Annular product grabbing machine head

Abstract

The utility model relates to an annular product grabbing machine head which comprises an installation base. The inner supporting gripper is arranged on one side of the mounting base, the inner supporting gripper comprises at least two gripper bodies, a first driving mechanism is arranged in the mounting base, and the first driving mechanism is connected with the gripper bodies and used for driving the multiple gripper bodies to be close to or away from each other; the magnetic attraction gripper is arranged corresponding to the side, away from the inner supporting gripper, of the mounting base, and the magnetic attraction gripper comprises at least two magnetic attraction heads; and the suction cup gripper is arranged corresponding to the magnetic attraction gripper, the suction cup gripper moves in the height direction of the magnetic attraction gripper, and various gripping effects are achieved through the arrangement of the inner supporting gripper, the magnetic attraction gripper and the suction cup gripper so as to be suitable for gripping annular products of different thicknesses, weights and sizes.

Description

Technical Field

[0001] This application relates to the field of gripper head technology, and more specifically to ring-shaped product gripper heads. Background Technology

[0002] Currently, product loading and unloading and palletizing all use robotic arms to control gripper heads to grab, move and stack products on the production line to complete the palletizing operation. However, existing gripper heads mostly use multiple gripping heads, and the gripping action is achieved by controlling the movement of multiple gripping heads relative to each other. The above gripping method is generally only suitable for gripping products with a relatively high thickness, and it has the defect of difficulty in gripping some thinner products, so it needs to be improved. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a ring-shaped product gripping head that can grip ring-shaped products of different thicknesses, thereby improving the overall practicality.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] The ring-shaped product gripper head includes:

[0006] Mounting base;

[0007] An internal support gripper is provided on one side of the mounting base. The internal support gripper includes at least two claws. The mounting base is provided with a first drive mechanism, which is connected to the claws and is used to drive the multiple claws to move closer to or further away from each other.

[0008] A magnetic gripper is provided on the side of the mounting base away from the inner support gripper, and the magnetic gripper includes at least two magnetic heads;

[0009] A suction cup gripper is provided corresponding to a magnetic gripper, and the suction cup gripper moves along the height direction of the magnetic gripper.

[0010] By adopting the above technical solutions, various gripping functions can be achieved for ring-shaped products through internal support grippers, magnetic grippers, and suction cup grippers, so as to adapt to products of different weights, thicknesses, and ring shapes, thereby greatly improving adaptability and avoiding the cumbersome operation caused by changing gripper heads.

[0011] Optionally, one end of the claw body is connected to the first driving mechanism, and the other end is symmetrically provided with two abutting rods. The claw body forms two abutting edges through the two abutting rods, and multiple abutting edges are arranged circumferentially around the center point of the inner support gripper.

[0012] By adopting the above technical solution, the setting of two abutting edges can enable a single claw body to obtain a larger contact area with the inner ring of the product, thereby improving gripping stability.

[0013] Optionally, the first driving mechanism includes a first guide rail and a first slider. The mounting base is provided with a first sliding groove. The first guide rail is arranged along the length direction of the first sliding groove. The first slider moves along the length direction of the first guide rail. The first slider is provided with a first mounting plate. One end of the claw body is provided with a first connecting plate and bolted to the first mounting plate.

[0014] By adopting the above technical solution, the driving method of the first guide rail and the first slider can ensure the accuracy of the claw's movement direction. At the same time, the multiple first guide rails and first sliders can improve the overall claw's resistance, thereby increasing the gripping force.

[0015] Optionally, the magnetic gripper includes a mounting column, and the magnetic head is provided with multiple connecting columns, which are sequentially connected and fixed to the end of the mounting column.

[0016] By adopting the above technical solution, the setting of multiple connecting posts can greatly improve the stability of the magnetic head connection, so as to avoid unstable suction due to the displacement caused by the weight of the product during the movement.

[0017] Optionally, the mounting base is provided with a second sliding groove corresponding to the magnetic gripper, and a second driving mechanism is provided in the second sliding groove. The second driving mechanism is connected to the end of the mounting column away from the magnetic head to drive multiple mounting columns to move in a direction that moves closer to or further away from each other.

[0018] By adopting the above technical solution, the position of the magnetic head can be adjusted by moving the mounting column, thereby adapting it to use with ring-shaped products of different sizes.

[0019] Optionally, the second driving mechanism includes a second guide rail and a second slider. The second guide rail is arranged along the length direction of the second sliding groove, and the second slider moves along the length direction of the second guide rail. A second mounting plate is provided on the second guide rail, and a second connecting plate is provided at the end of the mounting column and bolted to the second mounting plate.

