Robot and mechanical gripper structure thereof

Abstract

The utility model provides a robot and its mechanical gripper structure, the mechanical gripper structure comprises a first clamping mechanism used for clamping a pressure lever and a second clamping mechanism used for clamping a flower basket, and the first clamping mechanism comprises a gripper fixed plate, a gripper movable plate, a plurality of clamping block assemblies and a first driving piece. The first driving piece pushes the gripper movable plate to slide along the first guide rail set, so that the movable clamping blocks in all the clamping block assemblies are close to the corresponding fixed clamping blocks so as to clamp the multiple pressing rods, one robot can complete taking, placing and conveying of the pressing rods and flower baskets, meanwhile, one driving piece drives clamping of the multiple pressing rods, and the clamping efficiency of the pressing rods is improved. Cost is saved, occupied space is small, and control is easy.

Description

TECHNICAL FIELD

[0001] The utility model belongs to photovoltaic manufacturing equipment technical field, more specifically, it relates to a robot and its mechanical gripper structure. BACKGROUND

[0002] In prior art, the flower basket and the pressing rod are placed on the feeding workbench respectively, then the pressing rod is fixed on the flower basket, and then the flower basket and the pressing rod are transported to the discharging workbench as a whole, the pressing rod is removed, and the flower basket is removed. This set of taking and placing action can be completed by a robot, that is, the robot can take and place the flower basket and the pressing rod.

[0003] However, the mechanical gripper of the existing robot usually adopts two driving members to push two movable clamping blocks to close to realize the clamping action of one pressing rod, and if the mechanical gripper wants to clamp multiple pressing rods, more driving members need to be configured, which is high in cost, large in space occupation and complex in control. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a robot and its mechanical gripper structure to solve the problem of high cost and large space occupation caused by the mechanical gripper of the existing robot when clamping multiple pressing rods.

[0005] To achieve the above-mentioned purpose, the utility model adopts the technical scheme that:

[0006] The utility model provides a mechanical gripper structure, which comprises a first clamping mechanism for clamping a pressing rod and a second clamping mechanism for clamping a flower basket, characterized in that the first clamping mechanism comprises:

[0007] A gripper fixed plate is provided with a first guide rail set;

[0008] A gripper movable plate is slidably arranged on the first guide rail set;

[0009] A plurality of clamping block assemblies are provided, each clamping block assembly clamps one pressing rod, and each clamping block assembly comprises at least one fixed clamping block fixed on the gripper fixed plate and at least one movable clamping block fixed on the gripper movable plate;

[0010] A first driving member is connected to the gripper movable plate at the pushing end, and the first driving member pushes the gripper movable plate to slide along the first guide rail set, so that the movable clamping blocks in all the clamping block assemblies approach the corresponding fixed clamping blocks to clamp multiple pressing rods.

[0011] Further, the fixed clamping block is provided with a clamping fixed groove, the movable clamping block is provided with a clamping matching groove, and the clamping fixed groove and the clamping matching groove cooperate to form a clamping hole.

[0012] Further, the clamping fixed groove and the clamping matching groove are arc grooves.

[0013] Further, the number of the clamping block assemblies is three, and the first clamping mechanism clamps three pressing rods at a time.

[0014] Further, the number of the fixed clamping blocks and the movable clamping blocks in each clamping block assembly is two respectively.

[0015] Further, the two fixed clamping blocks in each clamping block assembly are symmetrically distributed, each fixed clamping block comprises a support part and a clamping part which are integrally arranged, the top end of the support part is fixed on the gripper fixed plate, the clamping part is located on the inner side of the support part and close to the bottom end of the support part, and the support part and the clamping part are provided with a clamping fixed groove.

[0016] Further, the first driving member is a gas cylinder.

[0017] Further, the second clamping mechanism comprises:

[0018] a support vertical plate, the bottom end of the support vertical plate is fixed on the gripper fixed plate, and two groups of second guide rail groups are installed on one side of the support vertical plate at intervals;

[0019] two clamping plates, each clamping plate is slidably arranged on the corresponding second guide rail group;

[0020] two second driving members, the pushing end of each second driving member is connected to the corresponding clamping plate, and the two second driving members push the two clamping plates to move towards each other so as to clamp a flower basket.

