Multifunctional flexible gripper used in cooperation with robot

Abstract

The utility model relates to the field of grippers, in particular to a multifunctional flexible gripper matched with a robot for use, which comprises a gripper formed by combining a connecting block and a gripper rod, the upper end and the lower end of the connecting block are movably connected with claw rods which are vertically opposite, the rear side of the connecting block is movably connected with an installation column, the connecting rod is installed on the rear side of the installation column, and two tongs which are arranged side by side in the left-right direction are arranged in front of the connecting rod; the opposite sides of the two claw rods are provided with claw clamps which are opposite up and down; the connecting rod is arranged between the robot and the grippers, the two grippers are installed on the connecting rod, the whole grippers can grab and fix products which are different in length and size and have large and small heads within the length range of the connecting rod through the two grippers, the range between the opposite claw rods is large, and therefore the clamping effect is good. And the grabbing and transferring work of products of various shapes, sizes and outer diameters can be compatible, and the universality of the whole grabbing hand is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of gripper, specifically relates to a multifunctional flexible gripper for cooperating with robot. BACKGROUND

[0002] In the auto parts industry and electronic industry, often need to use the gripper installed on the robot to clamp and fix the parts, facilitate the positioning of the parts, facilitate the assembling work of the staff.

[0003] At present, the existing gripper is often single gripper, and the range of the gripper is less, and the universality is low, and in the use process, if the size head exists in the gripped article, the article will be offset due to uneven force.

[0004] Therefore, in view of the above-mentioned existing gripper design makes the gripping range limited, leads to its universality is low, can design a multifunctional flexible gripper for cooperating with robot, design connecting rod, and install opposite gripper on both ends of connecting rod, increase its gripping range, and make it can grip the products of different lengths and sizes even with size head. INVENTION CONTENTS

[0005] In order to overcome the existing gripper design makes the gripping range limited, leads to its universality is low.

[0006] The technical scheme of the utility model is: a multifunctional flexible gripper for cooperating with robot, comprising the gripper combined by connecting block and claw rod, further comprising connecting rod and connecting column, the upper and lower opposite claw rods are movably connected on the upper and lower ends of the connecting block, the mounting column is movably connected on the rear side of the connecting block, the connecting rod is installed on the rear side of the mounting column, the two grippers are arranged side by side on the front of the connecting rod, the mounting column and the connecting rod are provided with a through self No. Anchoring hole, the connecting column is installed on the rear side of the connecting rod, and the upper and lower opposite claw clamps are installed on the opposite side of the two claw rods.

[0007] Preferably, the connecting rod is arranged between the robot and the gripper, two grippers are installed on the connecting rod, the two grippers can clamp and fix the two ends of the article, and the phenomenon of uneven force is avoided, when facing the size head product, the two clamping jaws can be adjusted according to the size of the size head, so that the gripping and fixing of the whole article are more stable.

[0008] As preferred, the connecting block and the claw rod are movably connected with the pull rod, the mounting column rear side of the claw rod is installed with the telescopic motor, and the output end front end of the telescopic motor is fixedly connected with the telescopic rod.

[0009] As preferred, the telescopic rod penetrates the mounting column, the connecting block is sleeved on the outside of the mounting column, the mounting column is provided with the connecting plate on the left and right sides, and the claw rod is movably connected between the two connecting plates.

[0010] Preferably, the mounting column is provided with a mounting plate abutting the top end of the mounting column, and the mounting plate is fixedly connected with a movable sleeve on the outer side of the protection cover of the telescopic motor.

[0011] Preferably, the connecting column is provided with a connecting ring on the front side, and the connecting column is fixedly connected with a mounting ring on the rear side, and the mounting ring is provided with a second anchor hole penetrating the mounting ring.

[0012] Preferably, the connecting rod is provided with a third anchor hole penetrating the connecting rod and matched with the second anchor hole.

[0013] Preferably, the claw rod is provided with a fourth anchor hole penetrating the claw rod and arranged in front of the connecting rod, and the claw clamp is provided with a fifth anchor hole penetrating the claw clamp.

[0014] The multifunctional flexible gripper for cooperating with a robot has the advantages that:

[0015] The connecting rod is arranged between the robot and the gripper, two grippers are arranged on the connecting rod, the two grippers can fix products of different lengths, different sizes and different sizes of heads within the length of the connecting rod, the range between the opposite claw rods is large, the multifunctional flexible gripper can be compatible with products of various shapes, sizes and outer diameters for grabbing and transferring, the versatility of the gripper is improved, and the claw clamp is designed to be flexible and not easy to damage the appearance of the product. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A first three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown;

[0017] Figure 2 A mounting column three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown;

[0018] Figure 3 A claw rod three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown;

[0019] Figure 4 A connecting rod three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown;

[0020] Figure 5 A claw clamp three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown;

[0021] Figure 6 A connecting column three-dimensional structure schematic view of a multifunctional flexible gripper for cooperating with a robot is shown.

