Robot gripper mechanism

Abstract

The utility model discloses a robot gripper mechanism which comprises a grabbing mechanism, the grabbing mechanism comprises a mechanical arm, a gripper device and pneumatic grippers, the pneumatic grippers are installed on the mechanical arm through the gripper device, installation assemblies convenient to disassemble are further arranged in the pneumatic grippers in an inserted mode respectively, the installation assemblies are further fixedly installed with clamping bases respectively, and the clamping bases are fixedly installed on the mechanical arm. The mounting assembly comprises detachable insertion blocks, and through grooves are formed in the side walls of the top faces of the detachable insertion blocks respectively. A clamping block at the end of a rotating rod penetrates through a bottom end through groove and a mounting groove formed in the side wall of the detachable insertion block to enter a clamping groove, and then a rotating handle is rotated, so that the clamping block and the clamping groove are rotationally connected to be clamped and fixed, and the detachable insertion block and the pneumatic claw are fixedly mounted; and a worker can conveniently disassemble and maintain the detachable insertion block and the clamping seat.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, in particular to a robot gripper mechanism. Background Art

[0002] Small, compact injection molded parts need to be placed on pallets after injection molding. During the placement process, the pallets need to be loaded and unloaded. The existing loading and unloading mechanisms generally provide empty pallets from an empty silo and move them to the loading position. After loading is completed, the pallets filled with products are moved to the silo position and stored in the full silo position.

[0003] The existing palletizing process requires manual placement of injection molded parts on a pallet, which is inefficient and has high labor costs. Therefore, a gripper mechanism is needed to load and unload the injection molded parts. However, most existing clamping grippers are fixed by bolts in the clamping arms of the clamping cylinder to achieve clamping, loading and unloading of the plastic parts. This makes it inconvenient for workers to disassemble and replace them for maintenance, resulting in an increased error rate in clamping the plastic parts and damage to the plastic parts. Therefore, a robot gripper mechanism is proposed. Utility Model Content

[0004] The purpose of the present utility model is to provide a robot gripper mechanism, which solves the problems raised in the above background technology by setting a detachable plug-in block so that workers can install and disassemble the detachable plug-in block through a fixed module, so that workers can disassemble and repair it.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A robot gripper mechanism includes a gripping mechanism, the gripping mechanism including a robotic arm, a gripper device, and an air gripper. The air gripper is mounted on the robotic arm via the gripper device. The air gripper is further provided with a clamping assembly for easy disassembly, and the clamping assembly is further fixedly mounted on a clamping base.

[0007] The clamping assembly includes a detachable plug-in block, the top and side walls of the detachable plug-in block are respectively provided with through grooves, the bottom surfaces of the air grippers are respectively provided with slots, the detachable plug-in blocks are respectively inserted into the inside of the through grooves, and the outer side walls of the air grippers are also provided with a fixing module for fixing the air grippers and the detachable plug-in block.

[0008] Preferably, the fixed module includes a card slot, an installation slot, a rotating rod and a card block. The installation slot is opened on the inner wall close to the slot opened on the bottom surface of the two groups of air claws. The inner bottom surface of the installation slot is provided with a card slot. The card block is arranged at the end of the outer arc surface of one end of the rotating rod. The outer arc surfaces of the rotating rod and the card block are respectively slidably arranged with the inner walls of the through slot and the installation slot. The outer arc surface of the card block is rotatably engaged with the inner wall of the card slot. The air claw is located on the other side of the slot and is also provided with a storage module for storing the card block.

[0009] Preferably, the storage module includes a groove, which is opened on the outer wall on the other side of the slot, and the inner bottom surface of the groove is provided with a rotating groove, and the inner bottom surface of the rotating groove is also provided with a storage groove, and a notch is also provided between the storage groove and the slot, and the outer arc surface of the rotating rod is slidingly and rotatably connected to the inner wall of the rotating groove, and the inner wall of the storage groove is also rotatably connected to the outer arc surface of the clamping block.

