Robot gripper combined mechanism

Abstract

The utility model discloses a robot paw combined mechanism which comprises a connecting flange, the connecting flange is provided with a first side wall and a second side wall adjacent to the first side wall, the bottom of the connecting flange is further provided with a third side wall, a first paw is arranged on the second side wall, a second paw is arranged on the third side wall, and a connecting piece is arranged on the first side wall. The connecting piece and the robot are rotationally connected, the robot drives the connecting piece to rotate, so that the connecting flange rotates, and then the first gripper and the second gripper can be switched for use, so that clamping and grabbing work of different kinds of workpieces is achieved, and the situation that the grippers are disassembled and replaced when the different kinds of workpieces are machined in a traditional mode is avoided; the applicability is improved, and the working efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robotic grippers, and in particular to a robotic gripper assembly mechanism. Background Art

[0002] Robotic grippers are one of the important components of automated equipment. Articulated robots are equivalent to human arms, while robotic grippers are equivalent to human hands. They work with other mechanisms to replace human work. Robotic grippers are also very common in automation. Because the flexibility of robotic grippers is far less than that of human hands, most of them can only grasp a single product or can only grasp products with similar shapes and sizes within the gripper's range of travel.

[0003] However, when using existing robotic grippers, each different product requires a corresponding gripper, which has high cost and poor applicability. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a robot gripper assembly mechanism.

[0005] In a first aspect, the present application provides a robot gripper assembly mechanism, comprising:

[0006] a connecting flange, the connecting flange having a first side wall and a second side wall adjacent to the first side wall, and the bottom of the connecting flange further having a third side wall, the third side wall being adjacent to the first side wall and adjacent to the second side wall;

[0007] a first gripper, wherein the second side wall is provided with the first gripper;

[0008] a second hand claw, the second hand claw being provided on the third side wall;

[0009] A connecting piece is provided on the first side wall, which is rotatably connected to the robot and is used to switch between the first gripper and the second gripper.

[0010] According to the technical solution provided in the embodiment of the present application, a fixing plate is provided on the second side wall, and the first hand claw is provided on the side wall of the fixing plate away from the connecting flange;

[0011] A connecting rod is provided on the third side wall, a quick-change mechanism is provided at one end of the connecting rod away from the connecting flange, a connecting plate is provided at one end of the quick-change mechanism away from the connecting rod, and the second claw is provided on the side wall of the connecting plate away from the quick-change mechanism.

[0012] According to the technical solution provided in the embodiment of the present application, the first gripper includes a first manipulator, and the first manipulator is arranged on a side wall of the fixing plate away from the connecting flange;

[0013] The first gripper also includes two first fingers, which are symmetrically arranged on a side of the first manipulator away from the fixed plate, and the first fingers are slidably connected to the first manipulator, and the first manipulator is used to drive the two first fingers to move relative to each other.

[0014] According to the technical solution provided in the embodiment of the present application, a first slide groove is provided at the end of the first manipulator away from the fixed plate, and a first slider is provided at the end of the first finger close to the first manipulator, and the first slider is slidably set in the first slide groove.

[0015] According to the technical solution provided in the embodiment of the present application, finger pads are provided on the side walls close to the ends of the two first fingers away from the first manipulator, and first detection components are provided on the side walls close to the two finger pads.

[0016] According to the technical solution provided in the embodiment of the present application, the second gripper includes a second manipulator, and the second manipulator is arranged on a side wall of the connecting plate away from the quick-change mechanism;

[0017] The second gripper also includes two second fingers, which are symmetrically arranged on a side of the second manipulator away from the connecting plate, and the second fingers are slidably connected to the second manipulator, and the second manipulator is used to drive the two second fingers to move relative to each other.

[0018] According to the technical solution provided in the embodiment of the present application, a second slide groove is provided at the end of the second manipulator away from the connecting plate, and a second slider is provided at the end of the second finger close to the second manipulator, and the second slider is slidably set in the second slide groove.

[0019] According to the technical solution provided in the embodiment of the present application, a fixed pad and a floating pad are respectively provided on the side walls close to one end of the two second fingers away from the second manipulator, and a second detection part is provided on the side walls close to the fixed pad and the floating pad.

[0020] According to the technical solution provided in the embodiment of the present application, the quick-change mechanism includes a first quick-change part, which is arranged at the end of the connecting rod away from the connecting flange and has a first quick-change end thereon. The quick-change mechanism also includes a second quick-change part, which is arranged on the side wall of the connecting plate away from the second claw, and the second quick-change part has a second quick-change end. The first quick-change part is used to drive the first quick-change end to extend to the second quick-change end and clamp the second quick-change end.