[0021] Further, the second driving member is a gas cylinder.

[0022] The utility model also provides a robot, including mechanical arm and the mechanical gripper structure as described above, the mechanical gripper structure is fixed at the top end of mechanical arm.

[0023] Compared with the prior art, the robot and the mechanical gripper structure have the advantages that: the robot can complete the taking, placing and transporting of the pressing rods and the flower baskets, a driving member drives the clamping of multiple pressing rods, the cost is saved, the space occupied is small, and the control is simple. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only represent some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative labor on the basis of these drawings.

[0025] Figure 1 A perspective structural schematic view of the mechanical gripper structure provided by the present application is provided.

[0026] Figure 2 A front view structural schematic view of the mechanical gripper structure provided by the present application is provided.

[0027] Figure 3 A side view structural schematic view of the mechanical gripper structure provided by the present application is provided.

[0028] Figure 4 A bottom view structural schematic view of the mechanical gripper structure provided by the present application is provided.

[0029] In the drawings, the main marks are as follows:

[0030] 1, first clamping mechanism; 2, second clamping mechanism; 3, pressing rod;

[0031] 11, gripper fixed plate; 12, gripper movable plate; 14, first driving member; 21, supporting vertical plate; 22, clamping plate; 23, second driving member;

[0032] 112, first guide rail; 131, fixed clamping block; 132, movable clamping block; 212, second guide rail;

[0033] 1311, clamping fixed groove; 1312, supporting portion; 1313, clamping portion; 1321, clamping cooperation groove. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clearly understood, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0035] The present application provides a robot and a mechanical gripper structure thereof, which realizes the taking, placing and conveying of pressing rods and flower baskets by one robot, drives the clamping of multiple pressing rods by one driving member, saves cost, occupies small space and is simple to control.

[0036] Please refer to Figures 1 to 4The utility model discloses a mechanical grab hand structure includes the first clamping mechanism 1 for clamping pressure rod 3 and the second clamping mechanism 2 for clamping flower basket (in the drawing is shown).

[0037] As Figure 1 , Figure 2 and Figure 3 The first clamping mechanism 1 includes:

[0038] The grab hand fixed plate 11 is installed with the first guide rail group on the grab hand fixed plate 11;

[0039] The grab hand movable plate 12 is slidably arranged on the first guide rail group;

[0040] A plurality of clamping block assemblies, each clamping block assembly clamps a pressure rod 3, and each clamping block assembly includes at least one fixed clamping block 131 fixed on the grab hand fixed plate 11 and at least one movable clamping block 132 fixed on the grab hand movable plate 12;

[0041] The first driving part 14 is connected to the grab hand movable plate 12 at the pushing end, and the first driving part 14 pushes the grab hand movable plate 12 to slide along the first guide rail group, so that the movable clamping block 132 in all clamping block assemblies approaches the corresponding fixed clamping block 131 to clamp the plurality of pressure rods 3.

[0042] When the mechanical grab hand structure clamps the pressure rod 3, the controller of the robot controls the movement of the mechanical grab hand structure to make the movable clamping block 132 in all clamping block assemblies approach the corresponding fixed clamping block 131 to clamp the plurality of pressure rods 3, thereby realizing the control of clamping the plurality of pressure rods 3 by one driving part, and saving the cost and space.

[0043] It can be understood that the action principle of the mechanical grab hand structure for loosening the pressure rod 3 is the same as that for clamping the pressure rod 3, and will not be repeated here.

[0044] In further optional embodiments, as Figure 1 , Figure 2 The fixed clamping block 131 is provided with a clamping fixed groove 1311, the movable clamping block 132 is provided with a clamping matching groove 1321, and the clamping fixed groove 1311 and the clamping matching groove 1321 cooperate to form a clamping hole. The shapes and sizes of the clamping fixed groove 1311 and the clamping matching groove 1321 can be the same or different. Preferably, the clamping fixed groove 1311 and the clamping matching groove 1321 are arc grooves, and the length of the clamping fixed groove 1311 in the axial direction of the pressure rod 3 is greater than the length of the clamping matching groove 1321.

