Gripper structure of robot

Abstract

The utility model relates to the technical field of box cover carrying, in particular to a gripper structure of a robot, which comprises a flange plate used for being connected with the robot, the flange plate is fixed on a support plate through a flange seat, and the front side and the rear side of the support plate are respectively provided with a clamping frame driven by an air cylinder; suction cups used for sucking the PACK upper cover are arranged on the lower portion of the peripheral side of the supporting plate, and clamping arms capable of stretching out and drawing back left and right are arranged on the left side and the right side of the supporting plate correspondingly. According to the PACK upper cover clamping mechanism, the suction cups are used for being sucked to the surface of a PACK upper cover, then the PACK upper cover is clamped and positioned through the air cylinders by the clamping frames and the clamping arms, compatibility of the tongs to the upper covers of different specifications is achieved, and meanwhile the upper covers are prevented from falling off in the clamping and carrying process.

Description

Technical Field

[0001] The utility model relates to the technical field of box cover transportation, in particular to a gripper structure of a robot. Background Art

[0002] PACK cover see Figure 3 , which is part of the battery pack structure system, specifically refers to the upper cover of the power battery pack.

[0003] Existing PACK cover gripper devices generally rely on a single or two oppositely positioned cylinders to drive the gripping of the PACK cover. This device can only clamp the cover in one direction during gripping. When faced with PACK covers of different sizes, the cover gripper must be replaced according to the size of the cover during the gripping process. During this process, there is also the risk of the cover falling, which will cause serious consumption of manpower and financial resources. Utility Model Content

[0004] The purpose of the utility model is to provide a gripper structure of a robot.

[0005] The utility model provides the following technical solutions:

[0006] The utility model proposes a robot gripper structure, including a flange for connecting to the robot, the flange being fixed to a support plate via a flange seat, and clamping frames driven by a cylinder being provided on both the front and rear sides of the support plate; a suction cup for adsorbing the upper cover of a PACK is provided below the peripheral side of the support plate, and clamping arms that can be extended and retracted left and right are provided on both the left and right sides of the support plate.

[0007] Furthermore, hinged seats are provided on both sides of the support plate, and the ends of the cylinders are hinged on the hinged seats.

[0008] Furthermore, first octagonal tubes are horizontally arranged at the front and rear ends of the support plate, a plurality of second octagonal tubes are vertically arranged on the first octagonal tubes, and the suction cups are fixed on the second octagonal tubes.

[0009] Furthermore, third octagonal tubes are symmetrically provided on both sides of the flange, and the third octagonal tubes are fixed on the first octagonal tube and are coplanar and perpendicular to the first octagonal tube;

[0010] The clamping frame includes a crank hinged to the cylinder at one end and a connecting rod shaft passing through the other end of the crank, and L-shaped rods are fixed to the left and right ends of the connecting rod shaft. The connecting rod shaft is passed through a fixed seat near the two ends of the L-shaped rod, and the fixed seat is fixed on the third octagonal tube.

[0011] Furthermore, a fourth octagonal tube is fixed to each of the left and right ends of the first octagonal tube, which is coplanar and perpendicular to the first octagonal tube. A base plate is laterally fixed below the fourth octagonal tube. A driving device for extending and retracting the clamping arm left and right is laterally fixed to the lower surface of the base plate. The retractable end of the driving device fixes the clamping arm.

[0012] The clamping arm includes an inverted L-shaped plate, one end of the inverted L-shaped plate is fixed to the telescopic end of the driving device, and the other end of the inverted L-shaped plate is fixed to a U-shaped rod.

[0013] Furthermore, a slide rail is fixed on the lower surface of the base plate, and a slider capable of moving left and right along the slide rail is provided on the slide rail. The inverted L-shaped plate is fixed on the slider and is driven to move by the driving device.

[0014] Furthermore, the driving device is a cylinder.

[0015] Furthermore, a rangefinder is also provided on the support plate.

[0016] Furthermore, cameras for capturing images of grasped objects are provided on the left and right sides of the support plate.

