Manipulator clamp suitable for box-stored workpieces

Abstract

The utility model relates to a manipulator clamp suitable for box-stored workpieces, which can be mounted on a manipulator, and belongs to the technical field of clamp tools. The clamp comprises a square hollowed-out base, the base is composed of a square bottom plate and a four-edge plate defined by the four edges of the square bottom plate, a first clamping jaw assembly and a second clamping jaw assembly are fixed to the outer sides of a first pair of two edge plates opposite to each other in the four-edge plate respectively, and a box opening assembly is arranged on the bottom plate; the first clamping jaw assembly is used for clamping thin plate and thin frame type workpieces, the second clamping jaw assembly is used for clamping thick plate and thick frame type workpieces, and the box opening assembly is used for opening and closing a container for storing the workpieces. The clamp can realize the functions of clamping various types of workpieces and opening and closing containers.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of mechanical arm clamps suitable for clamping workpiece stored in box, belong to clamp tooling technical field. BACKGROUND

[0002] Based on the phenomenon that end gripper of mechanical arm faces insufficient adaptability of diversified workpieces, complex operation and low efficiency in industrial automation application, the gripper installed on existing manipulator or mechanical arm is mostly single jaw structure design, which is difficult to adapt to the clamping demand of different types of workpieces;And low degree of modularization, unable to realize quick switching and replacing gripper.In addition, existing mechanical arm gripper does not consider clamping workpiece stored in container, and opening and closing container needs artificial operation, which limits the full mechanization degree of production line. SUMMARY

[0003] The technical problem to be solved by the utility model is how to make the gripper installed on manipulator or mechanical arm cope with clamping different types of workpieces stored in container on production line.

[0004] The technical scheme provided by the utility model for solving the above problems is: a kind of manipulator gripper suitable for box storage workpiece, the gripper is used to be installed on manipulator or mechanical arm, including square hollow base, the base is composed of a square bottom plate and four edge plates along the four edges of square bottom plate, the first pair of two edge plates in opposite direction of four edge plates respectively fixed with first jaw assembly and second jaw assembly, the bottom plate is provided with opening box assembly;

[0005] The first jaw assembly is used to clamp sheet and thin frame type workpiece, including a pair of first jaw cylinder and two pairs of first jaw fixed on a pair of first jaw cylinder;A pair of first jaw cylinder is fixed on the outer side of one of the first pair of two edge plates at two ends, the first jaw cylinder is equipped with two groups of movable first cylinder sliding table, a pair of first jaw is fixed on two groups of first cylinder sliding table;Every two first cylinder sliding tables of two groups of first cylinder sliding tables move towards each other with a pair of first jaw approaching each other, every two first cylinder sliding tables of two groups of first cylinder sliding tables move reversely with a pair of first jaw separating from each other;

[0006] The second clamping jaw assembly is used for clamping thick plate and thick frame workpieces, comprising a clamping jaw telescopic cylinder, a pair of second clamping jaw air cylinders, two pairs of second clamping jaws and a suction cup fixed on the second clamping jaw air cylinders respectively, the clamping jaw telescopic cylinder is fixed outside the other side plate of the first pair of two side plates, the clamping jaw telescopic cylinder is provided with a telescopic rod penetrating through, a pair of second clamping jaw air cylinders are symmetrically fixed on both ends of the telescopic rod, two groups of movable second air cylinder sliding tables are arranged on the second clamping jaw air cylinders, and a pair of second clamping jaws are fixed on the two groups of second air cylinder sliding tables respectively; every two second air cylinder sliding tables of the two groups of second air cylinder sliding tables move towards each other with a pair of second clamping jaws approaching each other, and every two second air cylinder sliding tables of the two groups of second air cylinder sliding tables move reversely with a pair of second clamping jaws separating from each other; a fixing rod is arranged on the outer side of the clamping jaw telescopic cylinder, the suction cup is fixed at one end of the fixing rod, and the empty end of the second clamping jaw forms a hook shape.

[0007] The box opening assembly is used for opening and closing the box storing the workpieces, comprising a sliding table module fixed on the inner surface of the bottom plate, a support slidably arranged on the sliding table module, a cover opening top rod arranged in the middle of the support, and a pressure cover roller installed at both ends of the support.

