Industrial robot gripper assembly

Abstract

The utility model discloses an industrial robot gripper assembly which comprises an installation positioning frame, a synchronous clamping mechanism, a power mechanism and a stabilizing mechanism, a combined installation plate is arranged on the installation positioning frame, the synchronous clamping mechanism is installed on the installation positioning frame, the synchronous clamping mechanism comprises a pair of synchronous clamping shafts, and the power mechanism is connected with the power mechanism. Synchronous clamping rings are fixedly mounted at the two ends of the synchronous clamping shaft, synchronous clamping arms are fixedly mounted on the lower sides of the synchronous clamping rings, and synchronous mounting rods are fixedly mounted on the sides, away from the synchronous clamping arms, of the synchronous clamping rings. According to the industrial robot gripper assembly, due to the arrangement of corresponding mechanisms, the gripping stability of the industrial robot gripper is improved, the probability that objects fall off is reduced, the probability that the objects are damaged is reduced, the use efficiency of an industrial robot is improved, and meanwhile the industrial robot gripper assembly is suitable for popularization and application. And the possibility that articles fall to hurt surrounding workers is reduced, and the safety is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of an industrial robot gripper assembly, and particularly relates to an industrial robot gripper assembly. Background Art

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field. It has a certain degree of automation and can realize various industrial processing and manufacturing functions relying on its own power source and control ability. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

[0003] A manipulator is an automatic operating device that can imitate some action functions of a human hand and arm, and is used to grasp, carry objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and has the respective advantages of both humans and mechanical robots in terms of structure and performance.

[0004] At present, when using an industrial robot gripper, it is necessary to stably grasp an object. However, the existing industrial robot grippers have poor grasping stability, and it is very easy to cause the object to fall off. This will not only cause damage to the object, but also affect the use efficiency of the industrial robot. At the same time, the falling of the object may even injure the surrounding staff, and the safety is poor.

[0005] Therefore, in view of the above technical problems, it is necessary to provide an industrial robot gripper assembly.

[0006] The information disclosed in this background art section is only intended to enhance the overall understanding of the present utility model, and should not be regarded as an admission or any form of implication that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Utility Model

[0007] The purpose of the present utility model is to provide an industrial robot gripper assembly, which can solve the problems that the existing industrial robot grippers have poor grasping stability, are easy to cause the object to fall off, not only cause damage to the object, but also affect the use efficiency of the industrial robot.

[0008] In order to achieve the above purpose, a specific embodiment of the present utility model provides an industrial robot gripper assembly, including: a mounting and positioning frame, a synchronous clamping mechanism, a power mechanism and a stabilizing mechanism;

[0009] A combined mounting plate is provided on the mounting and positioning frame;

[0010] A synchronous clamping mechanism is installed on the installation positioning frame. The synchronous clamping mechanism includes a pair of synchronous clamping shafts. Synchronous clamping rings are fixedly installed at both ends of the synchronous clamping shafts. Synchronous clamping arms are fixedly installed on the lower sides of the synchronous clamping rings. Synchronous mounting rods are fixedly installed on the sides of the synchronous clamping rings far from the synchronous clamping arms. A synchronous positioning rod is arranged between the pair of synchronous clamping rings;

[0011] A power mechanism is arranged on the installation positioning frame;

[0012] A stabilizing mechanism is fixedly installed on the installation positioning frame.

[0013] In one or more embodiments of the present invention, a pair of balance shaft seats are installed between the synchronous clamping shaft and the installation positioning frame, which can provide the balance of the synchronous clamping shaft, reduce the probability of the synchronous clamping shaft tilting, and at the same time can fix the position of the synchronous clamping shaft without affecting the rotation of the synchronous clamping shaft;

[0014] The synchronous clamping shaft penetrates through the balance shaft seat, which facilitates the rotation of the synchronous clamping shaft, reduces the friction between the synchronous clamping shaft and the balance shaft seat, and improves the smoothness of the rotation of the synchronous clamping shaft.

