Novel robotic gripper

Abstract

The utility model belongs to industrial robot technical field discloses a novel robot gripper, including the casing, the top end of casing is connected with robot arm end, is fixed with the mounting panel in the casing, a pair of rack respectively is engaged connection in gear both sides, every rack is connected with a connecting arm subassembly, the connecting arm subassembly passes through the square hole of casing lower part preset and extends the casing outside, the connecting arm subassembly includes the lower extension arm that extends to the forward below, a pair of left and right symmetry's clamping arm is connected with two lower extension arm lower end respectively. The utility model with a gripper adapts to horizontal and vertical storage two kinds of application environment with the snatch component, and the adaptability is good, and the clamping arm action is accurate, and the reliability is good.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology and relates to a novel robot gripper. Background Technology

[0002] In today's rapidly developing manufacturing industry, product quality has become the core of a company's survival and competitiveness. Quality inspection, as a crucial means of ensuring product quality, is receiving increasing attention from enterprises. During the quality inspection process, inspectors need to use professional measuring tools to accurately measure the dimensions of products to ensure they meet design requirements. For example, dimensions such as length, width, height, and diameter all require accurate measurement. Each company has its own types of measuring tools and dedicated personnel for management. The larger the company and the more product types, the more measuring tools it has. The larger the batch size of the same product and the higher the product quality requirements, the higher the product inspection rate, and the greater the quantity of a certain type of measuring tool. Currently, most companies require quality inspectors to borrow measuring tools from a measuring tool warehouse and return them after use. This necessitates frequent inbound and outbound movement of measuring tool boxes by warehouse management personnel, who must accurately record the precise location of each type of box. The workload for measuring tool managers is heavy and prone to errors. Automated storage and retrieval of measuring tool boxes using robots can avoid human interference and provide precision and speed. However, in practical applications, measuring tool boxes are stored in two ways: vertically and horizontally. Existing robotic grippers cannot simultaneously adapt to two storage methods, resulting in poor versatility. To address these issues in enterprise gauge libraries, a new type of robotic gripper needs to be developed. Utility Model Content

[0003] To overcome the shortcomings of the prior art, this utility model provides a novel robotic gripper. The purpose is to address the issue of tool box inbound and outbound operations in enterprise tool warehouses by providing a novel robotic gripper that can grasp tool boxes and is adaptable to both vertically and horizontally arranged shelves, thereby improving the adaptability of the robotic gripper. This aims to reduce the workload of tool warehouse administrators and decrease errors in tool box inbound and outbound operations.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A novel robot gripper includes a rectangular, hollow shell; the top of the shell is connected to the end of a robot arm; a mounting plate is fixed inside the shell, a pair of racks are slidably connected to the upper end of the mounting plate, a gear is located between and meshes with the two racks, used to drive the pair of racks to move away from or closer to each other when the gear rotates; the gear is fixedly connected to the output shaft of the end of the robot arm, used to drive the gear to rotate; each rack is connected to a connecting arm assembly, the connecting arm assembly extends out of the shell through a pre-set square hole in the lower part of the shell; the connecting arm assembly includes a downward extending arm; a pair of symmetrical clamping arms are respectively connected to the lower ends of the two downward extending arms; the clamping arms are horizontally arranged in an L-shape, including a vertical arm and a horizontal arm connected at right angles; the downward extending arm is connected to the horizontal arm.

[0005] As a further optimization, a guide limit block is provided at the upper end of the longitudinal arm.

[0006] As a further optimization, the two ends of the mounting plate are fixedly connected to the left and right side walls of the housing respectively by screw assemblies.

[0007] As a further optimization, the mounting plate is provided with a pair of linear guide rail assemblies, and the two linear guide rail assemblies are respectively connected to two racks.

[0008] As a further optimization, the rear end of the cross arm is provided with an upwardly extending connecting part; the connecting part is fixedly connected to the lower end of the lower extension arm by a screw assembly.

[0009] As a further optimization, the connecting arm assembly also includes an L-shaped plate connected to the upper part of the lower extension arm, the L-shaped plate passing through the square hole and connected to the slider of the linear guide assembly; the rack is connected to the L-shaped plate.