[0008] The clamping device is installed with two kinds of clamping jaw assemblies and a box opening assembly through a base, so that different types of workpieces stored in the box can be clamped after the box cover is opened, and the workpieces of different types stored in the box on the production line are clamped. Since the base, the two kinds of clamping jaw assemblies and the box opening assembly adopt a modular structure design, the universality is improved, and the high efficiency requirement of mass production on the production line is met.

[0009] Further, the end of the first clamping jaw and the second clamping jaw is provided with a plastic pad.

[0010] Further, a flange is installed on the outer bottom surface of the bottom plate, and the flange is used for installing the clamping device on a mechanical hand.

[0011] Further, the second pair of two side plates of the base form a gap, and the two ends of the sliding table module extend out of the gap.

[0012] Further, the gap of one side plate of the second pair of two side plates is a large gap, the support extends out of the large gap when sliding, and the gap of the other side plate of the second pair of two side plates is a rectangular window. BRIEF DESCRIPTION OF DRAWINGS

[0013] The technical scheme of the utility model will be further illustrated below in combination with the drawings and through specific embodiments.

[0014] Figure 1 It is a structural schematic view of an embodiment of the utility model;

[0015] Figure 2 From Figure 1 A schematic diagram showing only the first gripper assembly after splitting.

[0016] Figure 3 for Figure 1 A schematic diagram showing the structure of the second gripper assembly after splitting.

[0017] Figure 4 for Figure 1 A schematic diagram of the structure of the unpacking component 3 removed from the box;

[0018] Figure 5 for Figure 4 A schematic diagram of the structure of the disassembled support;

[0019] Figure 6 Driven by the robotic arm Figure 1 A schematic diagram showing the clamps in action when the cargo box lid is open;

[0020] Figure 7 Driven by the robotic arm Figure 1 The second schematic diagram shows the state of the clamps opening the cargo box lid;

[0021] Figure 8 Driven by the robotic arm Figure 1 A schematic diagram of a clamp gripping a thin-walled workpiece inside a cargo box;

[0022] Figure 9 Driven by the robotic arm Figure 1 A schematic diagram of a fixture gripping a thin-walled workpiece;

[0023] Figure 10 Driven by the robotic arm Figure 1 A schematic diagram of a clamp gripping another thick-walled workpiece inside a cargo box;

[0024] Figure 11 Driven by the robotic arm Figure 1 A schematic diagram of a fixture gripping another thick-walled workpiece;

[0025] Figure 12 Driven by the robotic arm Figure 1 A diagram illustrating how the clamps close the cargo box lid. Detailed Implementation

[0026] Example

[0027] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates a robotic gripper suitable for storing workpieces in boxes according to the present invention.

[0028] This embodiment provides a robotic gripper suitable for storing workpieces in boxes, such as... Figure 1 As shown, the clamp includes a square, hollowed-out base 4; as Figure 2As shown, the base 4 consists of a square base plate 5 and a quadrilateral plate enclosing the four sides of the square base plate 5; as Figure 1 , 2 As shown in Figure 3, the outer sides of the first pair of opposite side plates 6-1 and 6-2 in the four-sided plate are respectively fixed with a first gripper assembly 1 and a second gripper assembly 2. An opening assembly 3 is provided on the base plate 5. (The text abruptly ends here.) Figure 1 As shown, a flange 22 is installed on the outer bottom surface of the base plate 5 for mounting a robotic gripper suitable for box storage workpieces in this embodiment onto a robotic arm or robotic hand.

[0029] like Figure 1 and Figure 2 As shown, the first gripper assembly 1 is used to grip thin plates and thin frames, including a pair of first gripper cylinders 7-1 and 7-2 and two pairs of first grippers 8-1 and 8-2 respectively fixed on the pair of first gripper cylinders 7-1 and 7-2; the pair of first gripper cylinders 7-1 and 7-2 are symmetrically fixed at both ends of the outer side of one of the side plates 6-1 of the first pair of side plates; the first gripper cylinder 7-1 or 7-2 is provided with two sets of movable first cylinder slides 7-11 and 7-12, and the pair of first... A gripper 8-1 or 8-2 is fixed on two sets of first cylinder slides 7-11 and 7-12 respectively; the two first cylinder slides (7-11 or 7-12) of each set of the two sets of first cylinder slides 7-11 and 7-12 move towards each other, causing a pair of first grippers 8-1 or 8-2 to approach each other; the two first cylinder slides (7-11 or 7-12) of each set of the two sets of first cylinder slides 7-11 and 7-12 move in opposite directions, causing a pair of first grippers 8-1 or 8-2 to separate from each other;

