Quick-change gripper

Abstract

The quick-change gripper comprises a fixed connecting body, a suction cup arm connecting body and vacuum suction cups, the suction cup arm connecting body is in sliding connection with the fixed connecting body, the fixed connecting body is used for being connected with the tail end of a mechanical arm, the vacuum suction cups are distributed on the suction cup arm connecting body, and the vacuum suction cups communicate with an inner cavity of a valve body on the suction cup arm connecting body; a pipeline hole used for vacuum circulation is formed in the lower portion of the fixed connecting body, a valve element and a valve element reset spring are sequentially arranged in a valve body inner cavity of the suction cup arm connecting body, the valve element is jacked into the pipeline hole of the fixed connecting body under the action of the valve element reset spring, and the valve element is used for communicating the pipeline hole of the fixed connecting body with the valve body inner cavity of the suction cup arm connecting body. The valve element is connected with a valve element pressing handle, and the valve element pressing handle extends out of the suction cup arm connecting body. The gripper can be quickly disassembled and replaced without tools, the structure is simple, the weight is light, and the self weight of the gripper is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand gripper, in particular to a quick-change gripper. BACKGROUND

[0002] In various material picking and placing type packing machines and boxing machines, robots are widely used. The end gripper of the robot needs to be replaced according to different work tasks, and in order to reduce the cost of equipment and improve the work efficiency of the robot, the end gripper is required to be easily replaced and as light as possible. The conventional design is to connect the gripper and the robot by bolts or to use a relatively complex special transition connector. Usually, such a connector is heavy and is not suitable for high-frequency operation robots. SUMMARY

[0003] The purpose of the present application is to provide a quick-change gripper which can be quickly disassembled and replaced without tools, has a simple structure, is light in weight and reduces the weight of the gripper itself.

[0004] The technical scheme adopted by the present application is as follows:

[0005] A quick-change gripper comprises a fixed connecting body, a suction cup arm connecting body and a vacuum suction cup. The suction cup arm connecting body is in sliding connection with the fixed connecting body. The fixed connecting body is used to connect with the end of a mechanical arm. The vacuum suction cup is distributed on the suction cup arm connecting body and is in communication with the inner cavity of a valve body on the suction cup arm connecting body.

[0006] A pipeline hole for circulating vacuum is arranged at the lower part of the fixed connecting body. A valve core and a valve core return spring are arranged in the inner cavity of the valve body of the suction cup arm connecting body in sequence. The valve core is pushed into the pipeline hole of the fixed connecting body under the action of the valve core return spring. The valve core is used to connect the pipeline hole of the fixed connecting body and the inner cavity of the valve body of the suction cup arm connecting body. The valve core is connected with a valve core pressing handle which extends out of the suction cup arm connecting body.

[0007] Preferably, a sliding plate is arranged at the bottom of the fixed connecting body, and a corresponding sliding groove is arranged on the suction cup arm connecting body. The sliding plate slides into the sliding groove, and the fixed connecting body can move back and forth along the sliding groove through the sliding plate.

[0008] Preferably, the pipeline hole of the fixed connecting body is a circular pipeline hole.

[0009] Preferably, the fixed connecting body is connected with a vacuum pipeline connecting joint.

[0010] Preferably, the number of vacuum pipeline connecting joints is multiple, and the multiple vacuum pipeline connecting joints are arranged along the circumference of the fixed connecting body.

[0011] Preferably, a mechanical hand connecting block is connected to the upper end of the fixed connecting body, and the mechanical hand connecting block is connected with the end of the mechanical arm through bolts.

[0012] Preferably, the suction cup arm is connected to the suction cup arm connector, and the vacuum cup is arranged on the suction cup arm.

[0013] Preferably, the suction cup arm vacuum pipeline can be arranged inside the suction cup arm or outside the suction cup arm.

[0014] Preferably, the number of suction cup arms is multiple, which are left suction cup arms and right suction cup arms arranged at the left and right ends of the suction cup arm connector.

