Robot arm with multiple grippers
By designing a multi-gripper robot arm, the simultaneous gripping and separation of multiple objects is achieved, solving the problem that existing technologies can only grip one object at a time, and improving the working efficiency of multi-axis robots in handling small items.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-07
- Publication Date
- 2026-04-03
AI Technical Summary
Existing multi-axis robotic grippers can only hold one object at a time, which cannot meet the demand for efficient gripping of multiple small items in a process, resulting in low work efficiency.
Design a robotic arm with multiple grippers, including multiple gripper mechanisms, each with two grippers. Through the coordinated control of electric push rods and motors, the arm can synchronously grip and separate multiple objects. The electric push rods can adjust the spacing between the gripper mechanisms to avoid interference.
The ability to hold multiple objects in a single workflow improves work efficiency, prevents interference during object handling, and enhances the effectiveness of multi-axis robots in handling small items.
Smart Images
Figure CN224074365U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of multi-axis robot supporting equipment, and in particular to a robot arm with multiple grippers. Background Technology
[0002] A multi-axis robot is a robot capable of multi-degree-of-freedom motion, typically composed of multiple axes and related mechanical components, used to perform complex tasks. The core components of a multi-axis robot include articulated arms, axes, actuators, transmission devices, and a control system based on a PLC or host computer. When a multi-axis robot is used for grasping operations, a robotic arm (gripper) controlled by cylinders or electric cylinders is installed at the front of its articulated forearm. During operation, the control system controls the solenoid valves at both ends of the cylinder barrel (when one solenoid valve is energized, the piston rod drives the two gripping heads to move towards each other to clamp the object; or when the other solenoid valve is energized, the piston rod drives the two gripping heads to move in opposite directions to release the object) or controls the motor of the electric cylinder (when the motor's positive and negative or negative and positive power input terminals are energized for a period of time, the motor drives the two gripping heads to move towards each other to clamp the object, or to move in opposite directions to release the object). These different operating modes enable the grasping and transfer of the corresponding object.
[0003] With technological advancements, the technology of gripper robot arms applied to multi-axis robots has also developed to some extent. For example, the authorized patent in my country, patent number "202 210 078193," entitled "An Intelligent Palletizing Gripper Robot" (which includes a gripper robot arm), states that "a single drive can achieve horizontal movement of the gripper frame while simultaneously adjusting its angle, saving driving force, reducing production costs, and improving the working efficiency of the gripper frame." As can be seen above, although this patent has certain advantages, its gripper (gripper robot arm), like other gripper robot arms in the field, still has the following drawbacks. Specifically, it only has one gripper position, meaning it can only grip one object at a time. When applied to gripping and transferring multiple small items in a single process, this is insufficient, resulting in relatively low work efficiency. In conclusion, it is essential to provide a robot arm with multiple grippers capable of holding multiple objects in a single workflow. Utility Model Content
[0004] In order to overcome the shortcomings of existing gripper robot arms due to structural limitations, as described in the background, this utility model provides a collaborative multi-axis robot for grasping small objects. In application, multiple objects (such as small packages of goods or products) can be gripped by multiple gripper mechanisms in one workflow, thereby improving work efficiency.