[0030] The second jaw assembly 2 is used for clamping thick plate and thick frame workpieces, comprising a jaw telescopic cylinder 9, a pair of second jaw air cylinders 10-1 / 10-2, two pairs of second jaws 11-1 / 11-2 respectively fixed on the pair of second jaw air cylinders 10-1 / 10-2, and a suction cup 12. The jaw telescopic cylinder 9 is fixed outside the other one of the first pair of two side plates 6-2, and is provided with a telescopic rod 13 penetrating therethrough. The pair of second jaw air cylinders 10-1 / 10-2 are symmetrically fixed on the two ends of the telescopic rod 13. The second jaw air cylinder 10-1 or 10-2 is provided with two groups of movable second air cylinder sliding tables 10-11 and 10-12. The pair of second jaws 11-1 or 11-2 are respectively fixed on the two groups of second air cylinder sliding tables 10-11 and 10-12. Each of the two groups of second air cylinder sliding tables 10-11 and 10-12 moves towards each other with the pair of second jaws approaching each other. Each of the two groups of second air cylinder sliding tables 10-11 and 10-12 moves away from each other with the pair of second jaws 11-1 or 11-2 separating from each other. The outer side of the jaw telescopic cylinder 9 is provided with a fixed rod 14. The suction cup 12 is fixed on one end of the fixed rod 14. The empty end of the second jaw 11-1 or 11-2 forms a hook shape.

[0031] As shown in Figure 1 and Figure 4 , the opening box assembly 3 is used for opening and closing the storage box of workpieces, comprising a sliding table module 3-1 fixed on the inner surface of the bottom plate 5. The sliding table module 3-1 is provided with a movable support 15. Figure 5 As shown in Figures 1-3 , the second pair of two side plates 6-3 and 6-4 of the base 4 form a gap. The two ends of the sliding table module 3-1 extend out of the gap of the second pair of two side plates 6-3 and 6-4. The gap formed by the side plate 6-3 is a large gap, and the support 15 extends out of the large gap of the side plate 6-3 when sliding. The gap formed by the side plate 6-4 is a rectangular window. The sliding table module 3-1 adopts an existing electric or pneumatic or hydraulic driven sliding table module, such as the track embedded linear module TNEH8 produced by Suzhou Tongnuo Intelligent Technology Co., Ltd., or the linear module produced by Chengdu Fuhui Technology Co., Ltd., and the like, which will not be described in detail.

[0032] As shown in Figure 2 , 3 , a plastic (such as polyurethane) pad 18 is arranged at the end of the first jaw 8-1 / 8-2 or the second jaw 11-1 / 11-2, which can improve the clamping friction of the jaw.

[0033] The specific use of the mechanical hand clamp (hereinafter referred to as the clamp) of the embodiment suitable for box storage workpieces is as follows:

[0034] Opening the box: as shown in Figure 6 and Figure 7 , the clamp of the present embodiment is installed on the manipulator, the manipulator drives the clamp of the present embodiment to be placed horizontally and close to the box 20, so that the opening cover top rod 16 of the opening box assembly 3 is aligned with the lock catch of the cover 21 of the box 20 to be in the concentric state, the slide table module 3-1 drives the support 15 to extend outward, and the opening cover top rod 16 presses the box lock catch, so as to open the cover 21 of the box 20.

[0035] Clamping thin-walled workpiece: as shown in Figure 8 and Figure 9 , the manipulator 100 drives the clamp of the present embodiment to rotate, so that the clamping edge of the first clamping jaw 8-1 / 8-2 of the first clamping jaw assembly 1 is parallel to the outer side edge of the thin-walled workpiece 30, after the first clamping jaw gas cylinder 7-1, 7-2 drives the first clamping jaw 8-1 / 8-2 to clamp the outer side edge of the thin-walled workpiece 30, the manipulator 100 drives the clamp of the present embodiment to pull out the thin-walled workpiece 30.

