Split gripper of robot

Abstract

The utility model discloses a split type gripper of a robot, which belongs to the technical field of robot grippers and comprises a base, a mounting arm is fixedly connected to the top of the base, a lifting cylinder is fixedly mounted in the mounting arm, and a hinge piece and a mounting frame are arranged at the output end of the lifting cylinder. The lifting air cylinder and the mounting frame form a rotary connecting structure through a hinge piece, the top of the mounting frame is fixedly connected with a first mounting plate, the top of the first mounting plate is provided with a suction cup clamping jaw, one side of the mounting frame is fixedly connected with a second mounting plate, and one side of the second mounting plate is provided with an air cylinder clamping jaw. When the device is used, the pull rod only needs to be pulled outwards to drive the inserting rod to move outwards to be separated from the inserting hole, limiting and locking of the inserting block can be relieved, then the suction cup clamping jaw or the air cylinder clamping jaw only needs to be pulled out, operation is convenient and fast, the suction cup clamping jaw or the air cylinder clamping jaw can be conveniently and rapidly mounted and dismounted, and the practicability of the device can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot gripper technical field, more specifically to a kind of robot split type gripper. BACKGROUND

[0002] Split type gripper (also known as robot split type gripper) is a kind of robot end effector, usually used in industrial automation, logistics, assembly line etc.

[0003] Split type gripper is usually composed of multiple independent modules, each module is responsible for a part or function of grasping action, combined together, can form a gripper system with higher flexibility and functionality, however, the existing robot gripper is poor in flexibility, it is difficult to realize the grasping, carrying or operation of different objects, cannot realize alternate grabbing sheet material, lower applicability, and the installation and removal of clamping jaw module are generally fixed by bolt, installation and removal are more cumbersome, inconvenient to maintain and replace, for this purpose, a kind of robot split type gripper is proposed to solve the above problems. SUMMARY

[0004] The utility model aims at solving the problems of the existing robot gripper poor in flexibility, difficult to realize the grasping, carrying or operation of different objects, cannot realize alternate grabbing sheet material, lower applicability, and the installation and removal of clamping jaw module are generally fixed by bolt, installation and removal are more cumbersome, inconvenient to maintain and replace, and provides a kind of robot split type gripper.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A kind of robot split type gripper, including base, the base top is fixedly connected with installation arm, the installation arm inside is fixedly installed with lifting cylinder, the output end of the lifting cylinder is equipped with hinged member and mounting bracket, the lifting cylinder and mounting bracket are connected by hinged member and constitute rotating connection structure, the mounting bracket top is fixedly connected with first mounting plate, the first mounting plate top is provided with suction disc clamping jaw, the one side of the mounting bracket is fixedly connected with second mounting plate, the one side of the second mounting plate is provided with cylinder clamping jaw, the first mounting plate one side and second mounting plate top are all set with mounting hole, and the mounting hole is all installed with plug-in assembly.

[0007] As a further description of the above technical scheme, the plug-in assembly comprises a mounting cylinder fixedly installed in the mounting hole and plug blocks fixedly installed at one end of the suction cup clamping jaw and the air cylinder clamping jaw respectively, one side of the plug block is provided with a plug-in hole, the inside of the mounting cylinder is slidably connected with a sliding block, one end of the sliding block is fixedly connected with a pull rod, the outer wall of the pull rod in the mounting cylinder is sleeved with a reset spring, the other end of the sliding block is fixedly connected with a plug-in rod, and the plug-in rod is inserted into the inside of the plug-in hole.

[0008] As a further description of the above technical scheme, one side of the first mounting plate and the second mounting plate is provided with an insertion slot matched with the plug block, and the outer end of the plug block is chamfered.

[0009] As a further description of the above technical scheme, the plug-in rod is matched with the plug-in hole, and the outer end of the plug-in rod is chamfered.

[0010] As a further description of the above technical scheme, the lifting air cylinder can push and pull the air cylinder clamping jaw to rotate within a range of 90 degrees, and the air cylinder clamping jaw is composed of a clamping jaw air cylinder and a clamping assembly.

[0011] As a further description of the above technical scheme, the suction cup clamping jaw is composed of a plurality of suction cups.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] 1. When the suction cup clamping jaw or the air cylinder clamping jaw needs to be replaced, the pull rod is only pulled outwards, the sliding block is driven to slide outwards along the inner wall of the mounting cylinder to extrude the reset spring, the plug-in rod is driven to move outwards to disengage from the plug-in hole, the suction cup clamping jaw or the air cylinder clamping jaw can be removed, in the opposite case, the plug block is only inserted into the insertion slot, in the process of inserting the plug block, the reset spring is compressed first and then reset, the plug-in rod is clamped in the plug-in hole, the installation is completed, the operation is convenient, the suction cup clamping jaw or the air cylinder clamping jaw can be quickly installed and removed, and the practicability of the device is improved.