[0020] By adopting the above technical solution, the second guide rail and the second slider can ensure the individual movement of the position of a single magnetic head, so as to achieve the adsorption function for irregularly shaped products.

[0021] Optionally, the suction cup gripper is positioned between the two magnetic suction heads.

[0022] By adopting the above technical solution, the suction cup gripper can not only serve as an auxiliary adsorption to improve the stability of the magnetic head adsorption process, but also grasp the pearl cotton separator between products, thereby avoiding manual operation.

[0023] Optionally, the magnetic head is connected to a mounting plate, and the end of the mounting plate away from the magnetic head forms a mounting surface. The suction cup gripper includes a connecting post, and the connecting post is threadedly connected to the mounting surface.

[0024] By adopting the above technical solution, the position of the connecting post can be easily adjusted through threaded connection to adapt to different usage requirements.

[0025] Optionally, the mounting base forms a connecting hole on one side between the inner support gripper and the magnetic gripper, and the mounting base is connected to the industrial robot through the connecting hole.

[0026] By adopting the above technical solution, the position of the connection hole allows the inner support gripper and the magnetic gripper to be located on both sides after being connected to the industrial robot, so as to facilitate the robot's adjustment and use.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. Multiple gripping effects can be achieved by setting up internal support grippers, magnetic grippers and suction cup grippers to adapt to gripping ring-shaped products of different thicknesses, weights and sizes;

[0029] 2. By setting the internal support gripper and magnetic gripper on both sides of the mounting base, the overall structure on one side can be optimized to avoid interference between the grippers. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall installation of this application.

[0031] Figure 2 This is a schematic diagram of the installation of the internal support gripper in this application.

[0032] Figure 3 This is a schematic diagram of the installation of the magnetic gripper and suction cup gripper of this application.

[0033] Reference numerals: 1. Mounting base; 2. Inner support gripper; 3. Magnetic gripper; 4. Connecting hole; 5. Claw body; 6. First drive mechanism; 7. First sliding groove; 8. First guide rail; 9. First slider; 10. First mounting plate; 11. First connecting part; 12. First support plate; 13. Mounting part; 14. Abutment rod; 15. Mounting post; 16. Magnetic head; 17. Second sliding groove; 18. Second guide rail; 19. Second slider; 20. Second mounting plate; 21. Second connecting part; 22. Second support plate; 23. Body; 24. Electromagnet; 25. Connecting post; 26. Suction cup gripper; 27. Mounting piece; 28. Mounting surface. Detailed Implementation

[0034] The following will refer to the appendices in the embodiments of the present invention. Figure 1-3The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0035] This application discloses a ring-shaped product gripper head.

[0036] Reference Figure 1 A ring-shaped product gripper head includes a mounting base 1, an inner support gripper 2, and a magnetic gripper 3. The inner support gripper 2 and the magnetic gripper 3 are arranged on the upper and lower sides of the mounting base 1, and a connecting hole 4 is provided on one side of the mounting base 1 between the inner support gripper 2 and the magnetic gripper 3. The inner support gripper 2 and the magnetic gripper 3 are connected to an industrial robot through the connecting hole 4. By using the inner support gripper 2 and the magnetic gripper 3 on the upper and lower sides, mutual interference between the inner support gripper 2 and the magnetic gripper 3 can be avoided. The inner support gripper 2 / magnetic gripper 3 can be used as a working gripper by the industrial robot by moving and flipping the mounting base 1.

[0037] Reference Figure 2 The inner support gripper 2 includes claw bodies 5. In this embodiment, the number of claw bodies 5 is 3. It is conceivable that, in order to achieve the same function as in this application, in another embodiment, the number of claw bodies 5 is at least 2. The claw bodies 5 are columnar. The upper end of the mounting base 1 is provided with a first driving mechanism 6 corresponding to the claw body 5. The three first driving mechanisms 6 are connected to the three claw bodies 5 in sequence, and drive the corresponding claw bodies 5 to move in the direction of approaching / moving away from each other. Specifically, when the number of claw bodies 5 is greater than or equal to 3, the multiple claw bodies 5 move in a circumferentially uniformly scattering direction to ensure that the multiple claw bodies 5 can fit with the inner ring of the annular product.

