Mechanical gripper device and transfer robot

Abstract

The utility model relates to the technical field of intelligent manufacturing, and particularly discloses a mechanical gripper device and a transfer robot, the mechanical gripper device comprises a base, a transmission seat, a driving supporting claw assembly and a driven supporting claw assembly, and the transmission seat is rotatably connected to the base; the driving claw supporting assembly comprises a driving piece, a driving rod and a first claw finger, the driving piece is arranged on the base, the driving rod penetrates through the base and the transmission seat, and the two ends of the driving rod are in transmission connection with the driving end of the driving piece and the first claw finger correspondingly; the driven supporting claw assembly comprises a driven rod and a second claw finger, the driven rod penetrates through the base and the transmission base, and one end of the driven rod is in transmission connection with the second claw finger. The first claw fingers and the second claw fingers can be opened outwards from the inner hole to grab auxiliary materials, the grabbing force is large, the risk that the auxiliary materials fall off due to the gravity effect can be reduced, the peripheral portions of the auxiliary materials are not affected by grabbing, and the situation that the production quality of subsequent products is affected due to the fact that the peripheries of the auxiliary materials deform or are damaged is avoided.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing technology, and in particular to a mechanical gripper device and a handling robot. Background Technology

[0002] While cigarette production is now largely automated, the sorting of auxiliary materials still relies on manual labor. Since some auxiliary materials are quite heavy, manual transport is time-consuming and labor-intensive, and prolonged operation can harm the operator's health. Therefore, it is imperative to develop an automated feeding system capable of identifying, sorting, and handling auxiliary materials, with robotic arms being a key component in achieving this goal.

[0003] In existing technologies, robotic arms use suction cups or grippers to grasp materials. However, when using suction cups to pick up auxiliary materials, the materials are heavy and easily fall during handling due to suction failure. When using grippers to pick up auxiliary materials, the parts of the auxiliary materials that come into contact with the grippers are easily deformed or even damaged, affecting the production quality of subsequent products. Utility Model Content

[0004] The purpose of this utility model is to provide a mechanical gripper device and a handling robot to solve the problems in the prior art where, when using a suction cup to pick up auxiliary materials, the auxiliary materials are heavy and easily fall during handling due to suction failure. When using a gripper to pick up auxiliary materials, the parts of the auxiliary materials that come into contact with the gripper are easily deformed or even damaged, affecting the production quality of subsequent products.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] On one hand, this utility model provides a mechanical gripper device for gripping auxiliary materials, wherein the auxiliary materials have an inner hole, and the mechanical gripper device includes:

[0007] A base and a transmission seat, wherein the transmission seat is rotatably connected to the base;

[0008] An active claw assembly includes a driving member, a driving rod, and a first claw finger. The driving member is disposed on the base, and the driving rod passes through the base and the transmission seat. The two ends of the driving rod are respectively connected to the driving end of the driving member and the first claw finger. The driving member can drive the driving rod to move the first claw finger radially along the transmission seat.

[0009] The driven claw assembly includes a driven rod and a second claw finger. The driven rod passes through the base and the transmission seat, and one end of the driven rod is tractively connected to the second claw finger. The driving member can drive the transmission seat to rotate through the driving rod, so that the transmission seat drives the driven rod to move the second claw finger radially along the transmission seat. The first claw finger and the second claw finger can be inserted into the inner hole.

[0010] As an alternative to the aforementioned mechanical gripper device, the active gripper assembly includes at least two, and the driven gripper assembly includes at least one, with at least two first claw fingers and at least one second claw finger arranged in a triangle; or the active gripper assembly includes at least one, and the driven gripper assembly includes at least two, with at least one first claw finger and at least two second claw fingers arranged in a triangle.

[0011] As an optional embodiment of the aforementioned mechanical gripper device, the base is provided with at least three first sliding grooves arranged in a circumferential direction, and the transmission seat is provided with at least three second sliding grooves arranged in a circumferential direction. The at least three first sliding grooves and the at least three second sliding grooves correspond one-to-one and are arranged intersectingly. At least two driving rods and at least one driven rod pass through the first sliding grooves and the second sliding grooves respectively; or at least one driving rod and at least two driven rods pass through the first sliding grooves and the second sliding grooves respectively.