[0017] Compared with the existing technology, the utility model uses a suction cup to adsorb on the surface of the PACK upper cover, and then uses a cylinder to clamp the clamping frame and the clamping arm to clamp and position the PACK upper cover, thereby achieving the compatibility of the gripper with upper covers of different specifications, and preventing the upper cover from falling during the clamping and transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of the utility model.

[0019] Figure 2 It is a structural diagram of the clamping arm that can be extended and retracted left and right.

[0020] Figure 3 This is a schematic diagram of the PACK cover.

[0021] In the figure, 1-flange; 2-flange seat; 3-support plate; 4-cylinder; 5-clamping frame; 51-crank; 52-connecting rod shaft; 53-L-shaped rod; 54-fixed seat; 6-suction cup; 7-clamping arm; 71-inverted L-shaped plate; 72-U-shaped rod; 73-support block; 8-first octagonal tube; 9-second octagonal tube; 10-third octagonal tube; 11-fourth octagonal tube; 12-base plate; 13-driving device; 14-slide rail; 15-slider; 16-articulated seat; 17-rangefinder; 18-camera; 19-sensor. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] In one embodiment of the present invention, the present invention proposes a gripper structure of a robot, including a flange 1 for connecting to the robot, the flange 1 is fixed on a support plate 3 via a flange seat 2, and the front and rear sides of the support plate 3 are both provided with a clamping frame 5 driven by a cylinder 4; a suction cup 6 for adsorbing the PACK cover is provided below the peripheral side of the support plate 3, and the left and right sides of the support plate 3 are both provided with a clamping arm 7 that can be extended and retracted left and right; in actual application, the flange 1 is connected to the KUKA air interface, and under the drive of the KUKA robot, the suction cup 6 is adsorbed on the surface of the PACK cover, and then the cylinder 4 is used to drive the clamping frame 5 to clamp the front and rear ends of the PACK cover, and at the same time, the clamping arm 7 clamps the left and right ends of the PACK cover.

[0024] In one embodiment of the present invention, hinge seats 16 are provided on both sides of the support plate 3 , and the ends of the cylinders 4 are hinged to the hinge seats 16 .

[0025] In one embodiment of the present invention, a first octagonal tube 8 is horizontally provided at the front and rear ends of the support plate, a plurality of second octagonal tubes 9 are vertically provided on the first octagonal tube 8, and the suction cup 6 is fixed on the second octagonal tube 9; the octagonal tube is convenient for connection and fixation.

[0026] In the above embodiment, a sensor 19 is further provided at the connection between the suction cup 6 and the second octagonal tube 9; the sensor 19 is used to sense whether the suction cup 6 is pressed into place.

[0027] In the above embodiment, the third octagonal tubes 10 are symmetrically provided on both sides of the flange 1. The third octagonal tubes 10 are fixed on the first octagonal tube 8 and are coplanar and perpendicular to the first octagonal tube 8.

[0028] The clamping frame 5 includes a crank 51 hinged to the cylinder 4 at one end and a connecting rod shaft 52 passed through the other end of the crank 51, and L-shaped rods 53 are fixed to the left and right ends of the connecting rod shaft 52. The connecting rod shaft 52 is passed through a fixing seat 54 close to the two ends of the L-shaped rod 53, and the fixing seat 54 is fixed on the third octagonal tube 10; the extension and contraction of the cylinder 4 drives the rotation of the crank 51, and then drives the rotation of the connecting rod shaft 52, thereby realizing the rotation of the L-shaped rod 53 and realizing the clamping of upper covers of different sizes.

[0029] In the above embodiment, a fourth octagonal tube 11 is fixed to both the left and right ends of the first octagonal tube 8, which is coplanar and perpendicular to the first octagonal tube 8. A base plate 12 is laterally fixed below the fourth octagonal tube 11. A driving device 13 for extending and retracting the clamping arm left and right is laterally fixed to the lower surface of the base plate 12. The retractable end of the driving device 13 fixes the clamping arm 7.

[0030] The clamping arm 7 includes an inverted L-shaped plate 71, one end of the inverted L-shaped plate 71 is fixed to the telescopic end of the driving device 13, and the other end of the inverted L-shaped plate 71 is fixed with a U-shaped rod 72. A pair of U-shaped rods 72 are opened facing each other, and a support block 73 is fixed on the contact surface between the U-shaped rod 72 and the PACK; the support block 73 is used to prevent the upper cover from being worn when the clamping arm 7 clamps.

