three of the second two-jaw grippers (7) are installed at the top of the second rectangular frame (5), and the other three second two-jaw grippers (7) are installed at the bottom of the second rectangular frame (5).

3. A special robot gripper according to claim 2, characterized in that: The number of the first two-jaw grippers (6) is six. Three of the first two-jaw grippers (6) are installed at the top of the first rectangular frame (4), and the other three first two-jaw grippers (6) are installed at the bottom of the first rectangular frame (4).

4. The special robot gripper according to claim 3, characterized in that: Position sensors are installed on the jaws of the first two-jaw gripper (6) and the second two-jaw gripper (7). Inductive proximity switches are installed on the rotating shafts of the second rectangular frame (5) and the first rectangular frame (4).

5. The special robot gripper according to claim 3, wherein: The second rotary drive mechanism (8) and the first rotary drive mechanism (9) have the same specifications. The second rotary drive mechanism (8) includes a mechanism housing (81), a transmission sprocket (82), a drive motor (83), a drive sprocket (84), and a transmission chain (85). The transmission sprocket (82), the drive motor (83), the drive sprocket (84), and the transmission chain (85) are all installed inside the mechanism housing (81). The drive sprocket (84) is in transmission connection with the transmission sprocket (82) through the transmission chain (85), and the transmission sprocket (82) is in transmission connection with the rotating shaft of the second rectangular frame (5).

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