[0015] In one or more embodiments of the present invention, the two ends of the synchronous positioning rod are respectively rotatably connected to the synchronous clamping arm and the synchronous mounting rod, which can make a pair of synchronous clamping rings rotate in opposite directions, and at the same time can make the rotation of the pair of synchronous clamping rings synchronous, so that a pair of synchronous clamping arms can realize the clamping function, better fix the article by the pair of synchronous clamping arms, reduce the probability of the article falling, and correspondingly improve the stability of the article.

[0016] In one or more embodiments of the present invention, the power mechanism includes a cylinder, which can be telescoped by control and can control the rotation of one side of the synchronous clamping shaft through telescoping, so that the rotation of the synchronous clamping shaft is controlled;

[0017] A cylinder mounting seat is rotatably installed between the cylinder and the installation positioning frame, which can fix the position of the cylinder and at the same time does not affect the rotation of the cylinder. When the cylinder extends, the angle between the cylinder and the installation positioning frame will inevitably change, and the cylinder mounting seat can still fix the position of the cylinder during the angle change.

[0018] In one or more embodiments of the present invention, a driven rotating rod is fixedly installed on the synchronous clamping shaft, which can be rotated by the push of the cylinder, and then the synchronous clamping shaft rotates synchronously, so that the rotation of the synchronous clamping shaft is controlled;

[0019] One end of the cylinder close to the driven rotating rod is fixedly installed with a driven connecting piece, which can be connected to the driven rotating rod and can still push or pull the driven rotating rod when the driven rotating rod rotates, so that the driven rotating rod will not be out of the control of the cylinder. The driven connecting piece is rotatably connected to the driven rotating rod.

[0020] In one or more embodiments of the present invention, the stabilizing mechanism includes a stabilizing mounting frame, which can be fixed on the mounting positioning frame, and at the same time facilitates the lifting of the stabilizing lifting plate, ensuring the balance of the stabilizing lifting plate.

[0021] A stabilizing lifting plate is slidably installed in the stabilizing mounting frame and can be driven by a stabilizing connecting rod to lift, so that the stabilizing connecting rod will not damage the article and improve the stability of the article.

[0022] In one or more embodiments of the present invention, a pair of stabilizing mounting seats are provided on the lower side of the stabilizing lifting plate, which can facilitate the installation of the stabilizing connecting rod, provide assistance for the balance of the stabilizing connecting rod, and at the same time provide corresponding positions for the installation of the stabilizing airbag, the stabilizing air pump and the pressure gauge.

[0023] A pair of stabilizing connecting rods are installed between the stabilizing lifting plate and the stabilizing mounting seats, connecting the stabilizing lifting plate and the stabilizing mounting seats, so that the lifting of the stabilizing mounting seats can be transmitted to the stabilizing lifting plate, and the balance of the stabilizing mounting seats is restricted by the sliding of the stabilizing lifting plate and the stabilizing mounting frame.

[0024] In one or more embodiments of the present invention, a stabilizing airbag is installed on the lower side of the stabilizing mounting seat, which can expand or contract by inflating and deflating, and after being filled with air, it contacts the article. After contact, the air in the stabilizing airbag is extracted to form a negative pressure between the stabilizing airbag and the article, achieving the effect of fixing the article.

[0025] A stabilizing air pump is fixedly installed on the stabilizing mounting seat, which can inflate and deflate the stabilizing airbag, enabling better control of the clamping or relaxation of the stabilizing airbag on the article.

[0026] In one or more embodiments of the present invention, the stabilizing air pump penetrates through the stabilizing mounting seat and the stabilizing airbag, so that the stabilizing air pump can communicate with the stabilizing airbag, and the stabilizing airbag is controlled by the stabilizing air pump. A pressure gauge is fixedly installed on the stabilizing mounting seat, and the user can determine whether the article is stably fixed by the stabilizing airbag by observing the pressure gauge.

[0027] In one or more embodiments of the present invention, a number of uniformly distributed compression balance rods are installed on the stabilizing mounting frame, which can control the balance of the stabilizing mounting frame through the combined mounting plate, and further control the stability of the mounting positioning frame.

[0028] The compression balance rod penetrates through and is assembled on the combined mounting plate. A compression balance spring is sleeved outside the compression balance rod, which can buffer the stable mounting bracket, reduce the damage caused by the stable mounting bracket to the article, and improve the integrity of the article.

