Combined gripper of industrial robot

Abstract

The utility model provides an industrial robot combined type gripper which comprises a mechanical arm assembly and a gripper assembly. The device comprises a fixed plate, a first mechanical arm, a second mechanical arm, a mounting insertion rod and fixed grabhooks, the first mechanical arm is hinged to the upper side surface of the fixed plate in a damping mode, the second mechanical arm is hinged to the end, away from the fixed plate, of the first mechanical arm in a damping mode, and the two fixed grabhooks are symmetrically hinged to the end, away from the first mechanical arm, of the second mechanical arm. Compared with the prior art, the gripper assembly has the advantages that when the gripper assembly is used, the electric push rod can accurately control the opening and closing degree and the grabbing force of the gripper body through the connecting rod, objects of different weights, shapes and materials can be properly grabbed by adjusting the stroke and the output force of the electric push rod, and the gripper assembly is convenient to use. Objects are prevented from being damaged due to the fact that grabbing force is too large or objects are prevented from falling off due to the fact that grabbing force is too small.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of claw equipment, especially relates to a combined hand claw of industrial robot. BACKGROUND

[0002] Industrial robot hand claw, also known as end effector, is installed at the end of industrial robot arm, directly contacts with work object and completes specific holding task.The present industrial robot hand claw has the shortcoming that hand claw assembly replacement is more troublesome.This shortcoming is mainly due to the fact that the design structure of hand claw is relatively complex, and the connection mode between different hand claw assemblies is not standardized and convenient enough.Meanwhile, the interface of hand claw and robot arm can also be non-uniform, resulting in the need for complex adjustment and adaptation when replacing hand claw.The conventional coping method is to consider the replaceability of hand claw assembly as much as possible in the design stage, adopt modular design, so that different hand claw assemblies can be replaced through simple operation.However, the disadvantage of this method is that it increases the cost of design and manufacturing, because modular design requires more parts and more complex assembly process, so a new structure needs to be proposed to solve the above technical problems. SUMMARY

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a combined hand claw of industrial robot to solve the problems in the background art.

[0004] The utility model discloses a combined hand claw of industrial robot, including: mechanical arm component and hand claw assembly, the mechanical arm component includes;Fixed plate, mechanical arm one, mechanical arm two, installation plug rod and fixed claw, the upper side surface damping hinged of fixed plate has mechanical arm one, the one end of mechanical arm one away from fixed plate damping hinged has mechanical arm two, the one end of mechanical arm two away from mechanical arm one is symmetrically hinged with two fixed claws, the one end of mechanical arm two away from mechanical arm one is integrally formed with installation plug rod in the center position, the one end of mechanical arm two away from mechanical arm one is fixedly installed with hand claw assembly through fixed claw and installation plug rod, and the hand claw assembly includes: electric push rod, mounting plate one, mounting plate two, articulated piece, hand claw body and articulated rod, the articulated rod is installed through between mounting plate one and mounting plate two, and the side surface of mounting plate two away from mounting plate one is hinged with hand claw body through articulated piece.

[0005] As a preferred implementation, the fixed plate is fixed to the surface of the robot by screws, the inside of the fixed plate is installed with a driving module and a control module, the upper surface of the fixed plate is electrically and elastically hinged with a mechanical arm one through the driving module and the control module, the length of the mechanical arm one is greater than the length of a mechanical arm two, and the end of the mechanical arm two away from the mechanical arm one is electrically and elastically hinged with two fixed grippers through the driving module and the control module.

[0006] As a preferred implementation, the inner surface of the two fixed grippers is provided with anti-skid lines, the front end of the electric push rod is provided with a telescopic rod, the rear end of the electric push rod is provided with a socket, the structure of the socket is matched with the structure of the installation plug rod, and the electric push rod is installed at the front end of the mechanical arm two through the installation plug rod and the fixed gripper. When in use, the design of the installation plug rod enables the gripper assembly to be conveniently connected and detached with the mechanical arm assembly, and when the gripper assembly needs to be replaced or maintained, the operation can be quickly completed, thereby improving the production efficiency.