[0015] Preferably, the suction cup arm includes a straight-line suction cup arm and a transversely outwardly suspended suction cup arm, the straight-line suction cup arm is vertically shaped as a 1, the upper end of the straight-line suction cup arm is directly connected to the suction cup arm connector, and the lower end of the straight-line suction cup arm is connected to one vacuum cup, the transversely outwardly suspended suction cup arm is shaped as a chevron, one end of the transversely outwardly suspended suction cup arm is connected to the suction cup arm connector, the other end of the transversely outwardly suspended suction cup arm is transversely suspended outside the suction cup arm connector, and two vacuum cups are arranged.

[0016] Preferably, the suction cup arm connector and the suction cup arm are made of non-metallic material or aluminum alloy material.

[0017] The present application has the following beneficial effects:

[0018] In the present application, the suction cup arm connector is slidably connected to the fixing connector, the valve core is pushed into the pipeline hole of the fixing connector under the action of the valve core return spring, the valve core is used to connect the pipeline hole of the fixing connector and the vacuum pipeline formed by the valve body inner cavity of the suction cup arm connector, and the positioning between the fixing connector and the suction cup arm connector is formed, which is used to limit the sliding disengagement of the suction cup arm connector from the fixing connector, the valve core is connected to the valve core pressing handle, and the valve core pressing handle is extended outside the suction cup arm connector; when the suction cup clamp needs to be disassembled and replaced, the valve core can be retracted into the suction cup arm connector by pressing the valve core pressing handle, the suction cup arm connector is transversely slid, and the suction cup arm connector can be replaced without tools, so that the quick disassembly and replacement of the gripper are realized, the structure is simple, the weight is light, the weight of the gripper itself is reduced, and in addition, the connection surface between the fixing connector and the suction cup arm connector has a self-sealing function by pressing the valve core, and the vacuum leakage is small. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the front view of the quick-change gripper in the embodiment of the present application.

[0020] Figure 2 is Figure 1 left view.

[0021] Figure 3 is the perspective view of the fixing connector in the embodiment of the present application.

[0022] Figure 4 is Figure 2A-A sectional view of Figure 1.

[0023] In the figure: 100 - fixed connector; 101 - sucker arm connector; 102 - right sucker arm; 103 - left sucker arm; 104 - vacuum chuck; 200 - manipulator connecting block; 201 - vacuum pipe connecting joint; 202 - sliding plate; 301 - valve core pressing handle; 302 - valve core reset spring; 303 - valve core; 304 - sucker arm connecting base block. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0025] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] Example 1

[0028] A quick-change gripper, comprising a fixed connector 100, a suction cup arm connector 101, and a vacuum suction cup 104, the suction cup arm connector 101 is slidably connected with the fixed connector 100, the fixed connector 100 is used to be connected with the end of a mechanical arm through bolts, the vacuum suction cup 104 is distributed on the suction cup arm connector 101, and the vacuum suction cup 104 is in communication with the valve body inner cavity on the suction cup arm connector 101.

[0029] A pipeline hole for flowing vacuum is arranged in the middle lower part of the fixed connector 100, a valve core 303 and a valve core return spring 302 are sequentially arranged in the valve body inner cavity of the suction cup arm connector 101, the valve core 303 is pushed into the pipeline hole of the fixed connector 100 under the action of the valve core return spring 302, and the valve core 303 plays the role of a positioning pin, the valve core is used for connecting the pipeline hole of the fixed connector 100 and the valve body inner cavity of the suction cup arm connector 101 to form a vacuum pipeline and positioning between the fixed connector 100 and the suction cup arm connector 101, and is used for limiting the suction cup arm connector 101 from sliding away from the fixed connector, the valve core 303 is connected with a valve core pressing handle 301, and the valve core pressing handle 301 extends out of the suction cup arm connector 101; when it is needed to disassemble and replace the suction cup clamp, the valve core 303 can be retracted into the suction cup arm connector 101 by pressing the valve core pressing handle 301, the suction cup arm connector 101 is slid transversely, the suction cup arm connector 101 is replaced, and the disassembly of the suction cup clamp is realized.

[0030] Further, the fixed connector 100 is provided with a sliding plate 202, the suction cup arm connector 101 is provided with a corresponding sliding groove, the sliding plate 202 slides into the sliding groove, and the fixed connector 100 can move back and forth along the sliding groove through the sliding plate 202.