[0010] Preferably, a rotating handle is further provided at the other end of the rotating rod, and an indicator needle is further provided on the side wall of the end of the rotating handle which is located on the same vertical plane as the clamping block.

[0011] Preferably, rotatable pressure plates are respectively provided on the upper and lower sides of the opposite side walls of the two groups of clamping seats.

[0012] Preferably, the gripper device includes a mounting plate connected to the robotic arm, a two-way cylinder and a vertical plate, the vertical plate is arranged on the two-way cylinder, a gripper push rod and an air gripper are provided on the vertical plate, the air gripper is mounted on the air gripper mounting plate, a vertical slide rail is provided between the air gripper mounting plate and the vertical plate, the piston rod of the gripper push rod is connected to the air gripper mounting plate to push the air gripper to move back and forth along the vertical slide rail, a first buffer is provided on both sides of the mounting plate, and a buffer block for contacting with the first buffer is provided on the vertical plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] The utility model provides a detachable detachable plug-in block, and the detachable plug-in block is detachably plugged into the bottom surface of the air claw, and the clamping block at the end of the rotating rod is inserted into the clamping slot by passing through the bottom end through groove and the installation groove opened on the side wall of the detachable plug-in block, and then the handle is rotated to make the clamping block and the clamping slot rotatably connected to be clamped and fixed, so as to realize the fixed installation of the detachable plug-in block and the air claw, which is convenient for workers to disassemble and repair the detachable plug-in block and the clamping seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the grabbing mechanism of the utility model;

[0016] Figure 2 For this utility model Figure 1 A in the middle is an enlarged structural diagram;

[0017] Figure 3 This is a schematic diagram of the installation structure of the clamping assembly of the utility model;

[0018] Figure 4 This is a schematic diagram of the perspective structure of the clamping assembly of the utility model;

[0019] Figure 5 This is a schematic diagram of the structure of the clamping assembly of the utility model when it is disassembled and viewed from above;

[0020] Figure 6 This is a schematic diagram of the perspective structure of the fixed module of the utility model;

[0021] Figure 7 This is a schematic diagram of the cross-sectional structure of the fixed module of the present utility model.

[0022] In the figure: 1. slot; 2. grabbing mechanism; 201. robotic arm; 202. mounting plate; 203. bidirectional cylinder; 204. vertical plate; 205. gripper push rod; 206. air gripper; 207. vertical slide rail; 208. first buffer; 209. buffer block; 3. clamping seat; 4. detachable plug-in block; 5. through slot; 6. card slot; 7. mounting slot; 8. notch; 9. storage slot; 10. rotating slot; 11. groove; 12. rotating rod; 13. card block; 14. rotating handle; 15. indicator needle; 16. pressure plate. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See also Figures 1 to 7 , the utility model provides a technical solution:

[0025] A robot gripper mechanism includes a gripping mechanism 2, which includes a robotic arm 201, a gripper device, and an air gripper 206. The air gripper 206 is mounted on the robotic arm 201 via the gripper device. The air gripper 206 is further provided with a clamping assembly for easy disassembly, and the clamping assembly is further fixedly mounted to a clamping base 3.

[0026] The clamping assembly includes a detachable plug-in block 4, the top side walls of the detachable plug-in block 4 are respectively provided with through grooves 5, the bottom surface of the air gripper 206 is provided with a slot 1, the detachable plug-in block 4 is respectively inserted into the inside of the through groove 5, and the outer side wall of the air gripper 206 is also provided with a fixing module for fixing the air gripper 206 and the detachable plug-in block 4.

[0027] The fixed module includes a card slot 6, an installation slot 7, a rotating rod 12 and a card block 13. The installation slot 7 is opened on the inner wall close to the slot 1 opened on the bottom surface of the two groups of air grippers 206. The inner bottom surface of the installation slot 7 is provided with a card slot 6. The card block 13 is arranged at the end of the outer arc surface of one end of the rotating rod 12. The outer arc surfaces of the rotating rod 12 and the card block 13 are respectively slidably arranged with the inner walls of the through slot 5 and the installation slot 7. The outer arc surface of the card block 13 is rotatably engaged with the inner wall of the card slot 6. The air gripper 206 is located on the other side of the slot 1 and is also provided with a storage module for storing the card block 13.