[0007] As a preferred implementation, the telescopic rod is connected to the center position of the rear surface of the mounting plate one, the mounting plate one and the mounting plate two are both in a disc structure, the diameter of the mounting plate one is smaller than the diameter of the mounting plate two, and the side surface of the mounting plate one away from the telescopic rod is uniformly provided with five hinge rods. The five hinge rods all penetrate the surface of the mounting plate two. When in use, the electric push rod can accurately control the opening degree and gripping force of the gripper body through the connecting rod, and by adjusting the stroke and output force of the electric push rod, the objects with different weights, shapes and materials can be gripped appropriately, thereby avoiding damage to the objects due to excessive gripping force or falling off of the objects due to insufficient gripping force.

[0008] As a preferred implementation, the front surface of the mounting plate two is uniformly provided with five hinge pieces in a ring structure, and the front surface of the mounting plate two is uniformly hinged with five gripper bodies through the five hinge pieces. The inner surface of the gripper body away from the hinge piece is provided with anti-skid lines.

[0009] As a preferred implementation, one end of the hinge rod penetrating the mounting plate two is hingedly connected to the inner surface of the gripper body.

[0010] The beneficial effects of the utility model are as follows: through the mechanical arm assembly, the mechanical arm assembly comprises a fixed plate, a mechanical arm one, a mechanical arm two, a mounting plug rod and a fixed claw, the upper surface of the fixed plate is hingedly connected with the mechanical arm one, the end of the mechanical arm one away from the fixed plate is hingedly connected with the mechanical arm two, the end of the mechanical arm two away from the mechanical arm one is symmetrically hingedly connected with two fixed claws, and the mounting plug rod is integrally formed at the center position of the end of the mechanical arm two away from the mechanical arm one, so that the hand claw assembly can be conveniently connected with and detached from the mechanical arm assembly in use, and the hand claw assembly can be quickly replaced or maintained, thereby improving production efficiency.

[0011] The hand claw assembly is fixedly installed at the end of the mechanical arm two away from the mechanical arm one through the fixed claw and the mounting plug rod, and the hand claw assembly comprises an electric push rod, a mounting plate one, a mounting plate two, a hinge piece, a hand claw body and a hinge rod, the hinge rod is penetrated and installed between the mounting plate one and the mounting plate two, and the hand claw body is hingedly connected to the side surface of the mounting plate two away from the mounting plate one through the hinge piece, so that the electric push rod can accurately control the opening degree and the gripping force of the hand claw body through the connecting rod in use, the stroke and the output force of the electric push rod can be adjusted, and the objects with different weights, shapes and materials can be gripped appropriately, so that the objects are not damaged due to excessive gripping force or the objects are not dropped due to insufficient gripping force. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Fig. 1 It is an overall structural schematic view of the combined hand claw of the industrial robot.

[0014] Fig. 2 It is a schematic view of the mechanical arm assembly of the combined hand claw of the industrial robot.

[0015] Fig. 3 It is a schematic view of the hand claw assembly of the combined hand claw of the industrial robot.

[0016] In the figure, 100 is a mounting plate, 110 is a mechanical arm one, 120 is a mechanical arm two, 130 is a fixed claw, and 140 is a mounting plug rod.