[0022] Explanation of reference signs: 1, connecting block; 2, claw rod; 3, connecting rod; 4, connecting column; 5, mounting column; 6, No. 1 anchor hole; 7, claw clamp; 8, pull rod; 9, telescopic motor; 10, telescopic rod; 11, connecting plate; 12, protective cover; 13, connecting ring; 14, mounting ring; 15, No. 2 anchor hole; 16, No. 3 anchor hole; 17, No. 4 anchor hole; 18, No. 5 anchor hole. DETAILED DESCRIPTION

[0023] The utility model is further explained in connection with the drawings and examples.

[0024] Please refer to Figures 1-6 The utility model provides an embodiment: a multifunctional flexible gripper used in cooperation with a robot, comprising a gripper combined by a connecting block 1 and a claw rod 2; further comprising a connecting rod 3 and a connecting column 4, the upper and lower ends of the connecting block 1 are movably connected with the upper and lower opposite claw rods 2, the rear side of the connecting block 1 is movably connected with a mounting column 5, the rear side of the mounting column 5 is installed with the connecting rod 3, the front of the connecting rod 3 is provided with two grippers side by side, the mounting column 5 and the connecting rod 3 are all provided with a No. 1 anchor hole 6 penetrating through itself, the rear side of the connecting rod 3 is installed with the connecting column 4, the opposite side of the two claw rods 2 is installed with the upper and lower opposite claw clamps 7, by setting the connecting rod 3 between the robot and the gripper, the connecting rod 3 is installed with two grippers, the two grippers can clamp and fix the two ends of the article, avoiding the phenomenon of uneven stress, when facing the big-end and small-end products, the design of the two clamping jaws can be adjusted according to the size of the big-end and small-end, so that the whole article is more stable in gripping and fixing.

[0025] Please refer to Figures 2-4 In the embodiment, the connecting block 1 and the claw rod 2 are movably connected with a pull rod 8, the rear side of the claw rod 2 mounting column 5 is installed with a telescopic motor 9, the front end of the output end of the telescopic motor 9 is fixedly connected with a telescopic rod 10, the telescopic motor 9 can drive the telescopic rod 10 to move back and forth repeatedly, the telescopic rod 10 penetrates through the mounting column 5, the connecting block 1 is sleeved on the outside of the mounting column 5, the left and right sides of the mounting column 5 are both installed with connecting plates 11, the claw rod 2 is movably connected between the two connecting plates 11, the connecting block 1 moves on the front side of the mounting column 5, when moving backward, since the rear side of the main rod is fixed on the connecting plate 11, it cannot move backward, so that the connecting block 1 exerts force on the connecting rod when moving backward, the connecting rod drives one end of the claw rod 2 movably connected therewith to rotate, realizing the effect of gripping, on the contrary, the telescopic rod 10 extends, which has the effect of opening the claw rod 2, the mounting column 5 is provided with a mounting plate tightly abutting the top end of the mounting column 5, the rear side of the mounting plate is fixedly connected with a protective cover 12 movably sleeved on the outside of the telescopic motor 9, the protective cover 12 is fixed on the mounting column 5 through the mounting plate, and the protective cover 12 can protect the telescopic motor 9.

[0026] Please refer to Figures 3-6In the embodiment, the connecting column 4 is provided with a connecting ring 13 on the front side, and the connecting column 4 is fixedly connected with a mounting ring 14 on the rear side, the mounting ring 14 is provided with a second anchor hole 15 penetrating the mounting ring 14, the connecting ring 13 is used for connecting the robot, and different connecting columns 4 are used according to different robots, and the connecting rod 3 and the mounting ring 14 are fixed sizes, so that different connecting columns 4 can be replaced according to the model of the robot, the connecting rod 3 is provided with a third anchor hole 16 matched with the second anchor hole 15 and penetrating the connecting rod 3, the connecting column 4 and the connecting rod 3 are installed together through the anchor passing through the third anchor hole 16 and the second anchor hole 15 in sequence, so that the user can install the whole gripper on the robot, the claw rod 2 is provided with a fourth anchor hole 17 penetrating the claw rod 2 and arranged in front of the connecting rod, and the claw clamp 7 is provided with a fifth anchor hole 18 penetrating the claw clamp 7, so that the claw clamp 7 can be fixed on the claw rod 2 through the anchor passing through the fourth anchor hole 17 and the fifth anchor hole 18, the design facilitates the replacement of the claw clamp 7, and the claw clamp 7 adopts a flexible design and has a certain deformation capacity, so that the product can be prevented from being clamped and damaged.