[0005] The technical solution adopted by this utility model to solve its technical problem is:
[0006] A robotic arm with multiple grippers includes a connecting arm, an electric push rod, a guide rod, a guide cylinder, and a gripper mechanism. The gripper mechanism comprises multiple sets, with each set having at least two identical grippers. Each gripper mechanism includes a housing, a motor, a lead screw, a bearing, and grippers. The upper end of the housing has guide grooves. The lower end of the motor is fixedly installed inside the housing. One end of the lead screw is fixedly installed to the motor shaft. The bearing is fixedly installed inside the housing at the other end, and the other end of the lead screw is fixedly installed inside the bearing's inner ring. There are at least two grippers, each with a threaded hole at its lower part. The two grippers are connected to each other via the threaded holes and the lead screw through threads. In each set of gripper mechanisms, one gripper... The lower end of the housing of the hand mechanism and the upper end of the housing of another gripper mechanism are fixedly installed together; there are at least two guide rods and guide cylinders, and the two guide cylinders are fixedly installed on the outer side of the front and rear ends of the housing of one set of gripper mechanisms, respectively. The two guide rods are slidably sleeved in the two guide cylinders, and the two ends of the two guide rods are fixedly installed together with the front and rear ends of the housings of the other two sets of gripper mechanisms, respectively; the two ends of the electric push rod are fixedly installed together with one side of the housing of the other set and one set of gripper mechanisms, respectively. The other side of the housing of the other set of gripper mechanisms is fixedly installed together with one side of the connecting arm. The front side of the joint forearm of the multi-axis robot is fixedly installed together with the other side of the connecting arm.
[0007] Furthermore, the outer diameter of the guide rod is smaller than the inner diameter of the guide cylinder.
[0008] Furthermore, in each group of gripper mechanisms, the upper part of the gripper head of one gripper mechanism is located outside the upper end of the housing, and the lower part of the gripper head of the other gripper mechanism is located outside the lower end of the housing.
[0009] Furthermore, in each gripper mechanism, anti-slip pads are fixedly installed on the rear end of one gripper at the front end of the housing and the front end of one gripper at the rear end.
[0010] Furthermore, the screw of each gripper mechanism is defined by a boundary in the middle. The threads of the front and rear ends of the screw are opposite, the threads of the collet screw holes at the front and rear ends of the housing are opposite, the threads of the front end of the screw and the front end collet screw holes of the housing are the same, and the threads of the rear end of the screw and the rear end collet screw holes of the housing are the same.
[0011] The beneficial effects of this utility model are as follows: This new model is mainly used in conjunction with multi-axis robots to grasp small objects. In application, multiple objects (such as small packages of goods or products) can be gripped by multiple gripper mechanisms in one workflow. Furthermore, the electric push rod can adjust the distance between the middle gripper mechanism and the other two gripper mechanisms. This facilitates the gripping and releasing of items by multiple gripper mechanisms (for example, preventing interference caused by excessively small spacing between the grippers of adjacent gripper mechanisms), and correspondingly improves work efficiency. In summary, this new model has good application prospects. Attached Figure Description
[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0013] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model.
[0014] Figure 2 This is a partial structural schematic diagram of the present invention.
[0015] Figure 3 This is the circuit diagram of this utility model. Detailed Implementation
[0016] Figure 1 , 2As shown in Figures 1 and 3, a robot arm with multiple grippers includes a connecting arm 1, an electric push rod M1, a guide rod 2, a guide cylinder 3, and a gripper mechanism 4. The gripper mechanism has three sets, and each set of gripper mechanisms 4 has two identical grippers. Each gripper mechanism includes a housing 41, a motor M2 (42), a lead screw 43, a bearing seat 44, and a chuck 45. A rectangular guide groove 411 is distributed in the middle of the upper end of the housing 41. The lower end of the motor M2 is fixedly installed in the lower front end of the housing 41. The front end of the lead screw 43 and the rear end of the motor M2 shaft are fixedly installed together. The bearing seat 44 is fixedly installed in the lower rear end of the housing 41. The rear end of the lead screw 43 is fixedly installed in the inner ring of the bearing in the bearing seat 44. There are two chucks 45. The lower part of each of the two chucks 45 has a threaded hole 451. The two chucks 45 are connected together by threads through the middle threaded hole 451 and the lead screw 43 at a distance from each other. In each set of gripper mechanisms, the lower end of the housing 41 of one gripper mechanism and the upper end of the housing 41 of another gripper mechanism are fixedly installed together; there are at least two guide rods 2 and guide cylinders 3, and the two guide cylinders 3 are fixedly installed on the front and rear outer sides of the housing 41 of the middle set of gripper mechanisms, respectively. The middle parts of the two guide rods 2 are slidably sleeved in the two guide cylinders 3, and the left and right ends of the two guide rods 2 are fixedly installed together at the front and rear middle parts of the housings of the second set of gripper mechanisms 4 and the third set of gripper mechanisms 4, respectively; the right side of the cylinder of the electric push rod M1 is fixedly installed together at the middle of the left outer end of the housing 41 of the third set of gripper mechanisms, the left side of the movable column of the electric push rod M1 is fixedly installed together at the middle of the right outer end of the housing 41 of one set of gripper mechanisms, and the middle of the right outer end of the housing 41 of the third set of gripper mechanisms is fixedly installed together at the left side of the connecting arm 1. The right outer end of the connecting arm has a flange 101, and the front side of the joint forearm of the multi-axis robot and the flange 101 of the connecting arm are fixedly installed together.