[0021] To sum up, the present technical solution specifically discloses a robot gripper combination mechanism, including a connecting flange, the connecting flange having a first side wall and a second side wall adjacent to the first side wall, and the bottom of the connecting flange also having a third side wall, the first gripper is arranged on the second side wall, the second gripper is arranged on the third side wall, the first side wall is provided with a connecting piece, and the connecting piece and the robot are rotatably connected, the robot drives the connecting piece to rotate, thereby rotating the connecting flange, and then the first gripper and the second gripper can be switched for use, thereby realizing the clamping and grasping of different types of workpieces, avoiding the traditional method of disassembling and replacing the grippers when facing different types of workpieces, improving applicability and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the structure of a robot gripper combination mechanism.

[0024] Figure 2 Schematic diagram of the first gripper structure.

[0025] Figure 3 Schematic diagram of the second gripper structure.

[0026] Numbers in the figure: 1. Connecting flange; 2. First gripper; 3. Second gripper; 4. Connecting part; 5. Fixed plate; 6. Connecting rod; 7. Quick-change mechanism; 8. Connecting plate; 9. First manipulator; 10. First finger; 11. Finger pad; 12. First detection part; 13. Second manipulator; 14. Second finger; 15. Fixed pad; 16. Floating pad; 17. Second detection part; 18. Second quick-change part. DETAILED DESCRIPTION

[0027] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0028] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] Example 1

[0030] Please refer to Figure 1The schematic diagram of a robot gripper assembly structure shown in the figure includes a connecting flange 1, which is optionally a rectangular parallelepiped structure. The connecting flange 1 has a first side wall, and a connecting member 4 is provided on the first side wall. The connecting member 4 is rotatably connected to the robot, so that the robot can drive the connecting member 4 to rotate, thereby rotating the connecting flange 1.

[0031] The connecting flange 1 further comprises a second side wall adjacent to the first side wall, and the bottom of the connecting flange 1 further comprises a third side wall, the third side wall being adjacent to the first side wall and adjacent to the second side wall, so that the first side wall, the second side wall and the third side wall are perpendicular to each other;

[0032] A first gripper 2 is provided on the second side wall, and a second gripper 3 is provided on the third side wall; thus, the first gripper 2 and the second gripper 3 are in a vertical relationship. When the connecting flange 1 is driven to rotate by the robot, the first gripper 2 and the second gripper 3 are switched for use to ensure that the first gripper 2 and the second gripper 3 do not interfere with each other.

[0033] A fixing plate 5 is provided on the second side wall, and the first hand claw 2 is provided on the side wall of the fixing plate 5 away from the connecting flange 1;

[0034] Furthermore, if Figure 2 As shown, the first gripper 2 includes a first manipulator 9, which is arranged on the side wall of the fixing plate 5 away from the connecting flange 1;

[0035] Furthermore, the first gripper 2 further includes two first fingers 10, which are symmetrically arranged on a side of the first manipulator 9 away from the fixed plate 5, and the first fingers 10 are slidably connected to the first manipulator 9, and the first manipulator 9 is used to drive the two first fingers 10 to move relative to each other;

[0036] By driving the first manipulator 9, the two first fingers 10 are moved closer to or farther from each other, thereby achieving the clamping of the shell workpiece. Specifically, the shell workpiece is a box-like structure, and the edge of one side wall thereof protrudes from the side wall adjacent to the side wall. By moving the two first fingers 10 closer to each other, the protruding portion of the side wall is clamped. This is suitable for smaller shell workpieces and shell workpieces with thin side walls, thereby avoiding damage to the shell workpiece.

[0037] Furthermore, finger pads 11 are provided on the side walls of the two first fingers 10 that are away from the first manipulator 9, and first detection members 12 are provided on the side walls of the two finger pads 11 that are close to each other.

[0038] By driving the first manipulator 9, the two first fingers 10 are brought closer to each other to achieve the clamping of the shell workpiece. When the two finger pads 11 contact the shell workpiece, the first detection member 12 can detect the pressure value, so as to achieve the purpose of not damaging the shell workpiece and stably clamping the shell workpiece; optionally, the first detection member 12 can be a pressure sensor, which is set with a first value. When it is detected that the pressure reaches the first value, the first manipulator 9 is controlled to stop driving the two first fingers 10 closer to each other;

[0039] It should be noted that a first slide groove is provided at the end of the first manipulator 9 away from the fixed plate 5, and a first slider is provided at the end of the first finger 10 close to the first manipulator 9, and the first slider is slidably set in the first slide groove; thus, through the mutual cooperation of the first slide groove and the first slider, the first finger 10 can move stably, thereby realizing precise control of the moving distance, and further avoiding damage to the shell workpiece when clamping the shell workpiece.

[0040] A connecting rod 6 is provided on the third side wall. A quick-change mechanism 7 is provided on the end of the connecting rod 6 away from the connecting flange 1. A connecting plate 8 is provided on the end of the quick-change mechanism 7 away from the connecting rod 6. The second hand claw 3 is provided on the side wall of the connecting plate 8 away from the quick-change mechanism 7.