[0014] 2. When the device is used to grab the material, the suction cup clamping jaw and the air cylinder clamping jaw are used to clamp the material according to the shape characteristics of the object, the different objects can be grabbed, carried or operated, the efficiency of clamping the material is improved, and the applicability is high. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a robot split type gripper.

[0016] Figure 2It is a part enlarged structural schematic view of a robot split type gripper.

[0017] Figure 3 It is a part enlarged structural schematic view of a robot split type gripper.

[0018] Figure 4 It is Figure 3 A part enlarged structural schematic view.

[0019] The figure mark: 1, base; 2, mounting arm; 3, lifting cylinder; 4, mounting frame; 5, suction cup gripper; 6, cylinder gripper; 7, first mounting plate; 8, second mounting plate; 9, plug-in assembly; 91, mounting cylinder; 92, sliding block; 93, pull rod; 94, reset spring; 95, plug-in rod; 96, plug; 97, plug hole; 10, hinge; 11, slot. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings, wherein several embodiments of the present application are shown, but the present application can be realized in different forms, and is not limited to the embodiments described in the text, on the contrary, these embodiments are provided to make the disclosed content of the present application more thorough and comprehensive.

[0021] The present application provides a kind of robot split type gripper, please refer to Figures 1-4 As shown in the drawing, it includes base 1, base 1 top fixedly connected with mounting arm 2, mounting arm 2 inside fixedly installed with lifting cylinder 3, the output end of lifting cylinder 3 is equipped with hinge 10 and mounting frame 4, lifting cylinder 3 and mounting frame 4 are connected by hinge 10 to form rotating connection structure, the top of mounting frame 4 is fixedly connected with first mounting plate 7, and the top of first mounting plate 7 is provided with suction cup gripper 5, one side of mounting frame 4 is fixedly connected with second mounting plate 8, and one side of second mounting plate 8 is provided with cylinder gripper 6, and the top of first mounting plate 7 and second mounting plate 8 are both provided with mounting hole, and plug-in assembly 9 is installed in mounting hole.

[0022] In the embodiment of the application, when the device is used to grasp the material, according to the shape characteristics of the object, the suction cup gripper 5 and the cylinder gripper 6 are used to clamp the material, which is convenient for grasping, carrying or operating different objects, the lifting cylinder 3 is started to make the cylinder push-pull rod extend up and down, and then drive the suction cup gripper 5 and the cylinder gripper 6 rotatingly connected to the top of the hinge 10 to rotate within a range of 90 degrees, so that the suction cup gripper 5 and the cylinder gripper 6 are turned over by 90 degrees, so that the suction cup gripper 5 and the cylinder gripper 6 can be alternately grasped according to the characteristics of the material, which is simple and fast, and can improve the clamping efficiency of the material and has strong applicability.

[0023] Further, the plug-in assembly 9 comprises a mounting cylinder 91 fixedly installed in the mounting hole, and plug blocks 96 fixedly installed at one end of the suction cup clamping jaw 5 and the air cylinder clamping jaw 6 respectively, and the plug blocks 96 are provided with plug-in holes 97 on one side, the sliding block 92 is slidably connected in the mounting cylinder 91, the pull rod 93 is fixedly connected at one end of the sliding block 92, the reset spring 94 is sleeved on the outer wall of the mounting cylinder 91 where the pull rod 93 is located, the plug-in rod 95 is fixedly connected at the other end of the sliding block 92 and is inserted into the plug-in hole 97, the plug-in rod 95 is matched with the plug-in hole 97, and the outer end of the plug-in rod 95 is rounded, and the first mounting plate 7 and the second mounting plate 8 are both provided with plug grooves 11 matched with the plug blocks 96 on one side, and the outer end of the plug block 96 is chamfered.

[0024] When the suction cup clamping jaw 5 or the air cylinder clamping jaw 6 needs to be replaced, the pull rod 93 is pulled outwards, the sliding block 92 is driven to slide outwards along the inner wall of the mounting cylinder 91 and press the reset spring 94, the plug-in rod 95 is driven to move outwards and is separated from the plug-in hole 97, the suction cup clamping jaw 5 or the air cylinder clamping jaw 6 can be pulled out, and vice versa, the plug block 96 is inserted into the plug groove 11, the reset spring 94 is compressed and then reset during the insertion of the plug block 96, the plug-in rod 95 is clamped in the plug-in hole 97, and the installation is completed.

[0025] Further, the lifting air cylinder 3 can push and pull the air cylinder clamping jaw 6 to rotate within a range of 90 degrees, the air cylinder clamping jaw 6 is composed of a clamping jaw air cylinder and a clamping assembly, and the push and pull of the clamping jaw air cylinder can make the clamping mechanism clamp and release.