[0038] Specifically, the mounting base 1 is provided with a first sliding groove 7 corresponding to the moving direction of the claw body 5. The first driving mechanism 6 includes a first guide rail 8 and a first slider 9. The first guide rail 8 is arranged along the direction of the first sliding groove 7. The first slider 9 and the first guide rail 8 form a guide rail slider mechanism so that the first slider 9 slides along the length direction of the first guide rail 8. This part can be realized by means of a servo motor, which is conventional existing technology and will not be described in detail here. The first slider 9 is connected to a first mounting plate 10. Both ends of the first mounting plate 10 are respectively connected to the first slider 9 and one end of the claw body 5 by bolts to complete the fixation of the claw body 5 and the first slider 9, so that the first guide rail 8 can drive the claw body 5 to move along the length direction of the first guide rail 8.

[0039] Specifically, the claw body 5 extends outward to form a first connecting part 11 and is connected to the first mounting plate 10 through the first connecting part 11. The first connecting part 11 is arranged perpendicular to the claw body 5 to facilitate the connection of the first mounting plate 10. Furthermore, a first support plate 12 is provided between the first connecting part 11 and the first mounting plate 10. The two ends of the first support plate 12 abut against the first connecting part 11 and the first mounting plate 10 respectively to improve the connection strength between the two.

[0040] Specifically, the end of the claw body 5 away from the first slider 9 extends outward to form a mounting part 13. The direction of extension is specifically the direction of movement of the first slider 9. Two grooves are symmetrically provided on the mounting part 13. The grooves are arranged along the length direction of the claw body 5. Two abutting rods 14 are fixedly arranged in the two grooves respectively. During the gripping process, after the claw body 5 moves, it can form two abutting edges with the inner ring of the annular product through the abutting rods 14. The two abutting edges can greatly increase the contact range of a single subject, thereby improving the stability during the gripping process.

[0041] Reference Figure 3 The magnetic gripper 3 includes a mounting post 15 and a magnetic head 16, wherein the magnetic head 16 is disposed at one end of the mounting post 15. In this embodiment, the number of mounting posts 15 and magnetic heads 16 is three and connected in a one-to-one correspondence. It is conceivable that in another way, the magnetic gripper 3 may also have two or more magnetic heads 16. The three magnetic heads 16 are arranged circumferentially. The mounting base 1 is provided with a second sliding groove 17 corresponding to the mounting post 15 and a second driving mechanism is provided in the second sliding groove 17. The second driving mechanism is connected to the end of the mounting post 15 and drives the multiple mounting posts 15 to move in a direction that moves closer to or further away from each other. Specifically, the second sliding groove 17 corresponds to the first sliding groove 7 so that the multiple mounting posts 15 are also circumferentially distributed.

[0042] Specifically, the second drive mechanism includes a second guide rail 18 and a second slider 19. The second guide rail 18 is arranged along the length of the second sliding groove 17. The second slider 19 and the second guide rail 18 form a guide rail slider mechanism and are driven by a servo motor. This part is prior art and will not be described in detail here. The second slider 19 is provided with a second mounting plate 20. The end of the mounting post 15 extends outward and is provided with a second connecting part 21. The two ends of the second mounting plate 20 are respectively bolted to the second slider 19 and the second connecting part 21. The second connecting part 21 is arranged perpendicular to the mounting post 15. Furthermore, a second support plate 22 is provided between the second connecting part 21 and the mounting post 15. The two ends of the second support plate 22 are respectively connected to the second connecting part 21 and the mounting post 15 to improve the connection strength between the second connecting part 21 and the mounting post 15.

[0043] Specifically, the magnetic head includes a body 23 and an electromagnet 24. A mounting groove is formed on the body 23, and the electromagnet 24 is placed in the mounting groove. Three connecting posts 25 are evenly arranged at the bottom of the mounting groove. The connecting posts 25 are bolts. The connecting posts 25 pass through the body 23 and the mounting posts 15 in sequence to complete the connection and fixation between the body 23 and the mounting posts 15. By using multiple connecting posts 25 bolted together, the height and tilt can be calibrated through the interconnecting posts 25, and the gripping strength can be greatly improved.

[0044] Reference Figure 3 It also includes a suction cup gripper 26, which is set in correspondence with the magnetic gripper 3. Specifically, there are 3 suction cup grippers 26 and they are set between two magnetic grippers 3.

[0045] Specifically, the magnetic head 16 is connected to a mounting plate 27, and the end of the mounting plate 27 away from the magnetic head 16 forms a mounting surface 28. The suction cup gripper 26 includes a connecting post 25, which is threadedly connected to the mounting surface 28. Through the threaded connection, the suction cup gripper 26 can move along the height direction of the magnetic gripper 3 to suit different gripping and adsorption needs.

