Internal and external dual-purpose robot clamping jaw

Abstract

The utility model provides an inside and outside dual-purpose robot clamping jaw, which relates to the field of industrial robot clamping devices, and comprises a cylinder, a connecting plate and a clamping jaw, the cylinder is connected with the clamping jaw through the connecting plate and controls the stretching and retracting of the clamping jaw, the cylinder is a standard multi-finger cylinder, each finger is connected with the clamping jaw through the connecting plate, and the clamping jaw is connected with the cylinder through the connecting plate. The multiple fingers are symmetrically distributed in the circumferential direction, and the stretching and retracting directions of the multiple fingers are all in the radial direction. By replacing the clamping jaw with the inner supporting protruding block or the outer clamping protruding block (or using the clamping jaw integrating the two protruding blocks at the same time), the inner supporting type grabbing mode and the outer clamping type grabbing mode can be rapidly switched without replacing the whole clamp, and the mode switching operation steps are remarkably reduced. And the radial movement stroke of the clamping jaw is directly adjusted by replacing the connecting plates with different lengths, so that the clamp is adaptive to barrel-shaped objects with different diameters, and the application range of the clamp is expanded. The design of the standard three-finger air cylinder and the detachable clamping jaw is adopted, damaged parts can be replaced independently, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot clamping device field especially relates to a inside and outside dual -purpose formula robot clamping jaw. BACKGROUND

[0002] In the industrial robot carrying field, for the barrel-shaped workpiece (such as chemical raw material barrel, industrial storage tank etc.) with outer flange or inner flange, the prior art usually adopts two independent clamps: (1) outer clamping clamp: realize the capture through the flange of external clamping workpiece, but cannot adapt to the inner flange structure;(2) inner support clamp: through the expansion mechanism to support the inner wall of workpiece, but there is the problem of insufficient bearing capacity.

[0003] The prior art has the following defects: (1) the independent design of two types of clamps leads to the multiplication of equipment cost;(2) the whole clamp needs to be replaced when switching operation, which affects production efficiency;(3) the traditional inner support structure is insufficient in clamping stability for heavy load workpiece;(4) there is lack of quick adjusting mechanism compatible with workpieces of different sizes. INVENTION CONTENTS

[0004] The utility model aims at providing a inside and outside dual -purpose formula robot clamping jaw to realize single drive mechanism compatible with outer clamping and inner support two operation modes.

[0005] The utility model is adopted with the following technical scheme realizes: a inside and outside dual -purpose formula robot clamping jaw, including cylinder, connecting plate and clamping jaw, the cylinder is connected clamping jaw through connecting plate and controls the extension and retraction of clamping jaw, the cylinder is standard multi-fingered cylinder, and each finger is connected with clamping jaw through connecting plate, and multiple fingers are symmetrically distributed in the circumferential direction, and the extension and retraction direction of multiple fingers is along the radial direction.

[0006] Further, the cylinder has three fingers, and the included angle between the connecting plates is 120 °.

[0007] Further, the cylinder adopts standard three-fingered cylinder.

[0008] Further, it further includes support plate, and the cylinder is arranged on the support plate and connected with the robot connecting flange through the support plate.

[0009] Further, the support plate is further provided with a guide rail, the connecting plate is provided with a sliding block, and the sliding block is slidably connected with the guide rail.

[0010] Further, the clamping jaw is provided with a protrusion, which is in contact with the to-be-grabbed article, and the contact surface of the protrusion and the to-be-grabbed article is provided with an arc surface to realize high adhesion with the to-be-grabbed article.

[0011] Further, the convex block comprises an inner supporting convex block and an outer clamping convex block, the inner supporting convex block is arranged at the outer side of the clamping jaw, and the outer clamping convex block is arranged at the inner side of the clamping jaw.

[0012] The inner-outer dual-purpose robot clamping jaw has the beneficial effects that:

[0013] By replacing the clamping jaw with the inner supporting convex block or the outer clamping convex block (or using the clamping jaw integrated with both kinds of convex blocks), the inner supporting type and the outer clamping type grabbing modes can be quickly switched without replacing the whole clamp, and the mode switching operation steps are significantly reduced.

[0014] By replacing the connecting plates with different lengths, the radial movement stroke of the clamping jaw is directly adjusted, thereby adapting to the barrel-shaped articles with different diameters, and the application range of the clamp is expanded.