[0036] Clamping thick-walled workpiece: as shown in Figure 10 and Figure 11 , the manipulator 100 drives the clamp of the present embodiment to rotate, so that the clamping edge of the second clamping jaw 11-1 / 11-2 of the second clamping jaw assembly 2 is parallel to the outer side edge of the thick-walled workpiece 40, the clamping jaw telescopic cylinder 9 drives a pair of second clamping jaw gas cylinders 10-1 / 10-2 to move at both ends of the telescopic rod 13 to adjust the distance between each other, and then the second clamping jaw gas cylinder 10-1 / 10-2 drives the second clamping jaw 11-1 / 11-2 to clamp the outer side edge of the thick-walled workpiece 40; at the same time, the suction cup 12 also contacts with the end face of the thick-walled workpiece 40 and sucks the thick-walled workpiece 40, the outer side edge and the end face of the thick-walled workpiece 40 are clamped at the same time, the suction cup 12 assists the second clamping jaw 11-1 / 11-2 to clamp the workpiece, and then the manipulator 100 drives the clamp of the present embodiment to pull out the thick-walled workpiece 40. Especially when the annular thick-walled workpiece is clamped, the hook-shaped empty end of the second clamping jaw 11-1 / 11-2 can effectively protect the workpiece from falling off.

[0037] Closing the box: as shown in Figure 12 , the slide table module 3-1 drives the support 15 to extend outward, the manipulator 100 drives the clamp of the present embodiment to close to the cover 21, so that the roller 17 contacts with the edge of the upper surface of the cover 21, and the manipulator 100 drives the clamp of the present embodiment to press the cover 21 downward to close the box 20.

[0038] The above is only a preferred embodiment of the present application, and for those skilled in the art, according to the idea of the present application, the specific implementation and application range will be changed, and the content of the specification should not be understood as the limitation of the present application.

Claims

1. A robotic gripper suitable for storing workpieces in a box, the gripper being mounted on a robotic hand or arm, comprising a square, hollowed-out base, the base consisting of a square base plate and four side plates surrounding the four sides of the square base plate, characterized in that: The outer sides of the first pair of opposite side plates in the four-sided plate are respectively fixed with a first gripper assembly and a second gripper assembly, and an opening assembly is provided on the bottom plate. The first gripper assembly is used to grip thin plates and thin frames, including a pair of first gripper cylinders and two pairs of first grippers respectively fixed on the pair of first gripper cylinders; the pair of first gripper cylinders are symmetrically fixed at both ends of the outer side of one of the two side plates of the first pair, and the first gripper cylinders are provided with two sets of movable first cylinder slides, and the pair of first grippers are respectively fixed on the two sets of first cylinder slides; each set of two first cylinder slides moves towards each other, causing the pair of first grippers to approach each other, and each set of two first cylinder slides moves in opposite directions, causing the pair of first grippers to separate from each other. The second gripper assembly is used to grip thick plates and thick frame workpieces, including a gripper telescopic cylinder, a pair of second gripper cylinders, two pairs of second grippers respectively fixed on the pair of second gripper cylinders, and a suction cup. The gripper telescopic cylinder is fixed to the outside of the other side plate of the first pair of side plates. The gripper telescopic cylinder is provided with a through telescopic rod. The pair of second gripper cylinders are symmetrically fixed at both ends of the telescopic rod. The second gripper cylinder is provided with two sets of movable second cylinder slides. The pair of second grippers is respectively fixed on the two sets of second cylinder slides. The two second cylinder slides in each set of the two sets ... The box opening assembly is used to open and close the box storing the workpiece. It includes a slide module fixed to the inner surface of the base plate, a slide bracket on the slide module, a cover opening rod in the middle of the bracket, and cover pressing rollers installed at both ends of the bracket.

2. The fixture according to claim 1, characterized in that: Plastic pads are provided at the ends of the first and second grippers.

3. The fixture according to claim 1, characterized in that: A flange is installed on the outer bottom surface of the base plate, and the flange is used to mount the clamp onto the robotic arm.

4. The fixture according to claim 1, characterized in that: The second pair of opposite side plates in the four side plates of the base form a gap, and the two ends of the slide module extend out from the gap.

5. The fixture according to claim 1, characterized in that: The gap in one of the two side plates of the second pair is a large notch, and the bracket extends out from the large notch when it slides. The gap in the other two side plates of the second pair is a rectangular window.

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