[0041] Furthermore, if Figure 3 As shown, the second gripper 3 includes a second manipulator 13, and the second manipulator 13 is arranged on the side wall of the connecting plate 8 away from the quick-change mechanism 7;

[0042] Furthermore, the second gripper 3 further includes two second fingers 14, which are symmetrically arranged on a side of the second manipulator 13 away from the connecting plate 8, and the second fingers 14 are slidably connected to the second manipulator 13, and the second manipulator 13 is used to drive the two second fingers 14 to move relative to each other;

[0043] By driving the second manipulator 13, the two second fingers 14 are moved closer to or farther from each other, thereby clamping the plate workpiece. The two second fingers 14 are moved closer to each other and contact the two ends of the plate workpiece respectively, thereby clamping the plate workpiece.

[0044] Furthermore, a fixed pad 15 and a floating pad 16 are respectively provided on the side walls adjacent to one end of the two second fingers 14 away from the second manipulator 13, and a second detection member 17 is provided on the side walls adjacent to the fixed pad 15 and the floating pad 16;

[0045] By driving the second manipulator 13, the two second fingers 14 are brought closer to each other to achieve clamping of the plate workpiece. When the fixed pad 15 and the floating pad 16 contact the plate workpiece, the second detection member 17 can detect the pressure value, so as to achieve the purpose of not damaging the plate workpiece and stably clamping the plate workpiece. Optionally, the second detection member 17 can be a pressure sensor with a second value set on it. When the pressure reaches the second value, the second manipulator 13 is controlled to stop driving the two second fingers 14 closer to each other.

[0046] It should be noted that the two second fingers 14 are close to each other, the fixed pad 15 and the floating pad 16 are in contact with the two ends of the plate workpiece respectively, and there is a movable gap between the floating pad 16 and the second fingers 14. In this way, the floating pad 16 has a certain amount of movement when clamping the plate workpiece, which can adapt to the possible offset of the plate workpiece during clamping, thereby facilitating better clamping of the plate workpiece.

[0047] It should be noted that a second slide groove is provided at the end of the second manipulator 13 away from the connecting plate 8, and a second slider is provided at the end of the second finger 14 close to the second manipulator 13, and the second slider is slidably set in the second slide groove; thus, through the mutual cooperation of the second slide groove and the second slider, the second finger 14 can move stably, thereby realizing precise control of the moving distance, and further avoiding damage to the plate workpiece when clamping the plate workpiece.

[0048] It should be noted that the second gripper 3 can also be used to clamp shell-like workpieces with thicker side walls.

[0049] The quick-change mechanism 7 includes a first quick-change member, which is arranged at an end of the connecting rod 6 away from the connecting flange 1 and has a first quick-change end;

[0050] The quick-change mechanism 7 further includes a second quick-change member 18 , which is disposed on a side wall of the connecting plate 8 away from the second hand claw 3 , and has a second quick-change end;

[0051] The first quick-change member can drive the first quick-change end to extend to the second quick-change end and clamp the second quick-change end; optionally, the first quick-change end can be driven by a cylinder, for example, the first quick-change end can be a clamping claw, which is elastic and is driven to move by the cylinder. When the cylinder drives the first quick-change end to extend from the first quick-change member, the first quick-change end moves away from the first quick-change member, thereby releasing the restriction on the first quick-change end, and the first quick-change end opens to the surroundings due to its own elasticity;

[0052] Furthermore, when replacing the second gripper 3 of different specifications, the cylinder drives the first quick-change end to retract into the first quick-change part, and the first quick-change end is restricted, thereby loosening the clamping of the second quick-change part 18. After the second quick-change part 18 on the second gripper 3 of the required specification is aligned with the first quick-change part, the cylinder drives the first quick-change end to extend out of the first quick-change part and extend into the second quick-change end. The restriction of the first quick-change end is released, and the first quick-change end opens to the surroundings and clamps the second quick-change end, thereby realizing the rapid replacement of the second gripper 3.

[0053] It should be noted that the second gripper 3 has various specifications, all of which are arranged and placed in the gripper box. When the second gripper 3 needs to be replaced, the robot moves to the side of the gripper box and drives the first quick-change end to move by driving the cylinder, thereby placing the second gripper 3 in use back in place and replacing the second gripper 3 of the required specifications.

[0054] It should be noted that the type of the first gripper 2 and the second gripper 3 can be selected as a two-finger translational manipulator, such as a two-finger translational manipulator disclosed in the existing patent with publication number CN103433929B, or a pneumatic two-finger translational manipulator disclosed in the existing patent with publication number CN209754990U. This is the existing technology and will not be described in detail.

