Robot gripper

Abstract

The utility model relates to a robot gripper which comprises two partition plates, floating discs are fixedly installed at the tops and the bottoms of the two partition plates, three-jaw pneumatic claws are fixedly installed on the sides, away from each other, of every two floating discs, and a robot connecting flange is fixedly installed between the two partition plates. According to the robot gripper, the partition plate, the floating disc, the three-jaw pneumatic claw and the robot connecting flange are arranged to form the robot gripper, the robot gripper is designed in a two-up and two-down mode, and the three-jaw pneumatic claw is used for grabbing workpiece positioning holes through the floating disc to complete feeding and discharging; a two-up and two-down form design is adopted, so that when a robot gripper grabs a workpiece, grabbing force can be applied to the workpiece from different heights and directions, a plurality of acting points are formed, and the overall grabbing stability is improved; the grabbing structures distributed up and down are beneficial to more uniformly distributing the weight of the workpieces, and the situation that local stress is too large due to concentrated grabbing is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical person's gripper technical field, concretely is a kind of robot gripper. BACKGROUND

[0002] Robot gripper is an important component in robot system, usually installed in the end effector position of robot, for realizing the operation such as the grabbing, carrying, placing of object, is the key part between robot and external environment or work object and carries out interaction;It is similar to human hand, and its design and function will be different according to different task demand and working environment.

[0003] When robot carries out grabbing operation, due to the positioning accuracy of robot, the placement position of workpiece and manufacturing tolerance and other factors, there can be certain position deviation between robot gripper and workpiece, and the reasons of deviation are as follows:

[0004] 1, the positioning accuracy of robot is limited by its own mechanical structure, including the machining accuracy of joint, the accuracy of transmission device and the accuracy of control algorithm etc., for example, the joint of robot can exist manufacturing tolerance, even under ideal control, its movement trajectory can exist deviation with theoretical trajectory, in high-precision machining or assembly etc.

[0005] 2, the resolution of encoder of robot is limited, when it converts digital signal into actual mechanical movement, there can be quantization error;If the resolution of encoder is 0.1 °, then when calculating the rotation angle of robot joint, there can be ±0.05 ° error, which can cause displacement deviation of robot end position, influence accurate positioning of workpiece by gripper;

[0006] 3, after long time work of robot, due to wear of mechanical parts, such as wear of bearing at joint, wear of gear etc., can cause the decline of movement accuracy of robot, make the original accurate movement trajectory deviate, and then influence the positioning accuracy of gripper and workpiece;

[0007] Therefore, a kind of robot gripper is proposed to solve the above-mentioned problems. INVENTION CONTENTS

[0008] In view of the defects of prior art, the utility model provides a kind of robot gripper, with the advantages of precision, etc., solve the problem that there can be certain position deviation between robot gripper and workpiece due to the positioning accuracy of robot, the placement position of workpiece and manufacturing tolerance and other factors when robot carries out grabbing operation.

[0009] To achieve the above object, the utility model provides the following technical scheme: a robot gripper, two partition plates, the top and bottom of two partition plates are all fixedly installed with floating disc, the side of every two floating discs is all fixedly installed with three claw air claw, two partition plates are fixedly installed with robot connecting flange.

[0010] Preferably, the robot connecting flange is a standardized flange interface, and a positioning pin hole is formed in the robot connecting flange.

[0011] Preferably, the claw body of the two groups of three claw air claws is made of high-strength, wear-resistant and elastic alloy material, and the surface of the claw body is provided with anti-skid texture stripes.

[0012] Preferably, the surface of the two groups of three claw air claws is fixedly installed with a pressure sensor.

[0013] Preferably, a sealing structure is fixedly installed between each floating disc and partition plate.