[0028] By opening a mounting groove 7 on one side of the interior of the slot 1, and opening a card slot 6 on the inner bottom surface of the mounting groove 7, the inner wall of the card slot 6 is rotatably engaged with the card block 13 at the end of the rotating rod 12, so that the worker can pass the rotating rod 12 through the through groove 5 and the mounting groove 7 on the side wall of the detachable plug-in block 4, so that the card block 13 enters the interior of the mounting groove 7. After rotating the rotating rod 12 180 degrees, the card block 13 is rotated inside the mounting groove 7, so that the card block 13 is engaged and fixed with the mounting groove 7, thereby further realizing the installation and fixation of the detachable plug-in block 4.

[0029] The storage module includes a groove 11, which is opened on the outer wall on the other side of the slot 1. A rotating groove 10 is opened on the inner bottom surface of the groove 11, and a storage groove 9 is also opened on the inner bottom surface of the rotating groove 10. A notch 8 is also opened between the storage groove 9 and the slot 1. The outer arc surface of the rotating rod 12 is slidably and rotatably connected to the inner wall of the rotating groove 10, and the inner wall of the storage groove 9 is also rotatably connected to the outer arc surface of the clamping block 13.

[0030] A groove 11 is also provided on the outer wall on the other side of the slot 1, and a rotating groove 10 is provided on the inner bottom surface of the groove 11, a receiving groove 9 is provided on the inner bottom surface of the rotating groove 10, a notch 8 is provided between the receiving groove 9 and the slot 1, and the outer arc surface of the rotating rod 12 is slidably and rotatably connected to the inner wall of the rotating groove 10, so that the receiving groove 9 rotates inside the card block 13, so that the receiving groove 9 is engaged with the card block 13, so as to be placed and stored through the receiving groove 9 and the card block 13.

[0031] A rotating handle 14 is further provided at the other end of the rotating rod 12 , and an indicator needle 15 is further provided on the side wall of the end of the rotating handle 14 which is located on the same vertical plane as the clamping block 13 .

[0032] Rotatable pressure plates 16 are also provided on the upper and lower sides of the opposite side walls of the two groups of clamping seats 3. By providing pressure plates 16 on the upper and lower sides of the opposite side walls of the two groups of clamping seats 3, products of different shapes can be clamped by the rotatable pressure plates 16, thereby increasing the applicability of clamping.

[0033] The gripper device includes a mounting plate 202 connected to the robot arm 201, a two-way cylinder 203 and a vertical plate 204. The vertical plate 204 is arranged on the two-way cylinder 203. A gripper push rod 205 and an air gripper 206 are provided on the vertical plate 204. The air gripper 206 is installed on the air gripper mounting plate 202. A vertical slide rail 207 is provided between the air gripper mounting plate 202 and the vertical plate 204. The piston rod of the gripper push rod 205 is connected to the air gripper mounting plate 202 to push the air gripper 206 to move back and forth along the vertical slide rail 207. A first buffer 208 is provided on both sides of the mounting plate 202, and a buffer block 209 for contacting the first buffer 208 is provided on the vertical plate 204.

[0034] During operation, the robotic arm 201 moves the gripper device to the top of the product, the two-way cylinder 203 adjusts the distance between the two vertical plates 204 to align the product, and then the gripper push rod 205 moves to push the air gripper 206 to move toward the product. After the movement is in place, the air gripper 206 clamps the product, and then the gripper push rod 205 resets. The robotic arm 201 moves the gripper device to the top of the pallet, and then the two-way cylinder 203 resets, aligns the product with the pallet and places it. The air gripper 206 resets, and the product automatically falls into the pallet, and then the above action is repeated until the pallet is full. A first buffer 208 is provided to prevent the two-way cylinder 203 from moving excessively, which plays a protective role.