[0045] In further optional embodiments, asFigure 1 、 Figure 2 As shown, there are three clamping block assemblies, and the first clamping mechanism 1 clamps three pressure rods 3 each time. Of course, the specific number of clamping block assemblies can be changed according to actual needs.

[0046] In a further alternative embodiment, Figure 1 As shown, each clamping block assembly contains two fixed clamping blocks 131 and two movable clamping blocks 132. In this case, the two fixed clamping blocks 131 are spaced apart along the axial direction of the compression rod 3, and the two movable clamping blocks 132 are spaced apart along the axial direction of the compression rod 3. By closing the two fixed clamping blocks 131 and the two movable clamping blocks 132 together, a compression rod 3 is clamped, thereby increasing the clamping force on the compression rod 3. Of course, the specific number of fixed clamping blocks 131 and movable clamping blocks 132 in each clamping block assembly can be changed according to actual needs.

[0047] For ease of description, the following description is based on an example in which three clamping assemblies are provided and each clamping block assembly includes two fixed clamping blocks 131 and two movable clamping blocks 132. Figure 1 、 Figure 2 As shown, the two fixed clamps 131 in each clamp assembly are symmetrically distributed, and the fixed clamps 131 have an irregular shape. Preferably, each fixed clamp 131 includes an integral support portion 1312 and a clamping portion 1313. The top of the support portion 1312 is fixed to the gripper fixing plate 11, and the clamping portion 1313 is located inside the support portion 1312 and close to the bottom of the support portion 1312. The support portion 1312 and the clamping portion 1313 are provided with a clamping and fixing groove 1311. Each movable clamp 132 is provided with a clamping matching groove 1321, and the overall shape and size of the movable clamp 132 match the shape and size of the clamping portion 1313 in the fixed clamp 131. At this time, the six fixed clamps 131 and the gripper fixed plate 11 are jointly arranged to form an accommodating space, and the gripper movable plate 12 and the six movable clamps 132 arranged thereon are placed in the aforementioned accommodating space. By adopting the aforementioned special-shaped structure of the fixed clamp 131, it is ensured that the gripper movable plate 12 and all the movable clamps 132 arranged thereon can be smoothly translated on the gripper fixed plate 11 under the push of the first driving member 14, and at the same time, the clamping matching groove 1321 of the movable clamp 132 can cooperate with the clamping fixed groove 1311 of the clamping part 1313 in the fixed clamp 131 to form a clamping hole, thereby clamping the pressure rod 3.

[0048] In a further optional embodiment, the first driving member 14 is fixed on the gripper fixing plate 11, and the first driving member 14 is a cylinder. Of course, in other embodiments, the first driving member 14 can also be a linear motion driving member other than a cylinder.

[0049] Furthermore, it should be understood that if Figure 3As shown in the figure, the first guide rail group is composed of two first guide rails 112 arranged in parallel.

[0050] As shown in the figure, Figure 1 , Figure 3 The second clamping mechanism 2 comprises:

[0051] A support vertical plate 21 is fixed at the bottom end of the gripper fixed plate 11, and two groups of second guide rail groups are installed on one side of the support vertical plate 21.

[0052] Two clamping plates 22, each clamping plate 22 is slidably arranged on the corresponding second guide rail group;

[0053] Two second driving members 23, the pushing end of each second driving member 23 is connected to the corresponding clamping plate 22, and the two second driving members 23 push the two clamping plates 22 to move in the direction of approaching each other, so as to clamp a flower basket.

[0054] At this time, the first clamping mechanism 1 is located below the second clamping mechanism 2, that is, the first clamping mechanism 1 and the second clamping mechanism 2 are arranged in an up-down structure. Of course, in other embodiments, the first clamping mechanism 1 and the second clamping mechanism 2 can also be arranged in a left-right structure.