[0031] In the above embodiment, a slide rail 14 is also fixed to the lower surface of the base plate 12, and a slider 15 that can move left and right along the slide rail is provided on the slide rail 14. The inverted L-shaped plate 71 is fixed on the slider 15, and the inverted L-shaped plate 71 is driven to move by the driving device 13; the slider 15 can move on the slide rail 14, so that the driving device 13 can better drive the movement of the clamping arm.

[0032] In the above embodiment, the driving device 13 is a cylinder.

[0033] In one embodiment of the present invention, a distance meter 17 is further provided on the support plate 3 for measuring the distance between the gripper and the upper cover of the PACK.

[0034] In one embodiment of the present invention, cameras 18 for capturing images of grasped objects are further provided on the left and right sides of the support plate 3 .

[0035] In actual application, the flange is installed on the KUKA robot, which drives the utility model to the top of the PACK cover gripper, takes pictures with a camera, and the rangefinder feeds back information to the KUKA robot. The KUKA robot presses down until the sensor senses that the suction cup is pressed down into place; the crank is driven by the cylinder to rotate, and then the connecting rod shaft is driven to rotate, thereby realizing the rotation of the L-shaped rod and achieving the clamping of the front and rear ends of the PACK cover; at the same time, the clamping arm is driven by the driving device to achieve the clamping of the left and right ends of the PACK cover.

[0036] The implementation methods of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A robot gripper structure, characterized in that: It includes a flange for connecting to the robot, which is fixed to the support plate via a flange seat. Clamping frames driven by cylinders are provided on the front and rear sides of the support plate. A suction cup for adsorbing the PACK cover is provided below the peripheral side of the support plate, and clamping arms that can be extended left and right are provided on the left and right sides of the support plate.

2. The robot gripper structure according to claim 1, characterized in that: Both sides of the support plate are provided with hinged seats, and the ends of the cylinders are hinged on the hinged seats.

3. The robot gripper structure according to claim 1, characterized in that: A first octagonal tube is horizontally arranged at the front and rear ends of the support plate, a plurality of second octagonal tubes are vertically arranged on the first octagonal tube, and the suction cup is fixed on the second octagonal tube.

4. The robot gripper structure according to claim 3, characterized in that: A third octagonal tube is symmetrically provided on both sides of the flange, and the third octagonal tube is fixed on the first octagonal tube and is coplanar and perpendicular to the first octagonal tube; The clamping frame includes a crank hinged to the cylinder at one end and a connecting rod shaft passing through the other end of the crank, and L-shaped rods are fixed to the left and right ends of the connecting rod shaft. The connecting rod shaft is passed through a fixed seat near the two ends of the L-shaped rod, and the fixed seat is fixed on the third octagonal tube.

5. The robot gripper structure according to claim 3, characterized in that: A fourth octagonal tube is fixed to each of the left and right ends of the first octagonal tube, which is coplanar and perpendicular to the first octagonal tube. A base plate is laterally fixed below the fourth octagonal tube. A driving device for extending and retracting the clamping arm to the left and right is laterally fixed to the lower surface of the base plate. The retractable end of the driving device fixes the clamping arm. The clamping arm includes an inverted L-shaped plate, one end of the inverted L-shaped plate is fixed to the telescopic end of the driving device, and the other end of the inverted L-shaped plate is fixed to a U-shaped rod.

6. The robot gripper structure according to claim 5, characterized in that: A slide rail is fixed on the lower surface of the base plate. A slider that can move left and right along the slide rail is provided on the slide rail. The inverted L-shaped plate is fixed on the slider and is driven to move by the driving device.

7. The robot gripper structure according to claim 5, characterized in that: The driving device is a cylinder.

8. The robot gripper structure according to claim 1, characterized in that: A rangefinder is also provided on the support plate.

9. The robot gripper structure according to claim 1, characterized in that: Cameras for capturing images of captured objects are also provided on the left and right sides of the support plate.

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