[0031] Further, the pipeline hole of the fixed connector 100 is a circular pipeline hole, and the circular pipeline hole is vertically arranged.

[0032] Further, the fixed connector 100 is connected with a vacuum pipeline connecting joint 201.

[0033] Further, the number of vacuum pipeline connecting joints 201 is multiple, and the multiple vacuum pipeline connecting joints 201 are arranged along the circumference of the fixed connector 100.

[0034] In specific embodiments, the number of vacuum pipeline connecting joints 201 is four.

[0035] Further, the fixed connector 100 is connected with a mechanical hand connecting block 200, and the mechanical hand connecting block 200 is connected with the end of the mechanical arm through bolts.

[0036] Further, the mechanical hand connecting block 200 can be a flange plate.

[0037] Embodiment 2

[0038] The embodiment 2 with the defined technical features of the suction arm is more excellent in performance.

[0039] The suction arm is connected to the suction arm connecting body 101, and the vacuum chuck 104 is arranged on the suction arm.

[0040] Further, the suction arm vacuum pipeline can be built in the suction arm or arranged outside the suction arm.

[0041] Further, the number of the suction arms is multiple, which are respectively the left suction arm 103 and the right suction arm 102, and are arranged at the left and right ends of the suction arm connecting body 101.

[0042] Further, the left suction arm 103 and the right suction arm 102 each include a straight-line suction arm and a transversely outwardly suspended suction arm, the straight-line suction arm is vertically 1-shaped, the upper end of the straight-line suction arm is directly connected to the suction arm connecting body 101 through a bolt, and the lower end is connected to a vacuum chuck 104, the transversely outwardly suspended suction arm is herringbone-shaped, one end of the transversely outwardly suspended suction arm is connected to the suction arm connecting body 101, and the other end of the transversely outwardly suspended suction arm is transversely suspended outside the suction arm connecting body 101 and is provided with two vacuum chucks 104.

[0043] The suction arm connecting body 101 is provided with a suction arm connecting base block 304, and the transversely outwardly suspended suction arm is connected to the suction arm connecting body 101 through the suction arm connecting base block 304.

[0044] The transversely outwardly suspended suction arm is connected to the suction arm connecting base block 304 through a bolt.

[0045] Further, the suction arm connecting body 101 and the suction arm are made of non-metallic material or aluminum alloy material.

[0046] Further, the valve core is a conical valve core.

[0047] The working principle of the present application is that a sliding plate 202 is installed at the lower part of the fixed connecting body 100, two aligned sliding grooves are arranged at the upper part of the suction arm connecting body 101, when a new specification gripper is installed, the suction arm connecting body 101 is pushed along the sliding groove, and the suction arm connecting body 101 and the sliding plate 202 are pushed in; a circular pipeline hole for circulating vacuum is arranged in the middle of the lower part of the fixed connecting body 100, and a conical valve core 303 controlled by a spring is arranged in the middle of the suction arm connecting body 101; when the suction arm connecting body 101 is pushed forward to align the valve core 303 with the circular pipeline hole, the valve core is pushed into the circular pipeline hole under the action of the spring; the valve core plays a role of connecting the vacuum pipeline between the fixed connecting body 100 and the suction arm connecting body 101, and limiting the sliding disengagement of the suction arm connecting body from the fixed connecting body 100.

[0048] When the gripper of the suction cup clamp needs to be disassembled, a depressible valve core pressing handle 301 is installed on the conical valve core on the suction cup arm connecting body 101. Pressing the valve core pressing handle 301 retracts the conical valve core into the suction cup arm connecting body, compresses the valve core 303 together with the valve core return spring 302, and the valve core 303 is pulled out of the hole position of the manipulator connecting block 200. Then pull out the suction cup arm connecting body 101 along the direction of the sliding plate 202; slide the suction cup arm connecting body 101 transversely to realize the disassembly of the suction cup clamp.

[0049] When replacing a new gripper, insert the suction cup arm connecting body 101 along the sliding plate 202, when the valve core 303 is aligned with the hole position on the manipulator connecting block 200, the valve core 303 enters the hole position on the manipulator connecting block 200 under the action of the return spring 302, locking the position of the suction cup arm connecting body 101.