[0010] As a further optimization, an induction switch is installed at the lower end of the housing, and an induction plate corresponding to the induction switch is installed on the connecting arm assembly. The induction switch is electrically connected to the robot's control system and is used to clamp the left and right side walls of the part to be grasped when the induction plate reaches the position of the induction switch.

[0011] Compared with existing technologies, the beneficial effects of this utility model are: This device has a compact structure and small size, good power performance through gear transmission, large clamping force, and precise motion control. Through the forward and downward extending connecting arm assembly and the narrow clamping arm, a pair of clamping arms can extend into the gap between two adjacent gauge boxes, thereby gripping gauge boxes on horizontally placed trays and vertically set temporary storage racks. It adapts to two different working environments with a single gripper, demonstrating good adaptability. This reduces the workload of gauge warehouse managers and minimizes errors in gauge box entry and exit. In summary, this utility model uses a single gripper to adapt to both horizontal and vertical storage environments with gripping components, demonstrating good adaptability, precise clamping arm movement, and high reliability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention when gripping a measuring tool box on a horizontal tray;

[0013] Figure 2 This is a schematic diagram of the structure of the present invention when grasping a measuring tool box on a vertical shelf;

[0014] Figure 3 This is a three-dimensional structural diagram of an embodiment of the present utility model;

[0015] Figure 4 This is a cross-sectional structural diagram of an embodiment of the present invention.

[0016] The correspondence between the technical features in the figure and the reference numerals is as follows: housing 1; square hole 11; inductive switch 12; linear guide rail assembly 13; robot arm 2; mounting plate 3; gear 4; rack 5; connecting arm assembly 6; lower extension arm 61; L-shaped plate 62; induction plate 63; clamping arm 7; longitudinal arm 71; transverse arm 72; guide limit block 73; connecting part 74; tray 8; temporary storage rack 9. Detailed Implementation

[0017] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some preferred embodiments of this utility model, and not all embodiments. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of this utility model, and are not intended to limit the protection scope of this utility model.

[0018] Example: Please refer to Figure 1-4This utility model provides the following technical solution: a novel robot gripper, comprising a rectangular hollow shell 1; the top end of the shell 1 is connected to the end of a robot arm 2; a mounting plate 3 is fixedly disposed inside the shell 1, a pair of racks 5 are slidably connected to the upper end of the mounting plate 3, a gear 4 is located between and meshes with the two racks 5, used to drive the pair of racks 5 to move away from or closer to each other when the gear 4 rotates; the gear 4 is fixedly connected to the output shaft at the end of the robot arm 2, used to drive the gear 4 to rotate; each rack 5 is connected to a connecting arm assembly 6, the connecting arm assembly 6 extending out of the shell 1 through a pre-set square hole 11 at the lower part of the shell 1; the connecting arm assembly 6 includes a downward extending arm 61; a pair of symmetrical clamping arms 7 are respectively connected to the lower ends of the two downward extending arms 61; the clamping arms 7 are horizontally arranged in an L-shape, including a vertical arm 71 and a horizontal arm 72 connected at right angles; the downward extending arm 61 is connected to the horizontal arm 72.

[0019] The housing 1 is composed of six frame plates connected together and fixed together by screws to form a whole, so that the housing 1 can be opened to facilitate the disassembly and assembly of the internal parts and make inspection and maintenance convenient.

[0020] In practice, we'll use a measuring box as an example of the object to be grasped. The measuring box is stored on a horizontally arranged shelf, such as tray 8. Figure 1 As shown. The tool box outbound process is as follows: The tool warehouse administrator inputs the tool outbound command, the tool warehouse automatically retrieves the tool box, and the tool box tray 8 arrives at the tool warehouse exit; then the robot moves, gear 4 rotates, driving a pair of racks 5 away from each other, the gripper opens, the gripper reaches the tool box position on tray 8, gear 4 reverses, driving the pair of racks 5 closer together, the gripper clamps, and the tool box is taken out of tray 8. The robot then moves to the temporary storage rack 9 for the tool box, i.e., the shelf where the tool boxes are stored vertically, as shown. Figure 2 As shown; then the gripper opens again, the gauge box is placed on the temporary storage rack 9, and the robot returns to its initial position.