[0026] Further, the suction cup clamping jaw 5 is composed of a plurality of suction cups, and when used, some objects with smooth and flat surfaces can be adsorbed by the suction cups, the adsorption and release actions can be quickly completed, the work efficiency is improved, and high-speed material conveying and sorting can be realized.

[0027] The working principle of the device is as follows: when the device is used to grab materials, the suction cup clamping jaw 5 and the air cylinder clamping jaw 6 are used to clamp the materials according to the shape characteristics of the objects, the clamping of different objects can be realized, the lifting air cylinder 3 is started to make the air cylinder push-pull rod perform up-down telescopic movement, the suction cup clamping jaw 5 and the air cylinder clamping jaw 6 connected to the top of the hinge piece 10 are driven to rotate within a range of 90 degrees, the suction cup clamping jaw 5 and the air cylinder clamping jaw 6 are turned by 90 degrees, and the materials can be alternately grabbed according to the characteristics of the materials, which is simple and fast, the clamping efficiency of the materials is improved, and the applicability is strong.

[0028] When the suction cup clamp jaw 5 or the air cylinder clamp jaw 6 needs to be replaced, the pull rod 93 is only pulled outward, the pull rod 93 drives the sliding block 92 to slide outward along the inner wall of the mounting cylinder 91 to extrude the reset spring 94, thereby driving the plug-in rod 95 to move outward to disengage the plug-in hole 97, the limiting locking of the plug block 96 is released, then the suction cup clamp jaw 5 or the air cylinder clamp jaw 6 is only pulled out, in the opposite, the plug block 96 is only inserted into the insertion slot 11, in the process of inserting the plug block 96, the reset spring 94 is compressed and reset, thereby the plug-in rod 95 is clamped in the plug-in hole 97, the installation is completed, the operation is convenient, the suction cup clamp jaw 5 or the air cylinder clamp jaw 6 can be quickly installed and dismounted.

[0029] The utility model has been described exemplarily in combination with the drawings, obviously, the utility model concrete implementation is not limited by the above-mentioned mode, as long as this kind of non-essential improvement using the method concept and technical scheme of the utility model or the concept and technical scheme of the utility model is directly applied to other occasions without improvement, all are within the protection scope of the utility model.

Claims

1. A robot split gripper comprising a base (1), characterised in that: The base (1) top fixedly connected with the mounting arm (2), the mounting arm (2) inside fixedly installed with lifting cylinder (3), the output end of the lifting cylinder (3) is equipped with hinged part (10) and mounting bracket (4), the lifting cylinder (3) and mounting bracket (4) constitute the rotary connection structure through hinged part (10), the mounting bracket (4) top fixedly connected with the first mounting plate (7), the first mounting plate (7) top is provided with suction disc jaw (5), one side of the mounting bracket (4) is fixedly connected with the second mounting plate (8), one side of the second mounting plate (8) is provided with cylinder jaw (6), the first mounting plate (7) one side and the second mounting plate (8) top are all provided with mounting hole, and the mounting hole is all installed with plug-in assembly (9).

2. The robotic split gripper of claim 1, wherein: The plug-in assembly (9) includes a mounting cylinder (91) fixedly installed in the mounting hole and an insertion block (96) fixedly installed at one end of the suction disc jaw (5) and the cylinder jaw (6), respectively, one side of the insertion block (96) is provided with a plug-in hole (97), the mounting cylinder (91) is slidably connected with a sliding block (92) inside, one end of the sliding block (92) is fixedly connected with a pull rod (93), the pull rod (93) is sleeved with a return spring (94) on the outer wall in the mounting cylinder (91), the other end of the sliding block (92) is fixedly connected with an insertion rod (95), and the insertion rod (95) is inserted into the plug-in hole (97).

3. A robot split gripper according to claim 2, characterized in that: The first mounting plate (7) and the second mounting plate (8) are provided with an insertion slot (11) on one side, which is matched with the insertion block (96), and the outer end of the insertion block (96) is chamfered.

4. The robotic split gripper of claim 2, wherein: The insertion rod (95) is matched with the plug-in hole (97), and the outer end of the insertion rod (95) is chamfered.

5. The robotic split gripper of claim 1, wherein: The lifting cylinder (3) can push and pull the cylinder jaw (6) to rotate within a range of 90 degrees, the cylinder jaw (6) is composed of a jaw cylinder and a clamping assembly, and the push and pull of the jaw cylinder can make the clamping mechanism clamp and release.

6. The robotic split gripper of claim 1, wherein: The suction disc jaw (5) is composed of a plurality of suction discs.

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