[0029] Compared with the prior art, through the setting of corresponding mechanisms, a gripper assembly of an industrial robot in the present utility model improves the grasping stability of the gripper of the industrial robot, reduces the probability of the article falling off. This not only reduces the possibility of the article being damaged, but also improves the usage efficiency of the industrial robot. At the same time, it reduces the possibility of the article falling and injuring the surrounding staff, and has relatively high safety. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model 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 drawings described below are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is the first three-dimensional view in an embodiment of the present utility model;

[0032] Figure 2 It is Figure 1 the structural schematic diagram of part A in

[0033] Figure 3 It is the second three-dimensional view in an embodiment of the present utility model;

[0034] Figure 4 It is Figure 3 the structural schematic diagram of part B in

[0035] Figure 5 It is the front view in an embodiment of the present utility model;

[0036] Figure 6 It is the side view in an embodiment of the present utility model.

[0037] Main reference numeral description:

[0038] 1 - Installation positioning frame, 101 - Combined installation plate, 2 - Synchronous clamping mechanism, 201 - Synchronous clamping shaft, 202 - Synchronous clamping ring, 203 - Synchronous clamping arm, 204 - Synchronous installation rod, 205 - Synchronous positioning rod, 206 - Balance shaft seat, 3 - Power mechanism, 301 - Cylinder, 302 - Cylinder mounting seat, 303 - Driven rotating rod, 304 - Driven connecting piece, 4 - Stabilizing mechanism, 401 - Stabilizing mounting frame, 402 - Stabilizing lifting plate, 403 - Stabilizing mounting seat, 404 - Stabilizing connecting rod, 405 - Stabilizing airbag, 406 - Stabilizing air pump, 407 - Pressure gauge, 408 - Compression balance rod, 409 - Compression balance spring. Detailed implementation manners

[0039] In order to enable those skilled in the art of this technology to better understand the technical solutions in the present utility model, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0040] As Figures 1 to 6 shown, a gripper assembly of an industrial robot in an embodiment of the present utility model includes: an installation positioning frame 1, a synchronous clamping mechanism 2, a power mechanism 3, and a stabilizing mechanism 4.

[0041] As Figures 1 to 5 shown, a combined installation plate 101 is provided on the installation positioning frame 1, which can be fixed to the industrial robot to achieve the purpose of installing the installation positioning frame 1.

[0042] As Figures 1 to 5 shown, a synchronous clamping mechanism 2 is installed on the installation positioning frame 1. The synchronous clamping mechanism 2 includes a pair of synchronous clamping shafts 201, which can rotate by the push and pull of the cylinder 301. Through the rotation of the synchronous clamping shafts 201, the synchronous clamping arms 203 can clamp an object.

[0043] In addition, synchronous clamping rings 202 are fixedly installed at both ends of the synchronous clamping shafts 201, facilitating the installation of the synchronous clamping arms 203 and the synchronous installation rods 204, so that the synchronous clamping arms 203 and the synchronous installation rods 204 can rotate synchronously.

[0044] Furthermore, synchronous clamping arms 203 are fixedly installed on the lower sides of the synchronous clamping rings 202, which can clamp an object and cooperate with the stabilizing airbag 405 to achieve the purpose of stabilizing the object.

[0045] Among them, a synchronous mounting rod 204 is fixedly installed on one side of the synchronous clamping ring 202 away from the synchronous clamping arm 203, which can rotate following the synchronous clamping shaft 201 and facilitates the installation of the synchronous positioning rod 205. A synchronous positioning rod 205 is provided between a pair of synchronous clamping rings 202, which plays a synchronous role, enabling the pair of synchronous clamping arms 203 to rotate inwards or outwards synchronously.

[0046] As Figures 1 to 4 shown, a pair of balance shaft seats 206 are installed between the synchronous clamping shaft 201 and the mounting positioning frame 1, which can provide the balance of the synchronous clamping shaft 201, reduce the probability of the synchronous clamping shaft 201 tilting, and at the same time can fix the position of the synchronous clamping shaft 201 without affecting the rotation of the synchronous clamping shaft 201.