[0050] In summary, the application provides a quick-change gripper, which is a quickly detachable clamp structure, can realize quick replacement of the gripper, and reduce the weight of the clamp itself, which can realize quick replacement while keeping the quality small; it includes a fixed connecting body 100, a suction cup arm connecting body 101, a left suction cup mounting body, a right suction cup mounting body, and a vacuum suction cup 104; the vacuum suction cup 104 is installed on the suction cup mounting body, the suction cup mounting body is installed on the suction cup arm connecting body 101, the suction cup arm connecting body 101 is in sliding connection with the fixed connecting body 100, and can be quickly disassembled manually without tools; and the connecting surface has a self-sealing function, and the vacuum leakage is small. The fixed connecting body 100 is connected to the end of the mechanical arm by bolts.

[0051] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0052] It should be understood that those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall fall within the protection scope of the appended claims of the present application.

Claims

1. A quick-change gripper, characterized in that: It includes a fixed connector (100), a suction cup arm connector (101), and a vacuum suction cup (104). The suction cup arm connector (101) is slidably connected to the fixed connector (100). The fixed connector (100) is used to connect to the end of the robotic arm. The vacuum suction cup (104) is distributed on the suction cup arm connector (101) and is connected to the inner cavity of the valve body on the suction cup arm connector (101). The fixed connector (100) has a pipe hole for vacuum circulation at the lower part. The valve body cavity of the suction arm connector (101) is provided with a valve core (303) and a valve core return spring (302) in sequence. The valve core (303) is pushed into the pipe hole of the fixed connector (100) under the action of the valve core return spring (302). The valve core is used to connect the pipe hole of the fixed connector (100) and the valve body cavity of the suction arm connector (101). The valve core (303) is connected to a valve core pressing handle (301). The valve core pressing handle (301) extends out of the suction arm connector (101).

2. The quick-change gripper as described in claim 1, characterized in that: The bottom of the fixed connector (100) is provided with a sliding plate (202), and the suction cup arm connector (101) is provided with a corresponding sliding groove. The sliding plate (202) slides into the sliding groove, and the fixed connector (100) can move back and forth along the sliding groove through the sliding plate (202).

3. The quick-change gripper as described in claim 1, characterized in that: The pipe hole of the fixed connector (100) is a circular pipe hole.

4. The quick-change gripper as described in claim 1, characterized in that: The fixed connector (100) is connected to a vacuum line connector (201).

5. The quick-change gripper as described in claim 4, characterized in that: There are multiple vacuum line connection joints (201), and the multiple vacuum line connection joints (201) are arranged circumferentially along the fixed connection body (100).

6. The quick-change gripper as described in claim 1, characterized in that: The upper end of the fixed connector (100) is connected to the robot arm connector (200), and the robot arm connector (200) is connected to the end of the robot arm by bolts.

7. The quick-change gripper as described in claim 1, characterized in that: A suction cup arm is connected to the suction cup arm connector (101), and a vacuum suction cup is set on the suction cup arm. The vacuum suction cup is connected to the valve body cavity on the suction cup arm connector (101) through the vacuum pipe of the suction cup arm.

8. The quick-change gripper as described in claim 7, characterized in that: There are multiple suction cup arms, namely a left suction cup arm (103) and a right suction cup arm (102), which are arranged at the left and right ends of the suction cup arm connector (101).

9. The quick-change gripper as described in claim 8, characterized in that: The suction cup arm includes an inline suction cup arm and a transversely suspended suction cup arm. The upper end of the inline suction cup arm is directly connected to the suction cup arm connector (101), and the lower end is connected to a vacuum suction cup. One end of the transversely suspended suction cup arm is connected to the suction cup arm connector (101), and the other end of the transversely suspended suction cup arm is transversely suspended outside the suction cup arm connector (101) and is equipped with a vacuum suction cup.

10. The quick-change gripper as described in claim 7, characterized in that: Both the suction cup arm connector (101) and the suction cup arm are made of non-metallic materials or aluminum alloy.

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