[0017] 200 - electric push rod, 210 - telescopic rod, 220 - mounting plate one, 230 - hinged rod, 240 - mounting plate two, 250 - hinged piece, 260 - hand claw body. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Please refer to Figs. 1 to 3 The present application provides a technical solution: an industrial robot combined hand claw, comprising: a mechanical arm assembly and a hand claw assembly, the mechanical arm assembly comprising: a fixed plate 100, a mechanical arm one 110, a mechanical arm two 120, a mounting plug rod 140 and a fixed claw 130, the upper surface of the fixed plate 100 is hingedly connected with the mechanical arm one 110, the end of the mechanical arm one 110 away from the fixed plate 100 is hingedly connected with the mechanical arm two 120, the end of the mechanical arm two 120 away from the mechanical arm one 110 is symmetrically hingedly connected with two fixed claws 130, the end of the mechanical arm two 120 away from the mechanical arm one 110 is integrally formed with the mounting plug rod 140 at the center position, and the end of the mechanical arm two 120 away from the mechanical arm one 110 is fixedly installed with the hand claw assembly through the fixed claw 130 and the mounting plug rod 140, the hand claw assembly comprising: an electric push rod 200, a mounting plate one 220, a mounting plate two 240, a hinged piece 250, a hand claw body 260 and a hinged rod 230, the hinged rod 230 is installed through between the mounting plate one 220 and the mounting plate two 240, and the side surface of the mounting plate two 240 away from the mounting plate one 220 is hingedly connected with the hand claw body 260 through the hinged piece 250.

[0020] Please refer to Figs. 1 to 3 As a first embodiment of the present application: the fixed plate 100 is fixed on the surface of the robot through screws, the inside of the fixed plate 100 is installed with a driving module and a control module, the upper surface of the fixed plate 100 is electrically and hingedly connected with the mechanical arm one 110 through the driving module and the control module, the length of the mechanical arm one 110 is greater than the length of the mechanical arm two 120, and the end of the mechanical arm two 120 away from the mechanical arm one 110 is electrically and hingedly connected with two fixed claws 130 through the driving module and the control module;

[0021] The inner side surface of the two fixed grippers 130 is provided with anti-skid lines, the front end of the electric push rod 200 is provided with a telescopic rod 210, the rear end of the electric push rod 200 is provided with a socket, the structure of the socket is matched with the structure of the mounting plug rod 140, and the electric push rod 200 is mounted at the front end of the mechanical arm two 120 through the mounting plug rod 140 and the fixed gripper 130.

[0022] In use, the user can fix the mounting plate 100 at a suitable position of the robot, and after fixing, the user can fix the hand claw assembly at the front end of the mechanical arm two 120 through the fixed gripper 130 and the mounting plug rod 140, at this time, the user can control the hand claw assembly to perform a gripping operation through the mechanical arm one 110 and the mechanical arm two 120 (the driving module and the control module in the mounting plate are prior art, as to how to control the gripping of the fixed gripper 130 or the contraction of the telescopic rod 210 of the electric push rod 200 or the movement of the mechanical arm one 110 and the mechanical arm two 120, all need to be connected according to the actual situation, which will not be repeated here), because in use, the design of the mounting plug rod 140 makes the hand claw assembly can be conveniently connected and detached with the mechanical arm assembly, when the hand claw assembly needs to be replaced or maintained, the operation can be quickly completed, and the production efficiency is improved.

[0023] Please refer to Figs. 1 to 3 , as a second embodiment of the utility model: the telescopic rod 210 is connected with the center position of the rear side surface of the mounting plate one 220, the mounting plate one 220 and the mounting plate two 240 are both disc-shaped structures, the diameter of the mounting plate one 220 is smaller than the diameter of the mounting plate two 240, and the side surface of the mounting plate one 220 away from the telescopic rod 210 is uniformly provided with five hinge rods 230, and the five hinge rods 230 all penetrate the surface of the mounting plate two 240;

[0024] The front side surface of the mounting plate two 240 is uniformly provided with five hinge pieces 250 in a ring structure, and the front side surface of the mounting plate two 240 is uniformly hinged with five hand claw bodies 260 through the five hinge pieces 250;

[0025] One end of the hinge rod 230 penetrating the mounting plate two 240 is hingedly connected with the inner side surface of the hand claw body 260;

[0026] In use, the mounting plate two 240 can be fixed by additional fixing structure, which can be connecting rod or fixing rod, after the additional limiting fixing of the mounting plate two 240, if the user starts the telescopic rod 210 of the electric push rod 200, the telescopic rod 210 will drive the mounting plate one 220 to reciprocate forward and backward, when the front surface of the mounting plate one 220 abuts against the rear surface of the mounting plate two 240, the hinged rod 230 is fully extended, then the gripper body 260 is fully opened through the hinge 250, then after the gripper body 260 grips the object, the user retracts the telescopic rod 210, the mounting plate one 220 and the mounting plate two 240 move away from each other, then the five gripper bodies 260 are closed through the above steps, so that the object is clamped, because in use, the electric push rod 200 can accurately control the opening and closing degree and the gripping force of the gripper body 260 through the connecting rod, by adjusting the stroke and output force of the electric push rod 200, the object of different weight, shape and material can be gripped properly, avoiding damaging the object due to excessive gripping force or causing the object to fall off due to insufficient gripping force.