[0017] Figure 1 , 2 As shown in Figure 3, the power input terminals of the motors M2 and electric push rods M1 of the three gripper mechanisms and the control system W1 of the multi-axis robot are connected by wires at pins 3, 4, 5, 6, 7, 8, 9, and 10. The outer diameter of the guide rod 2 is slightly smaller than the inner diameter of the guide cylinder 3. In each gripper mechanism, the upper part of the chuck 45 of one gripper mechanism is located outside the upper end of the housing, and the lower part of the chuck 45 of the other gripper mechanism is located outside the lower end of the housing 41. An anti-slip rubber pad 452 is fixedly installed at the upper rear end of one chuck 45 at the front end of the housing and the upper front end of one chuck 45 at the rear end of the housing (to prevent the object from slipping). The screw 43 of each gripper mechanism is the boundary in the middle. The threads of the front and rear ends of the screw 43 are opposite. The threads of the screw holes of the chucks 45 at the front and rear ends of the housing are opposite. The threads of the screw 43 at the front end and the screw hole of the chuck 45 at the front end of the housing are the same. The threads of the screw 43 at the rear end and the screw hole of the chuck 45 at the rear end of the housing are the same.
[0018] Figure 1 , 2 As shown in Figure 3, this invention is mainly used in conjunction with a multi-axis robot in a single process (gripping to unloading) to grasp small objects. In application, under the joint action of its control system and related mechanisms, the multi-axis robot controls the invention to approach the object in the forward, backward, left, right, up, down, and circumferential directions to grasp or unload it to the workstation. Specifically, when the control system of the multi-axis robot controls the joint forearm motor to rotate 360 degrees, the six gripping mechanisms of this application will also rotate synchronously. This makes it easier for the six sets of gripping mechanisms of this application to grasp the object separately (each gripping mechanism controls the two grippers of the corresponding gripper mechanism to be located at the middle of both sides of the object). The above-mentioned multi-axis robot, under the joint action of its control system and related mechanisms, controls the grippers of the multi-axis robot to approach the object in multiple directions through the joint forearm to grasp or unload it to the workstation. This is a mature existing technology, and this application will not elaborate on the specific workflow (this application protects a workflow in which multiple gripper mechanisms hold multiple objects, and the electric push rod can adjust the distance between the middle set of gripper mechanisms and the other two sets of gripper mechanisms). When the control system controls the motor M1 of a corresponding clamping mechanism to be energized for a period of time at its positive and negative or negative and positive power input terminals, the motor shaft will drive the lead screw 43 to rotate clockwise or counterclockwise. When the lead screw rotates clockwise, its external thread will act on the internal threads of the threaded holes of the two chucks. In this way, the two chucks 45 will move inward toward each other and the distance between them will decrease. The two chucks 45 will then clamp the object at the production station and transfer it to the unloading station. When the lead screw rotates counterclockwise, its external thread will act on the internal threads of the threaded holes of the two chucks. In this way, the two chucks 45 will move outward toward each other and the distance between them will increase. The two chucks 45 will then release the object and unload it at the unloading station. When the control system controls the electric push rod M2 to receive power at its positive and negative or negative and positive power input terminals for a period of time, the electric push rod M2 will push the middle set of clamping mechanisms to move left or right. When moving to the left, the distance between the left set and the middle set of clamping mechanisms will decrease, and the distance between the right set and the middle set of clamping mechanisms will increase; when moving to the right, the distance between the left set and the middle set of clamping mechanisms will increase, and the distance between the right set and the middle set of clamping mechanisms will