[0027] In the working process, first, the worker fixes the claw clamp 7 in the claw rod 2 by passing the anchor through the fourth anchor hole 17 and the fifth anchor hole 18, then installs the mounting column 5 on the connecting rod 3 by passing the anchor through the first anchor hole 6, then fixes the protective cover outside the telescopic motor 9 by passing the screw through the mounting plate, selects the connecting column 4 of the connecting ring 13 according to the model of the used robot, then makes the second anchor hole 15 and the third anchor hole 16 in a concentric state by tightly arranging the mounting ring 14 on the connecting rod 3, and then fixes the connecting rod 3 and the mounting ring 14 together by the fixing bolt as the anchor, and then fixes the connecting ring 13 and the robot;

[0028] The robot is controlled by the industrial computer to move to a suitable position, the to-be-grasped object is located between the upper and lower claw rods 2, the telescopic motor 9 is started, the telescopic rod 10 drives the connecting block 1 to move backward, the connecting block 1 drives the pull rod 8 to rotate, so that the upper and lower claw rods 2 rotate downward, the claw clamp 7 is driven to clamp the object, the robot moves the object after grasping, then aligns and assembles, the telescopic motor 9 is started after assembly, the telescopic motor 9 drives the telescopic rod 10 to move forward, the connecting block 1 is pushed, so that the connecting block 1 drives the connecting rod to rotate and drives the claw rod 2 to open.

[0029] Through the above steps, the connecting rod 3 is arranged between the robot and the gripper, two grippers are installed on the connecting rod 3, and the whole gripper can be fixed by the two grippers within the length of the connecting rod 3 to grasp products of different lengths, different sizes and with different sizes. The range between the opposite claw rods 2 is large, so that it can be compatible with various shapes, sizes and outer diameters of products for grasping and transferring work, improve the versatility of the whole gripper, and the claw clamp 7 is designed to be flexible. It is not easy to damage the appearance of the product, so as to solve the problem that the existing gripper design limits the grasping range, resulting in low versatility.

Claims

1. A multi-functional flexible gripper used in cooperation with a robot, comprising a gripper combined by a connecting block (1) and a claw lever (2); characterized in that: Also include connecting rod (3) and connecting column (4), the connecting block (1) upper and lower ends of the two opposite claw rod (2) is movably connected, the connecting block (1) rear side movably connected with the installation column (5), the installation column (5) rear side is provided with connecting rod (3), connecting rod (3) front is provided with two left and right side by side gripper, installation column (5) and connecting rod (3) are all provided with a through itself one anchor hole (6), connecting rod (3) rear side is provided with connecting column (4), two claw rod (2) opposite side is provided with the upper and lower opposite claw clamp (7).

2. The multi-functional flexible gripper for use with a collaborative robot according to claim 1, wherein: Connecting block (1) and claw rod (2) between the movable connection has a pull rod (8), claw rod (2) installation column (5) rear side is provided with telescopic motor (9), the output end of telescopic motor (9) front end fixedly connected with telescopic rod (10).

3. The multi-functional flexible gripper for use with a collaborative robot according to claim 2, wherein: Telescopic rod (10) through the installation column (5), connecting block (1) is sleeved on the outside of the installation column (5), the installation column (5) left and right sides are provided with connecting plate (11), claw rod (2) movably connected between two connecting plate (11).

4. The multi-functional flexible gripper for use with a collaborative robot of claim 2, wherein: The installation column (5) is provided with the mounting plate which is tightly attached to the top end of the installation column (5), and the mounting plate rear side is fixedly connected with the movable sleeve outside the telescopic motor (9) protective cover (12).

5. The multi-functional flexible gripper for use with a collaborative robot according to claim 4, wherein: Connecting column (4) front side is provided with connecting ring (13), connecting column (4) rear side is fixedly connected with the mounting ring (14), the mounting ring (14) is provided with a through the mounting ring (14) two anchor hole (15).

6. The multi-functional flexible gripper for use with a collaborative robot of claim 1, wherein: Connecting rod (3) is provided with three anchor hole (16) which is matched with the two anchor hole (15) and penetrates the connecting rod (3).

7. The multi-functional flexible gripper for use with a collaborative robot of claim 1, wherein: Claw rod (2) is provided with four anchor hole (17) which penetrates the claw rod (2) itself and is arranged in front of the connecting rod, and the claw clamp (7) is provided with five anchor hole (18) which penetrates the claw clamp (7).

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