[0027] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An industrial robot modular gripper, comprising: The mechanical arm assembly and the hand claw assembly are characterized in that the mechanical arm assembly comprises a fixed plate (100), a mechanical arm one (110), a mechanical arm two (120), a mounting plug rod (140) and a fixed claw (130), and the upper surface of the fixed plate (100) is hingedly connected with the mechanical arm one (110); The one end of the mechanical arm one (110) away from the fixed plate (100) is hingedly connected with the mechanical arm two (120), the one end of the mechanical arm two (120) away from the mechanical arm one (110) is symmetrically hingedly connected with two fixed claws (130), the one end of the mechanical arm two (120) away from the mechanical arm one (110) is integrally formed with the mounting plug rod (140) at the center position, and the one end of the mechanical arm two (120) away from the mechanical arm one (110) is fixedly installed with the hand claw assembly through the fixed claw (130) and the mounting plug rod (140). The hand claw assembly comprises an electric push rod (200), a mounting plate one (220), a mounting plate two (240), a hinge (250), a hand claw body (260) and a hinge rod (230), the hinge rod (230) is penetrated and installed between the mounting plate one (220) and the mounting plate two (240), and the mounting plate two (240) is hingedly connected with the hand claw body (260) on the side surface away from the mounting plate one (220) through the hinge (250).

2. An industrial robot modular gripper as claimed in claim 1, characterized in that: The fixed plate (100) is fixed on the surface of the robot through screws, and a driving module and a control module are installed in the fixed plate (100), the upper surface of the fixed plate (100) is electrically and hingedly connected with the mechanical arm one (110) through the driving module and the control module, the length of the mechanical arm one (110) is greater than the length of the mechanical arm two (120), and the one end of the mechanical arm two (120) away from the mechanical arm one (110) is electrically and hingedly connected with two fixed claws (130) through the driving module and the control module.

3. An industrial robot modular gripper as claimed in claim 2, characterized in that: The inner side surfaces of the two fixed claws (130) are provided with anti-skid lines, the front end of the electric push rod (200) is provided with a telescopic rod (210), the rear end of the electric push rod (200) is provided with a plug hole, the structure of the plug hole is matched with the structure of the mounting plug rod (140), and the electric push rod (200) is installed at the front end of the mechanical arm two (120) through the mounting plug rod (140) and the fixed claw (130).

4. An industrial robot modular gripper as claimed in claim 3, characterized in that: The telescopic rod (210) is connected with the rear side surface of the mounting plate one (220) at the center position, the mounting plate one (220) and the mounting plate two (240) are both disc-shaped structures, the diameter of the mounting plate one (220) is smaller than the diameter of the mounting plate two (240), and five hinge rods (230) are uniformly installed on the side surface of the mounting plate one (220) away from the telescopic rod (210), and the five hinge rods (230) are penetrated through the surface of the mounting plate two (240).

5. An industrial robot modular gripper as claimed in claim 4, characterized in that: The front side surface of the second mounting plate (240) is uniformly provided with five hinge pieces (250) in a ring structure, and the front side surface of the second mounting plate (240) is uniformly hinged with five paw body (260) through the five hinge pieces (250), and the inner side surface of the end of the paw body (260) away from the hinge piece (250) is provided with anti-skid lines.

6. An industrial robot modular gripper as claimed in claim 5, characterized in that: The hinge rod (230) is hingedly connected to the inner side surface of the paw body (260) at one end penetrating the second mounting plate (240).

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