[0046] The implementation principle of a ring-shaped product gripper head in this application embodiment is as follows: The mounting base 1 is connected to an industrial robot via the connecting hole 4. When gripping a ring-shaped product on the production line, if the ring-shaped product is thin-walled or has a large weight, the industrial robot flips the mounting base 1 so that the magnetic gripper 3 aligns with the product. The positions of the respective magnetic heads 16 are adjusted by the second guide rail 18 and the second slider 19, and the magnetic heads 16 complete the magnetic connection and movement. Simultaneously, the suction cup gripper 26 can be adjusted so that it slightly extends beyond the magnetic heads 16 in the height direction, thereby ensuring that after the product is magnetically attracted, the magnetic head 16 is engaged. The suction cup deforms and adheres completely to the product, allowing the suction cup gripper 26 to assist in the gripping process, thereby improving the overall gripping stability. At the same time, the suction cup gripper 26 can grip the pearl cotton partition between each layer of products in the box during product stacking, thereby significantly reducing manual operation and improving automation. When dealing with some lightweight and thick ring-shaped products, the industrial robot can flip the mounting base 1 again so that the inner support gripper 2 corresponds to the production line. At this time, the first slider 9 slides on the first guide rail 8 so that all three claws 5 abut against the inner ring of the ring-shaped product to achieve the inner support gripping effect.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A ring-shaped product gripper head, characterized in that, include: Mounting base (1); An inner support gripper (2) is provided on one side of the mounting base (1). The inner support gripper (2) includes at least two claw bodies (5). The mounting base (1) is provided with a first drive mechanism (6). The first drive mechanism (6) is connected to the claw bodies (5) and is used to drive multiple claw bodies (5) to move closer to or further away from each other. A magnetic gripper (3) is provided on the side of the mounting base (1) away from the inner support gripper (2), and the magnetic gripper (3) includes at least two magnetic heads (16). A suction cup gripper (26) is provided corresponding to a magnetic gripper (3), and the suction cup gripper (26) moves along the height direction of the magnetic gripper (3).

2. The annular product gripper head according to claim 1, characterized in that, One end of the claw body (5) is connected to the first driving mechanism (6), and the other end is symmetrically provided with two abutting rods (14). The claw body (5) forms two abutting edges through the two abutting rods (14), and multiple abutting edges are arranged circumferentially around the center point of the inner support gripper (2).

3. The annular product gripper head according to claim 1, characterized in that, The first driving mechanism (6) includes a first guide rail (8) and a first slider (9). The mounting base (1) is provided with a first sliding groove (7). The first guide rail (8) is arranged along the length direction of the first sliding groove (7). The first slider (9) moves along the length direction of the first guide rail (8). The first slider (9) is provided with a first mounting plate (10). One end of the claw body (5) is provided with a first connecting plate and bolted to the first mounting plate (10).

4. The annular product gripper head according to claim 1, characterized in that, The magnetic gripper (3) includes a mounting post (15), and the magnetic head (16) is provided with multiple connecting posts (25), which are sequentially connected and fixed to the end of the mounting post (15).

5. The annular product gripper head according to claim 4, characterized in that, The mounting base (1) is provided with a second sliding groove (17) corresponding to the magnetic gripper (3). A second driving mechanism is provided in the second sliding groove (17). The second driving mechanism is connected to the end of the mounting column (15) away from the magnetic head (16) to drive multiple mounting columns (15) to move towards each other / away from each other.

6. The annular product gripper head according to claim 5, characterized in that, The second driving mechanism includes a second guide rail (18) and a second slider (19). The second guide rail (18) is arranged along the length direction of the second sliding groove (17). The second slider (19) moves along the length direction of the second guide rail (18). A second mounting plate (20) is provided on the second guide rail (18). A second connecting plate is provided at the end of the mounting column (15) and bolted to the second mounting plate (20).

7. The annular product gripper head according to claim 1, characterized in that, The suction cup gripper (26) is positioned between the two magnetic suction heads (16).

8. The annular product gripper head according to claim 1, characterized in that, The magnetic suction head (16) is connected to a mounting plate (27), and the end of the mounting plate (27) away from the magnetic suction head (16) forms a mounting surface (28). The suction cup gripper (26) includes a connecting post (25), and the connecting post (25) is threadedly connected to the mounting surface (28).

9. The annular product gripper head according to claim 1, characterized in that, The mounting base (1) forms a connecting hole (4) on one side between the inner support gripper (2) and the magnetic gripper (3).

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