[0047] Among them, the synchronous clamping shaft 201 passes through the balance shaft seat 206, which facilitates the rotation of the synchronous clamping shaft 201, reduces the friction between the synchronous clamping shaft 201 and the balance shaft seat 206, and improves the smoothness of the rotation of the synchronous clamping shaft 201.

[0048] As Figures 1 to 3 shown, the two ends of the synchronous positioning rod 205 are respectively rotatably connected to the synchronous clamping arm 203 and the synchronous mounting rod 204, which can make a pair of synchronous clamping rings 202 rotate in opposite directions, and at the same time can make the rotation of a pair of synchronous clamping rings 202 synchronous, enabling a pair of synchronous clamping arms 203 to realize the clamping function, better fixing the article by a pair of synchronous clamping arms 203, reducing the probability of the article falling, and correspondingly improving the stability of the article.

[0049] As Figures 1 to 3 shown, a power mechanism 3 is provided on the mounting positioning frame 1. The power mechanism 3 includes a cylinder 301, which can be controlled to expand and contract, and can control the rotation of one side of the synchronous clamping shaft 201 through the expansion and contraction, so as to control the rotation of the synchronous clamping shaft 201.

[0050] Among them, a cylinder mounting seat 302 is rotatably installed between the cylinder 301 and the mounting positioning frame 1, which can fix the position of the cylinder 301 without affecting the rotation of the cylinder 301. When the cylinder 301 extends, the angle between the cylinder 301 and the mounting positioning frame 1 will inevitably change, and the cylinder mounting seat 302 can still fix the position of the cylinder 301 during the angle change process.

[0051] As Figures 1 to 4 shown, a driven rotating rod 303 is fixedly installed on the synchronous clamping shaft 201, which can be pushed by the cylinder 301 to rotate, and then make the synchronous clamping shaft 201 rotate synchronously, so as to control the rotation of the synchronous clamping shaft 201.

[0052] In addition, one end of the cylinder 301 close to the driven rotating rod 303 is fixedly installed with a driven connecting piece 304, which can be connected to the driven rotating rod 303 and can still push or pull the driven rotating rod 303 when the driven rotating rod 303 rotates, so that the driven rotating rod 303 will not be out of the control of the cylinder 301. The driven connecting piece 304 is rotatably connected to the driven rotating rod 303.

[0053] As Figures 1 to 5 shown, a stabilizing mechanism 4 is fixedly installed on the installation positioning frame 1. The stabilizing mechanism 4 includes a stabilizing mounting frame 401, which can be fixed on the installation positioning frame 1 and at the same time facilitates the lifting of the stabilizing lifting plate 402, ensuring the balance of the stabilizing lifting plate 402.

[0054] Among them, a stabilizing lifting plate 402 is slidably installed in the stabilizing mounting frame 401 and can be driven by a stabilizing connecting rod 404 to lift, so that the stabilizing connecting rod 404 will not damage the item and improve the stability of the item.

[0055] As Figures 1 to 4 shown, a pair of stabilizing mounting seats 403 are provided on the lower side of the stabilizing lifting plate 402, which can facilitate the installation of the stabilizing connecting rod 404, provide assistance for the balance of the stabilizing connecting rod 404, and at the same time provide corresponding positions for the installation of the stabilizing airbag 405, the stabilizing air pump 406 and the pressure gauge 407.

[0056] In addition, a pair of stabilizing connecting rods 404 are installed between the stabilizing lifting plate 402 and the stabilizing mounting seats 403, connecting the stabilizing lifting plate 402 and the stabilizing mounting seats 403, so that the lifting of the stabilizing mounting seats 403 can be transmitted to the stabilizing lifting plate 402, and the balance of the stabilizing mounting seats 403 is restricted by the sliding of the stabilizing lifting plate 402 and the stabilizing mounting frame 401.

[0057] As Figures 1 to 3 shown, a stabilizing airbag 405 is installed on the lower side of the stabilizing mounting seat 403, which can expand or contract by inflating and deflating. After being filled with air, it contacts the item. After contact, the air in the stabilizing airbag 405 is extracted to form a negative pressure between the stabilizing airbag 405 and the item, achieving the effect of fixing the item.