decrease. Through the above technical solution, this new invention can clamp multiple objects (such as small packages of goods or products) through multiple gripper mechanisms in one workflow, and the electric push rod can adjust the distance between the middle set of gripper mechanisms and the other two sets of gripper mechanisms. This facilitates the gripping or releasing of items by multiple sets of gripper mechanisms (for example, preventing interference caused by the clamping heads of adjacent sets of gripper mechanisms being too close), and correspondingly improves work efficiency. The electric push rod M2 is a 30W reciprocating electric telescopic rod; the motor M1 has a power of 80W. The application requires that the control system of a multi-axis robot outputs power to the electrical equipment at different times through multiple power output terminals, which is a very mature existing control technology. This application does not provide any protection for the power supply of this technology, nor does it elaborate on the working principle.
[0019] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.
[0020] Furthermore, it should be understood that although this specification describes the embodiments, the embodiments do not necessarily contain only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A robot arm with multi-gripper comprising a connecting arm, an electric push rod, a guide rod, a guide cylinder, a gripper mechanism, characterized in that, The gripper mechanism has multiple groups, each group of gripper mechanisms has at least two same ones, each gripper mechanism includes a shell, a motor, a screw rod, a bearing, and a chuck, the upper end of the shell is provided with a guide groove, the lower end of the motor is fixedly installed in the shell, one end of the screw rod is fixedly installed together with the rotating shaft of the motor, the other end of the screw rod is fixedly installed in the inner ring of the bearing, the lower part of each of the two chucks is provided with a thread hole, and the two chucks are connected together through the thread holes and the screw rod by threads at a distance; the lower end of the shell of one of the gripper mechanisms in each group is fixedly installed together with the upper end of the shell of the other gripper mechanism; the guide rod and the guide cylinder each have at least two ones, the two guide cylinders are fixedly installed outside the front end and the rear end of the shell of one set of gripper mechanisms, the two guide rods are slidably sleeved in the two guide cylinders, and the two ends of the two guide rods are fixedly installed together with the front end and the rear end of the shell of the other two sets of gripper mechanisms; the two ends of the electric push rod are fixedly installed together with one side end of the shell of one set of gripper mechanisms and one side end of the shell of the other set of gripper mechanisms, the other side end of the shell of the other set of gripper mechanisms is fixedly installed together with one side of the connecting arm, and the jointed forearm of the multi-axis robot is fixedly installed together with the other side of the connecting arm.
2. The robotic arm with multiple grippers of claim 1, wherein, The outer diameter of the guide rod is smaller than the inner diameter of the guide cylinder.
3. The robotic arm with multiple grippers of claim 1, wherein, In each group of gripper mechanisms, the upper part of the chuck of one of the gripper mechanisms is located outside the upper end of the shell, and the lower part of the chuck of the other gripper mechanism is located outside the lower end of the shell.
4. The robotic arm with multiple grippers of claim 1, wherein, In each gripper mechanism, an anti-skid pad is fixedly installed at the front end of the shell and the front end of one of the chucks and at the rear end of the shell and the front end of the other chuck.
5. The robotic arm with multiple grippers of claim 1, wherein, The middle of the screw rod of each gripper mechanism is a boundary, the threads at the front end and the rear end of the screw rod are opposite, the threads in the thread holes of the chucks at the front end and the rear end in the shell are opposite, the threads at the front end of the screw rod and the thread hole of the chuck at the front end in the shell are consistent, and the threads at the rear end of the screw rod and the thread hole of the chuck at the rear end in the shell are consistent.