[0055] Working principle: By driving the first manipulator 9, the two first fingers 10 are brought close to each other to clamp the shell workpiece; the first slide groove and the first slider cooperate with each other to enable the first fingers 10 to move stably, thereby achieving precise control of the moving distance, further avoiding damage to the shell workpiece when clamping the shell workpiece;

[0056] By driving the second manipulator 13, the two second fingers 14 are brought closer to each other, so that the plate workpiece can be clamped. The cooperation between the second slide groove and the second slider can make the second fingers 14 move stably, thereby achieving precise control of the moving distance, further avoiding damage to the plate workpiece when clamping the plate workpiece;

[0057] The robot and the connecting part 4 are connected, and the robot drives the connecting part 4 to rotate, thereby driving the connecting flange 1 to rotate. When clamping shell workpieces and plate workpieces, the robot drives the connecting part 4 to rotate and drives the connecting flange 1 to rotate, so as to switch between the first gripper 2 and the second gripper, which can realize the grasping of different types of workpieces and has high applicability.

[0058] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A robot gripper assembly mechanism, characterized in that: include: A connecting flange (1), the connecting flange (1) having a first side wall and a second side wall adjacent to the first side wall, and the bottom of the connecting flange (1) further having a third side wall, the third side wall being adjacent to the first side wall and adjacent to the second side wall; a first hand claw (2), wherein the first hand claw (2) is provided on the second side wall; A second hand claw (3), the second hand claw (3) being provided on the third side wall; A connecting piece (4) is provided on the first side wall and is rotatably connected to the robot for switching between the first gripper (2) and the second gripper (3).

2. A robot gripper assembly mechanism according to claim 1, characterized in that: A fixing plate (5) is provided on the second side wall, and the first hand claw (2) is provided on a side wall of the fixing plate (5) away from the connecting flange (1); A connecting rod (6) is provided on the third side wall, a quick-change mechanism (7) is provided at one end of the connecting rod (6) away from the connecting flange (1), a connecting plate (8) is provided at one end of the quick-change mechanism (7) away from the connecting rod (6), and the second hand claw (3) is provided on the side wall of the connecting plate (8) away from the quick-change mechanism (7).

3. The robot gripper assembly mechanism according to claim 2, characterized in that: The first gripper (2) comprises a first manipulator (9), and the first manipulator (9) is arranged on a side wall of the fixing plate (5) away from the connecting flange (1); The first gripper (2) further comprises two first fingers (10), the two first fingers (10) being symmetrically arranged on a side of the first manipulator (9) away from the fixed plate (5), and the first fingers (10) and the first manipulator (9) being slidably connected, and the first manipulator (9) being used to drive the two first fingers (10) to move relative to each other.

4. A robot gripper assembly mechanism according to claim 3, characterized in that: A first slide groove is provided at one end of the first manipulator (9) away from the fixed plate (5), and a first slider is provided at one end of the first finger (10) close to the first manipulator (9), and the first slider is slidably provided in the first slide groove.

5. The robot gripper assembly mechanism according to claim 4, characterized in that: Finger pads (11) are provided on the side walls of the two first fingers (10) that are close to one end away from the first manipulator (9), and first detection components (12) are provided on the side walls of the two finger pads (11) that are close to each other.

6. The robot gripper assembly mechanism according to claim 2, characterized in that: The second gripper (3) comprises a second manipulator (13), and the second manipulator (13) is arranged on a side wall of the connecting plate (8) away from the quick-change mechanism (7); The second gripper (3) further comprises two second fingers (14), the two second fingers (14) being symmetrically arranged on a side of the second manipulator (13) away from the connecting plate (8), and the second fingers (14) and the second manipulator (13) being slidably connected, and the second manipulator (13) being used to drive the two second fingers (14) to move relative to each other.

7. The robot gripper assembly mechanism according to claim 6, characterized in that: A second slide groove is provided at one end of the second manipulator (13) away from the connecting plate (8), and a second slider is provided at one end of the second finger (14) close to the second manipulator (13), and the second slider is slidably provided in the second slide groove.

8. The robot gripper assembly mechanism according to claim 7, characterized in that: A fixed pad (15) and a floating pad (16) are respectively provided on the side walls adjacent to one end of the two second fingers (14) away from the second manipulator (13), and a second detection member (17) is provided on the side walls adjacent to the fixed pad (15) and the floating pad (16).

9. The robot gripper assembly mechanism according to claim 2, characterized in that: The quick-change mechanism (7) includes a first quick-change member, which is arranged at an end of the connecting rod (6) away from the connecting flange (1) and has a first quick-change end. The quick-change mechanism (7) also includes a second quick-change member (18), which is arranged on a side wall of the connecting plate (8) away from the second hand claw (3). The second quick-change member (18) has a second quick-change end. The first quick-change member is used to drive the first quick-change end to extend to the second quick-change end and clamp the second quick-change end.

Images