[0055] When the mechanical gripper structure clamps the flower basket, the controller of the robot controls the movement of the mechanical gripper structure so that the flower basket is located between the two clamping plates 22, and then the two second driving members 23 push the two clamping plates 22 to move along the second guide rail group and in the direction of approaching each other, so as to clamp a flower basket.

[0056] It can be understood that the action principle of the mechanical gripper structure loosening the flower basket is the same as that of clamping the flower basket, which will not be repeated here.

[0057] In a further optional embodiment, the two second driving members 23 are fixed on one side of the support vertical plate 21, and the second driving member 23 is a pneumatic cylinder. Of course, in other embodiments, the second driving member 23 can also be a linear motion driving member other than a pneumatic cylinder.

[0058] In addition, it should be understood that, as shown in the figure, Figure 1 Each group of second guide rail groups comprises two second guide rails 212 arranged in parallel.

[0059] The robot comprises a mechanical arm and a mechanical gripper structure as described above, the mechanical gripper structure is fixed at the top end of the mechanical arm, and the controller of the robot controls the overall movement of the mechanical arm and the mechanical gripper structure.

[0060] In summary, the robot and the mechanical gripper structure thereof, the mechanical gripper structure is composed of two clamping mechanisms, the two clamping mechanisms are respectively used for clamping the pressing rods and the flower baskets, and the robot can complete the taking, placing and conveying of the pressing rods and the flower baskets.

[0061] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical gripper structure comprising a first gripping mechanism for gripping a pressure rod and a second gripping mechanism for gripping a flower basket, characterized in that: The first clamping mechanism comprises: A gripper fixing plate, wherein a first guide rail assembly is mounted on the gripper fixing plate; a gripper movable plate, the gripper movable plate being slidably disposed on the first guide rail set; A plurality of clamping block assemblies, each of which clamps one of the pressure rods, and each of which comprises at least one fixed clamping block fixed on the fixed plate of the gripper and at least one movable clamping block fixed on the movable plate of the gripper; A first driving member, wherein the pushing end of the first driving member is connected to the grab movable plate, and the first driving member pushes the grab movable plate to slide along the first guide rail group, so that the movable clamping blocks in all the clamping block assemblies approach the corresponding fixed clamping blocks to clamp multiple pressure rods.

2. The mechanical gripper structure according to claim 1, characterized in that: The fixed clamping block is provided with a clamping fixing groove, and the movable clamping block is provided with a clamping matching groove. The clamping fixing groove cooperates with the clamping matching groove to form a clamping hole.

3. The mechanical gripper structure according to claim 2, characterized in that: The clamping fixing groove and the clamping matching groove are arc-shaped grooves.

4. The mechanical gripper structure according to claim 1, characterized in that: The number of the clamping block assemblies is three, and the first clamping mechanism clamps three of the pressure rods each time.

5. The mechanical gripper structure according to claim 1, characterized in that: The number of the fixed clamping blocks and the number of the movable clamping blocks in each clamping block assembly are two.

6. The mechanical gripper structure according to claim 5, characterized in that: The two fixed clamps in each clamp assembly are symmetrically distributed, and each fixed clamp includes an integrally arranged support portion and a clamping portion. The top end of the support portion is fixed to the gripper fixing plate, and the clamping portion is located on the inner side of the support portion and close to the bottom end of the support portion. The support portion and the clamping portion are provided with clamping and fixing grooves.

7. The mechanical gripper structure according to claim 1, characterized in that: The first driving member is a cylinder.

8. The mechanical gripper structure according to claim 1, characterized in that: The second clamping mechanism comprises: A supporting vertical plate, the bottom end of which is fixed to the gripper fixing plate, and two sets of second guide rails are installed at intervals on one side of the supporting vertical plate; two clamping plates, each of which is slidably disposed on a corresponding second guide rail set; Two second driving members, each of which has a pushing end connected to the corresponding clamping plate, push the two clamping plates toward each other to clamp a flower basket.

9. The mechanical gripper structure according to claim 8, characterized in that: The second driving member is a cylinder.

10. A robot, characterized in that It comprises a robotic arm and a robotic gripper structure according to any one of claims 1 to 9, wherein the robotic gripper structure is fixed to the top of the robotic arm.

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