[0015] The standard three-finger air cylinder and the detachable clamping jaw are adopted, damaged components can be individually replaced, and the maintenance cost is reduced. DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0017] Fig. 1 It is a schematic view of an inner-outer dual-purpose robot clamping jaw;

[0018] Fig. 2 It is a schematic view of an inner-outer dual-purpose robot clamping jaw in an inner supporting mode use state;

[0019] Fig. 3 It is a schematic view of an inner-outer dual-purpose robot clamping jaw in an outer clamping mode use state;

[0020] In the drawings, 1 is an air cylinder, 2 is a connecting plate, 3 is a supporting plate, 4 is a guide rail, 5 is a sliding block, and 6 is a clamping jaw. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0023] As shown in the drawings, an inside and outside dual-purpose robot gripper comprises a cylinder 1, a connecting plate 2 and a gripper 6, the cylinder 1 connects the gripper 6 through the connecting plate 2 and controls the extension and retraction of the gripper 6, the cylinder 1 is a standard multi-fingered cylinder, each finger is connected with the gripper 6 through the connecting plate 2, and the plurality of fingers are symmetrically distributed in the circumferential direction, and the extension and retraction directions of the plurality of fingers are along the radial direction. Figs. 1-3

[0024] The cylinder 1 has three fingers, and the included angle between the connecting plates 2 is 120°.

[0025] The cylinder 1 adopts a standard three-fingered cylinder.

[0026] Further comprising a support plate 3, the cylinder 1 is arranged on the support plate 3 and connected with a robot connecting flange through the support plate 3.

[0027] The support plate 3 is further provided with a guide rail 4, the connecting plate 2 is provided with a sliding block 5, and the sliding block 5 is in sliding connection with the guide rail 4.

[0028] The gripper 6 is provided with a protrusion, which is in contact with the to-be-grabbed object, and the contact surface of the protrusion and the to-be-grabbed object is provided as an arc surface to realize high adhesion with the to-be-grabbed object.

[0029] The protrusion comprises an inner supporting protrusion and an outer clamping protrusion, the inner supporting protrusion is arranged on the outer side of the gripper 6, and the outer clamping protrusion is arranged on the inner side of the gripper 6.

[0030] The gripper 6 has two types, namely an inner supporting gripper and an outer clamping gripper, the inner supporting protrusion is arranged on the inner supporting gripper, and the outer clamping protrusion is arranged on the outer clamping gripper, so that different objects can be grabbed by replacing different grippers 6.

[0031] The inner supporting protrusion and the outer clamping protrusion can also be arranged on the gripper 6 at the same time, so as to realize the functions of inner supporting and outer clamping without replacing the gripper 6.

[0032] Different lengths of the connecting plate 2 can also be replaced to meet the grabbing of objects of different sizes.

[0033] ​In the above embodiments, the basic principle and main features of the present application and the advantages of the present application are described. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, modifications and changes made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the protection scope of the claims of the present application.

Claims

1. An end and side dual purpose robot gripper, characterized in that, Including cylinder (1), connecting plate (2) and clamp jaw (6), the cylinder (1) is connected with the clamp jaw (6) through the connecting plate (2) and controls the extension and retraction of the clamp jaw (6), the cylinder (1) is a standard multi-fingered cylinder, each finger is connected with the clamp jaw (6) through the connecting plate (2), and the plurality of fingers are symmetrically distributed in the circumferential direction, and the extension and retraction directions of the plurality of fingers are along the radial direction.

2. The dual-purpose robot gripper according to claim 1, wherein, The cylinder (1) has three fingers, and the included angle between the connecting plates (2) is 120°.

3. The dual-purpose robot gripper according to claim 2, wherein, The cylinder (1) adopts a standard three-fingered cylinder.

4. The dual purpose robot gripper according to claim 1, wherein, Further comprising a support plate (3), the cylinder (1) is arranged on the support plate (3) and connected with a robot connecting flange through the support plate (3).

5. The dual purpose robot gripper according to claim 4, wherein, The support plate (3) is further provided with a guide rail (4), and the connecting plate (2) is provided with a sliding block (5), and the sliding block (5) is slidably connected with the guide rail (4).

6. The dual purpose robot gripper according to claim 1, wherein, The clamp jaw (6) is provided with a protrusion, which is in contact with the object to be grasped, and the contact surface of the protrusion and the object to be grasped is provided as an arc surface to realize high adhesion with the object to be grasped.

7. The dual purpose robot gripper according to claim 6, wherein, The protrusion includes an inner supporting protrusion and an outer clamping protrusion, the inner supporting protrusion is arranged on the outer side of the clamp jaw (6), and the outer clamping protrusion is arranged on the inner side of the clamp jaw (6).

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