[0058] In addition, a stabilizing air pump 406 is fixedly installed on the stabilizing mounting seat 403, which can inflate and deflate the stabilizing airbag 405 to better control the clamping or loosening of the stabilizing airbag 405 on the item.

[0059] As Figures 1 to 4As shown, the stable air pump 406 passes through the stable mounting base 403 and the stable airbag 405, enabling the stable air pump 406 to communicate with the stable airbag 405, so that the stable airbag 405 is controlled by the stable air pump 406. A pressure gauge 407 is fixedly installed on the stable mounting base 403. The user can determine whether the item is stably fixed by the stable airbag 405 through observing the pressure gauge 407.

[0060] As Figures 1 to 5 shown, several uniformly distributed compression balance rods 408 are installed on the stable mounting frame 401, which can control the balance of the stable mounting frame 401 through the combined mounting plate 101, and further control the stability of the installation positioning frame 1.

[0061] Among them, the compression balance rod 408 passes through the combined mounting plate 101, and a compression balance spring 409 is sleeved outside the compression balance rod 408, which can buffer the stable mounting frame 401, reduce the damage caused by the stable mounting frame 401 to the item, and improve the integrity of the item.

[0062] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0063] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An industrial robot gripper assembly, characterized in that, It is described that: Install a mounting positioning frame, and a combined mounting plate is provided on the mounting positioning frame; A synchronous clamping mechanism is installed on the mounting positioning frame. The synchronous clamping mechanism includes a pair of synchronous clamping shafts. Synchronous clamping rings are fixedly installed at both ends of the synchronous clamping shafts. Synchronous clamping arms are fixedly installed on the lower sides of the synchronous clamping rings. Synchronous mounting rods are fixedly installed on the sides of the synchronous clamping rings away from the synchronous clamping arms. A synchronous positioning rod is provided between the pair of synchronous clamping rings; A power mechanism is provided on the mounting positioning frame; A stabilizing mechanism is fixedly installed on the mounting positioning frame.

2. The industrial robot gripper assembly according to claim 1, characterized in that A pair of balance shaft seats are installed between the synchronous clamping shafts and the mounting positioning frame, and the synchronous clamping shafts penetrate through the balance shaft seats.

3. The industrial robot gripper assembly according to claim 2, characterized in that, Both ends of the synchronous positioning rod are rotatably connected to the synchronous clamping arm and the synchronous mounting rod respectively.

4. The industrial robot gripper assembly according to claim 1, characterized in that, The power mechanism includes a cylinder, and a cylinder mounting seat is rotatably installed between the cylinder and the mounting positioning frame.

5. The industrial robot gripper assembly according to claim 4, characterized in that, A driven rotating rod is fixedly installed on the synchronous clamping shaft, a driven connecting piece is fixedly installed at one end of the cylinder close to the driven rotating rod, and the driven connecting piece is rotatably connected to the driven rotating rod.

6. The industrial robot gripper assembly according to claim 1, characterized in that, The stabilizing mechanism includes a stabilizing mounting frame, and a stabilizing lifting plate is slidably installed in the stabilizing mounting frame.

7. The industrial robot gripper assembly according to claim 6, characterized in that, A pair of stabilizing mounting seats are provided on the lower side of the stabilizing lifting plate, and a pair of stabilizing connecting rods are installed between the stabilizing lifting plate and the stabilizing mounting seats.

8. The industrial robot gripper assembly according to claim 7, wherein, A stabilizing airbag is installed on the lower side of the stabilizing mounting seat, and a stabilizing air pump is fixedly installed on the stabilizing mounting seat.

9. The industrial robot gripper assembly according to claim 8, characterized in that, The stabilizing air pump penetrates through the stabilizing mounting seat and the stabilizing airbag, and a pressure gauge is fixedly installed on the stabilizing mounting seat.

10. The industrial robot gripper assembly according to claim 9, characterized in that, A number of uniformly distributed compression balance rods are installed on the stabilizing mounting frame. The compression balance rods penetrate through the combined mounting plate, and compression balance springs are sleeved outside the compression balance rods.

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