[0014] Compared with the prior art, the technical scheme of the application has the following beneficial effects:

[0015] 1、The mechanical man gripper, through the setting partition plate, floating disc and three claw air claw can form robot gripper, and the robot gripper adopts two upper two lower form design, and the floating disc utilizes three claw air claw to grab workpiece positioning hole and completes feeding and discharging, adopts two upper two lower form design, so that the robot gripper can exert grabbing force on the workpiece from different heights and directions when grabbing the workpiece, forms multiple force points, thereby improving the overall grabbing stability, the upper and lower distribution of the grabbing structure helps to more evenly distribute the weight of the workpiece, avoids excessive local stress due to concentrated grabbing, reduces the stress concentration risk of the robot gripper and connecting components, for heavy workpieces, this design can disperse the load to different three claw air claws, prolongs the service life of the robot gripper and connecting components, and reduces the structural damage caused by long-term overload.

[0016] 2、The mechanical man gripper, through the cooperation of the floating disc and the three claw air claw, the robot gripper can adapt to the change of the position and shape of the workpiece positioning hole, when the positioning hole of the workpiece has position deviation due to manufacturing tolerance, machining error or placement position deviation, the floating disc can adjust the position and angle within a certain range, so that the three claw air claw can be accurately aligned with the positioning hole, increasing the adaptability to workpieces of different sizes and shapes, and through the three claw air claw to grab the workpiece positioning hole for feeding and discharging, fast and accurate operation can be realized, the three claw air claw can be quickly opened and closed, compared with some manual or other traditional grabbing methods, the speed of feeding and discharging is significantly improved, the production cycle of machining and assembly is shortened, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a three-dimensional view of the mechanical hand structure of the utility model;

[0018] Figure 2 It is a three-dimensional view of the single mechanical hand structure of the utility model;

[0019] Figure 3 It is a three-dimensional view of the three-claw air claw structure of the utility model;

[0020] Figure 4 It is a schematic view of the floating disc structure of the utility model.

[0021] In the figure: 1, the partition plate; 2, the floating disc; 3, the three-claw air claw; 4, the robot connecting flange. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] Please refer to Figures 1-4 The robot hand in the embodiment comprises two partition plates 1, the top and bottom of each partition plate 1 is fixedly installed with a floating disc 2, the side of each floating disc 2 away from each other is fixedly installed with a three-claw air claw 3, and the two partition plates 1 are fixedly installed with a robot connecting flange 4.

[0024] It should be noted that the robot hand is an important component in the robot system, usually installed at the end effector position of the robot, used for realizing the operations such as grabbing, carrying and placing of objects, is the key part of the interaction between the robot and the external environment or the work object, and the robot hand can be composed of the partition plate 1, the floating disc 2 and the three-claw air claw 3. The robot hand is designed in the form of two upper and two lower, and the floating disc 2 is used to grab the workpiece positioning hole by the three-claw air claw 3 to complete the feeding and discharging.

[0025] Specifically, the two-up and two-down design allows the robot gripper to apply grasping force to the workpiece from different heights and directions, forming multiple force points, thereby improving the overall grasping stability. For example, when grasping a long cylindrical workpiece, the upper and lower three-jaw air claws 3 can grasp the workpiece from different heights, preventing the workpiece from rotating or shaking during grasping and handling, ensuring stable grasping and precise posture control of the workpiece, suitable for high-precision machining and assembly operations. The upper and lower distribution of the grasping structure helps to more evenly distribute the weight of the workpiece, avoiding excessive local stress caused by concentrated grasping, reducing the risk of stress concentration of the robot gripper and connecting components. For heavier workpieces, this design can distribute the load to different three-jaw air claws 3, prolonging the service life of the robot gripper and connecting components and reducing structural damage caused by long-term overloading.

[0026] The robot connecting flange 4 is a standardized flange interface, and the robot connecting flange 4 is provided with a positioning pin hole.