[0012] As an alternative to the aforementioned mechanical gripper device, the active support claw assembly further includes a transmission block, the two ends of which are respectively hinged to the driving end of the driving member and the active rod.

[0013] As an alternative to the aforementioned mechanical gripper device, the transmission base is provided with a first guide rail and a second guide rail extending along the radial direction, the first claw finger is slidably mounted on the first guide rail via a first slider, and the second claw finger is slidably mounted on the second guide rail via a second slider.

[0014] As an alternative to the aforementioned mechanical gripper device, both the first claw and the second claw have an L-shaped structure.

[0015] As an alternative to the aforementioned mechanical gripper device, both the first claw finger and the second claw finger have anti-slip textures on the side away from the center of the transmission seat.

[0016] As an optional solution for the aforementioned mechanical gripper device, the base and / or the transmission base are provided with weight reduction holes.

[0017] As an optional solution for the aforementioned mechanical gripper device, a mounting flange is also provided on the base.

[0018] On the other hand, this utility model provides a handling robot, including the mechanical gripper device as described above.

[0019] The beneficial effects of this utility model are as follows:

[0020] The mechanical gripper device includes a base, a transmission base, an active claw assembly, and a driven claw assembly, with the transmission base rotatably connected to the base. The active gripper assembly includes a drive unit, a drive rod, and a first claw finger. The drive unit is mounted on a base, and the drive rod passes through the base and a transmission seat. Both ends of the drive rod are connected to the drive end of the drive unit and the first claw finger, respectively. The drive unit can drive the drive rod to move the first claw finger radially along the transmission seat. Simultaneously, the driven gripper assembly includes a driven rod and a second claw finger. The driven rod passes through the base and the transmission seat, and one end of the driven rod is connected to the second claw finger. The drive unit can drive the transmission seat to rotate via the drive rod, causing the transmission seat to drive the driven rod to move the second claw finger radially along the transmission seat. The first and second claw fingers can be inserted into an inner hole, allowing them to spread outwards from the inner hole to grip the auxiliary material. The gripping force is significant, reducing the risk of the auxiliary material falling due to gravity. Furthermore, the outer periphery of the auxiliary material is not affected by the gripping, preventing deformation or damage to the outer periphery and affecting the production quality of subsequent products. The movement of the second claw finger is achieved through the drive of the transmission seat, thereby reducing the use of a drive unit and lowering production costs. Attached Figure Description

[0021] Figure 1 A first-view structural schematic diagram of the mechanical gripper device provided in an embodiment of this utility model;

[0022] Figure 2 A second-view structural schematic diagram of the mechanical gripper device provided in an embodiment of this utility model;

[0023] Figure 3 A third-view structural diagram of the mechanical gripper device provided in an embodiment of this utility model;

[0024] Figure 4 This is a cross-sectional view of the mechanical gripper device provided in an embodiment of the present invention.

[0025] In the picture:

[0026] 1. Base; 11. First slide groove; 12. Mounting flange; 2. Transmission seat; 21. Second slide groove; 22. First guide rail; 23. Second guide rail; 24. First slider; 25. Second slider; 3. Active support claw assembly; 31. Driving component; 32. Active rod; 33. First claw finger; 34. Transmission block; 4. Driven support claw assembly; 41. Driven rod; 42. Second claw finger; 5. Anti-slip texture; 6. Weight reduction hole; 7. Rotary support bearing. Detailed Implementation

[0027] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0031] like Figures 1-4 As shown, this embodiment provides a mechanical gripper device for gripping auxiliary materials, the auxiliary materials having an inner hole.

[0032] The mechanical gripper device includes a base 1, a transmission base 2, an active claw assembly 3, and a driven claw assembly 4. The transmission base 2 is rotatably connected to the base 1. Optionally, the transmission base 2 is rotatably connected to the base 1 via a slewing bearing 7. Further optionally, the auxiliary materials include cigarette paper, tipping paper, label paper, and aluminum foil. Of course, the auxiliary materials also include other types of cigarette auxiliary materials, which are not specifically limited in this embodiment.