[0035] When workers need to disassemble, repair or replace the clamp seat 3, they rotate the rotating handle 14 to unscrew the block 13 at the end of the rotating rod 12 from the inside of the slot 6, and pull the rotating rod 12 and the block 13 outward to make the block 13 slide with the inner wall of the installation slot 7, so that the block 13 enters the inside of the storage slot 9, and then rotate the rotating handle 14 to make the block 13 rotate 180 degrees inside the storage slot 9 and then engage with the storage slot 9 to further store and place the block 13, and then pull out the detachable plug-in block 4 from the inside of the slot 1 to realize the replacement and repair of the clamp seat 3.

[0036] 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 mechanism, comprising a gripping mechanism (2), characterized in that: The gripping mechanism (2) comprises a mechanical arm (201), a gripper device and an air gripper (206); the air gripper (206) is mounted on the mechanical arm (201) via the gripper device; the interior of the air gripper (206) is also provided with a clamping assembly that is easy to disassemble; the clamping assembly is also fixedly mounted on the clamping seat (3); The clamping assembly includes a detachable plug-in block (4), the top side walls of the detachable plug-in block (4) are respectively provided with through grooves (5), the bottom surface of the air gripper (206) is provided with a slot (1), the detachable plug-in block (4) is respectively inserted into the inside of the through grooves (5), and the outer side wall of the air gripper (206) is also provided with a fixing module for fixing the air gripper (206) and the detachable plug-in block (4).

2. A robot gripper mechanism according to claim 1, characterized in that: The fixed module comprises a card slot (6), an installation slot (7), a rotating rod (12) and a card block (13); the installation slot (7) is provided on an inner wall adjacent to the slot (1) provided on the bottom surface of the two groups of air grippers (206); the inner bottom surface of the installation slot (7) is provided with a card slot (6); the card block (13) is provided at the end of the outer arc surface of one end of the rotating rod (12); the outer arc surfaces of the rotating rod (12) and the card block (13) are respectively slidably arranged with the inner wall of the through slot (5) and the installation slot (7); the outer arc surface of the card block (13) is rotatably engaged with the inner wall of the card slot (6); and the air gripper (206) is further provided with a storage module for storing the card block (13) inside the other side of the slot (1).

3. The robot gripper mechanism according to claim 2, characterized in that: The storage module comprises a groove (11), the groove (11) being provided on the outer side wall of the other side of the slot (1), the inner bottom surface of the groove (11) being provided with a rotation groove (10), the inner bottom surface of the rotation groove (10) being provided with a storage groove (9), a notch (8) being provided between the storage groove (9) and the slot (1), the outer arc surface of the rotating rod (12) being connected to the inner wall of the rotation groove (10) in a sliding and rotational manner, and the inner wall of the storage groove (9) being connected to the outer arc surface of the clamping block (13) in a rotational and clamping manner.

4. The robot gripper mechanism according to claim 3, characterized in that: The other end of the rotating rod (12) is also provided with a rotating handle (14), and the end of the rotating handle (14) is located on the side wall of the same vertical plane as the clamping block (13) and is also provided with an indicating needle (15).

5. The robot gripper mechanism according to claim 4, characterized in that: Rotatable pressure plates (16) are also provided on the upper and lower sides of the opposite side walls of the two groups of clamping seats (3).

6. The robot gripper mechanism according to claim 5, characterized in that: The gripper device comprises a mounting plate (202) connected to a robot arm (201), a bidirectional cylinder (203) and a vertical plate (204); the vertical plate (204) is arranged on the bidirectional cylinder (203); a gripper push rod (205) and an air gripper (206) are provided on the vertical plate (204); the air gripper (206) is mounted on the air gripper mounting plate (202); a vertical slide rail (207) is provided between the air gripper mounting plate (202) and the vertical plate (204); a piston rod of the gripper push rod (205) is connected to the air gripper mounting plate (202) so as to push the air gripper (206) to move back and forth along the vertical slide rail (207); first buffers (208) are provided on both sides of the mounting plate (202); and a buffer block (209) for contacting the first buffer (208) is provided on the vertical plate (204).

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