[0027] Specifically, by designing the robot connecting flange 4 as a standardized flange interface, it can be adapted to various types and models of robot bodies, allowing the robot gripper to be easily connected and replaced with different robots. By providing a positioning pin hole on the robot connecting flange 4, when connected to the robot body, the positioning pin hole cooperates with the positioning pin on the robot body to improve the positioning accuracy and stability of the connection.

[0028] The claw body of the two groups of three-jaw air claws 3 is made of high-strength, wear-resistant and elastic alloy material, and the surface of the claw body is provided with anti-slip texture stripes.

[0029] Specifically, the anti-slip texture stripes are provided to enhance the friction and stability when grasping the workpiece, while effectively reducing damage to the surface of the workpiece.

[0030] The surface of the two groups of three-jaw air claws 3 is fixedly installed with a pressure sensor.

[0031] Specifically, the pressure sensor is used to detect the clamping pressure of the three-jaw air claw 3 when grasping the workpiece. When the clamping pressure reaches a preset threshold, a signal is sent to the robot control system to prevent damage to the workpiece due to excessive clamping force or workpiece slipping due to insufficient clamping force.

[0032] A sealing structure is fixedly installed between each floating disc 2 and the partition plate 1.

[0033] Specifically, a sealing structure is provided between the floating disc 2 and the partition plate 1 to prevent dust and impurities from entering the internal structure of the floating disc 2, ensuring long-term stable operation and precision of the floating disc 2.

[0034] In summary, the robot gripper is composed of the partition plate 1, the floating disc 2 and the three-jaw pneumatic gripper 3, the robot gripper is designed in the form of two upper and two lower, the floating disc 2 and the three-jaw pneumatic gripper 3 are used to complete the feeding and discharging by grabbing the positioning hole of the workpiece, the robot gripper can exert grabbing force on the workpiece from different heights and directions to form multiple force points, thereby improving the overall grabbing stability, the upper and lower distribution of the grabbing structure helps to more evenly distribute the weight of the workpiece, avoids excessive local stress caused by concentrated grabbing, reduces the stress concentration risk of the robot gripper and the connecting components, for heavy workpieces, this design can disperse the load to different three-jaw pneumatic grippers 3, prolongs the service life of the robot gripper and the connecting components, and reduces the structural damage caused by long-term overload.

[0035] Moreover, by cooperating the floating disc 2 and the three-jaw pneumatic gripper 3, the robot gripper can adapt to the changes of the position and shape of the positioning hole of the workpiece, when the positioning hole of the workpiece is offset due to manufacturing tolerance, machining error or placement position deviation, the floating disc 2 can adjust the position and angle within a certain range, so that the three-jaw pneumatic gripper 3 can be accurately aligned with the positioning hole, increasing the adaptability to workpieces of different sizes and shapes, the three-jaw pneumatic gripper 3 can be quickly opened and closed, compared with some manual or other traditional grabbing methods, the feeding and discharging speed is significantly improved, the machining and assembly production cycle is shortened, and the production efficiency is improved.

[0036] It should be noted that, in the present text, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article, or apparatus. Without more limitations, the element defined by the phrase "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0037] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot gripper comprising two separate plates (1), characterised in that: The top and bottom of two said partition plates (1) are fixedly installed with floating discs (2), and the side away from each other of two said floating discs (2) is fixedly installed with three claw air claws (3), and two said partition plates (1) are fixedly installed with robot connecting flanges (4).

2. A robotic gripper according to claim 1, wherein: The robot connecting flange (4) is a standardized flange interface, and a positioning pin hole is formed in the robot connecting flange (4).

3. The robotic gripper of claim 1, wherein: The claw bodies of two groups of said three claw air claws (3) are made of high-strength, wear-resistant and elastic alloy material, and the surface of the claw body is provided with anti-skid texture stripes.

4. The robotic gripper of claim 1, wherein: The surface of two groups of said three claw air claws (3) is fixedly installed with pressure sensors.

5. The robotic gripper of claim 1, wherein: The sealing structure is fixedly installed between each said floating disc (2) and the partition plate (1).

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