[0033] The active claw assembly 3 includes a driving member 31, a driving rod 32, and a first claw finger 33. The driving member 31 is mounted on the base 1. The driving rod 32 passes through the base 1 and the transmission seat 2. The two ends of the driving rod 32 are respectively connected to the driving end of the driving member 31 and the first claw finger 33. The driving member 31 can drive the driving rod 32 to move the first claw finger 33 radially along the transmission seat 2. Meanwhile, the driven claw assembly 4 includes a driven rod 41 and a second claw finger 42. The driven rod 41 passes through the base 1 and the transmission seat 2. One end of the driven rod 41 is connected to the second claw finger 42. The driving component 31 can drive the transmission seat 2 to rotate via the driving rod 32, so that the transmission seat 2 drives the driven rod 41 to move the second claw finger 42 radially along the transmission seat 2. The first claw finger 33 and the second claw finger 42 can be inserted into the inner hole, so that the first claw finger 33 and the second claw finger 42 can spread outward from the inner hole to grasp the auxiliary material. The grasping force is large, which can reduce the risk of the auxiliary material falling due to gravity. Moreover, the outer periphery of the auxiliary material is not affected by the grasping, avoiding deformation or damage to the outer periphery of the auxiliary material, which would affect the production quality of subsequent products. The movement of the second claw finger 42 is achieved by driving the transmission seat 2, thereby reducing the use of the driving component 31 and reducing production costs.

[0034] The active claw assembly 3 includes at least two components, and the driven claw assembly 4 includes at least one component. At least two first claw fingers 33 and at least one second claw finger 42 are arranged in a triangular configuration. Alternatively, the active claw assembly 3 may include at least one component, and the driven claw assembly 4 may include at least two components. The at least one first claw finger 33 and at least two second claw fingers 42 are arranged in a triangular configuration. This triangular arrangement of the three claw fingers effectively increases the gripping force and reduces the risk of the material falling due to gravity. Specifically, the active claw assembly 3 also includes a transmission block 34. The two ends of the transmission block 34 are respectively hinged to the driving end of the driving member 31 and the active rod 32. This reduces the transmission difficulty between the driving member 31 and the active rod 32. Optionally, the driving member 31 is a driving cylinder.

[0035] like Figure 2 and Figure 3As shown, the base 1 has at least three first sliding grooves 11 arranged in a ring, and the transmission base 2 has at least three second sliding grooves 21 arranged in a ring. The at least three first sliding grooves 11 and the at least three second sliding grooves 21 are arranged in a one-to-one correspondence and intersecting arrangement. At least two driving rods 32 and at least one driven rod 41 pass through the first sliding grooves 11 and the second sliding grooves 21 respectively, or at least one driving rod 32 and at least two driven rods 41 pass through the first sliding grooves 11 and the second sliding grooves 21 respectively. Thus, when the driving member 31 drives the driving rod 32 to drive the first claw finger 33 along... During the radial movement of the transmission seat 2, the driving rod 32 can move along the first slide groove 11. At this time, since the second slide groove 21 corresponding to the driving rod 32 is intersected with the first slide groove 11, the driving rod 32 can drive the transmission seat 2 to rotate through the second slide groove 21. At the same time, the rotation of the transmission seat 2 causes the relative position between the first slide groove 11 and the second slide groove 21 corresponding to the driven rod 41 to change. Thus, under the guidance and limitation of the first slide groove 11 and the drive of the second slide groove 21, the driven rod 41 drives the second claw finger 42 to move radially along the transmission seat 2.

[0036] Specifically, the transmission base 2 is provided with a first guide rail 22 and a second guide rail 23 extending radially. The first claw finger 33 is slidably mounted on the first guide rail 22 via a first slider 24, and the second claw finger 42 is slidably mounted on the second guide rail 23 via a second slider 25, thereby improving the stability of the first claw finger 33 and the second claw finger 42 during movement. Optionally, both the first claw finger 33 and the second claw finger 42 have an L-shaped structure. The L-shaped structure of the first claw finger 33 and the second claw finger 42 has greater structural strength and can prevent deformation when gripping auxiliary materials. Further optionally, the side of the first claw finger 33 and the second claw finger 42 away from the center of the transmission base 2 is provided with anti-slip texture 5. The anti-slip texture 5 can prevent the auxiliary material from slipping off the first claw finger 33 and the second claw finger 42 due to excessive weight.

[0037] Furthermore, the base 1 and / or transmission base 2 are provided with weight reduction holes 6, which can reduce the overall weight of the mechanical gripper device and meet the lightweight requirements of the mechanical gripper device. At the same time, the base 1 is also provided with a mounting flange 12, which can facilitate the quick disassembly or installation of the mechanical gripper device on the handling robot, and facilitate the maintenance or replacement of the mechanical gripper device.

[0038] This embodiment also provides a handling robot, including the mechanical gripper device described above. By using the mechanical gripper device described above, the handling robot can make the first claw finger 33 and the second claw finger 42 spread outward from the inner hole to grasp the auxiliary material. The grasping force is large, which can reduce the risk of the auxiliary material falling due to gravity. Moreover, the outer periphery of the auxiliary material is not affected by the grasping, thus avoiding deformation or damage to the outer periphery of the auxiliary material, which would affect the production quality of subsequent products.

[0039] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A mechanical gripper device for gripping auxiliary materials, the auxiliary materials having an inner hole, characterized in that, The mechanical gripper device includes: A base (1) and a transmission seat (2), wherein the transmission seat (2) is rotatably connected to the base (1); An active claw assembly (3) includes a drive member (31), an active rod (32), and a first claw finger (33). The drive member (31) is mounted on the base (1). The active rod (32) passes through the base (1) and the transmission seat (2). The two ends of the active rod (32) are respectively connected to the drive end of the drive member (31) and the first claw finger (33). The drive member (31) can drive the active rod (32) to move the first claw finger (33) radially along the transmission seat (2). The driven claw assembly (4) includes a driven rod (41) and a second claw (42). The driven rod (41) passes through the base (1) and the transmission seat (2). One end of the driven rod (41) is connected to the second claw (42). The driving member (31) can drive the transmission seat (2) to rotate through the driving rod (32), so that the transmission seat (2) drives the driven rod (41) to drive the second claw (42) to move radially along the transmission seat (2). The first claw (33) and the second claw (42) can be inserted into the inner hole.

2. The mechanical gripper device according to claim 1, characterized in that, The active claw assembly (3) includes at least two, and the driven claw assembly (4) includes at least one, wherein at least two first claw fingers (33) and at least one second claw finger (42) are arranged in a triangle; or the active claw assembly (3) includes at least one, and the driven claw assembly (4) includes at least two, wherein at least one first claw finger (33) and at least two second claw fingers (42) are arranged in a triangle.

3. The mechanical gripper device according to claim 2, characterized in that, The base (1) has at least three first sliding grooves (11) arranged in a ring, and the transmission seat (2) has at least three second sliding grooves (21) arranged in a ring. The at least three first sliding grooves (11) and the at least three second sliding grooves (21) are arranged in a one-to-one correspondence and intersecting with each other. At least two driving rods (32) and at least one driven rod (41) pass through the first sliding groove (11) and the second sliding groove (21) respectively; or at least one driving rod (32) and at least two driven rods (41) pass through the first sliding groove (11) and the second sliding groove (21) respectively.

4. The mechanical gripper device according to claim 2, characterized in that, The active support claw assembly (3) also includes a transmission block (34), the two ends of which are respectively hinged to the driving end of the driving member (31) and the active rod (32).

5. The mechanical gripper device according to claim 1, characterized in that, The transmission seat (2) is provided with a first guide rail (22) and a second guide rail (23) extending radially. The first claw (33) is slidably disposed on the first guide rail (22) via a first slider (24), and the second claw (42) is slidably disposed on the second guide rail (23) via a second slider (25).

6. The mechanical gripper device according to claim 1, characterized in that, Both the first claw (33) and the second claw (42) are L-shaped structures.

7. The mechanical gripper device according to claim 1, characterized in that, The first claw (33) and the second claw (42) are both provided with anti-slip texture (5) on the side away from the center of the transmission seat (2).

8. The mechanical gripper device according to any one of claims 1 to 7, characterized in that, The base (1) and / or the transmission seat (2) are provided with weight reduction holes (6).

9. The mechanical gripper device according to any one of claims 1 to 7, characterized in that, The base (1) is also provided with a mounting flange (12).

10. A transport robot, characterized in that, Includes the mechanical gripper device as described in any one of claims 1 to 9.

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