[0021] To ensure a more secure grip on the gauge box and prevent it from falling accidentally, a guide limit block 73 is provided at the upper end of the longitudinal arm 71. The guide limit block 73 is embedded below the flange of the gauge box's opening, clamping the gauge box while preventing it from tilting and avoiding accidental falls during transfer.

[0022] In order to suspend the mounting plate 3 in the middle of the housing 1, the two ends of the mounting plate 3 are fixedly connected to the left and right side walls of the housing 1 respectively by screw assemblies.

[0023] To make the sliding of the pair of racks 5 smoother, the mounting plate 3 is provided with a pair of linear guide rail assemblies 13, and the two linear guide rail assemblies 13 are respectively connected to the two racks 5.

[0024] The clamping arm 7, which frequently comes into contact with the part to be gripped, is prone to wear or deformation. To facilitate maintenance and replacement, the rear end of the horizontal arm 72 is provided with an upwardly extending connecting part 74. The connecting part 74 is fixedly connected to the lower end of the lower extension arm 61 by a screw assembly. Thus, the clamping arm 7 is detachable and easy to replace.

[0025] For example, the connecting arm assembly 6 further includes an L-shaped plate 62 connected to the upper part of the lower extension arm 61, the L-shaped plate 62 passing through the square hole 11 and connected to the rack 5.

[0026] To more precisely control the position of the connecting arm assembly 6 after it opens, a sensor switch 12 is installed at the lower end of the housing 1. A sensor plate 63 corresponding to the sensor switch 12 is installed on the connecting arm assembly 6. The sensor switch 12 is electrically connected to the robot's control system. When the sensor plate 63 reaches the position of the sensor switch 12, a pair of vertical arms 71 clamp the left and right side walls of the part to be grasped. When the sensor switch 12 senses the sensor plate 63, the vertical arms 71 are precisely clamping the part to be grasped. The sensor switch 12 sends a signal to stop the robot's output shaft, stop the gear 4, and stop the connecting arm assembly 6.

[0027] The advantages of this embodiment are that the device has a compact structure and small size, good power transmission through gear 4, large clamping force, and precise motion control. The connecting arm assembly 6 extending forward and downward allows a pair of clamping arms 7 to reach into the gap between two adjacent gauge boxes, thus enabling the gripping of gauge boxes on horizontally placed trays 8 and vertically arranged temporary storage racks 9. This single gripper adapts to two different working environments, demonstrating good adaptability. It reduces the workload of gauge warehouse administrators and minimizes errors in gauge box entry and exit.

[0028] The parts of this utility model not described in detail are prior art; for those skilled in the art, the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A novel robotic gripper, comprising a rectangular, hollow shell (1); characterized in that: The top of the housing (1) is connected to the end of the robot arm (2); a mounting plate (3) is fixed inside the housing (1), a pair of racks (5) are slidably connected to the upper end of the mounting plate (3), and a gear (4) is located between and meshes with the two racks (5) to drive the pair of racks (5) to move away from or closer to each other when the gear (4) rotates; the gear (4) is fixedly connected to the output shaft at the end of the robot arm (2) to drive the gear (4) to rotate; Each of the racks (5) is connected to a connecting arm assembly (6), which extends out of the housing (1) through a pre-set square hole (11) at the bottom of the housing (1); the connecting arm assembly (6) includes a downward extending arm (61) extending forward and downward. A pair of symmetrical clamping arms (7) are respectively connected to the lower ends of the two lower extension arms (61); The clamping arm (7) is horizontally arranged in an L-shape, including a vertical arm (71) and a horizontal arm (72) connected at right angles; the lower extension arm (61) is connected to the horizontal arm (72).

2. The novel robot gripper according to claim 1, characterized in that: The upper end of the longitudinal arm (71) is provided with a guide limiting block (73).

3. The novel robot gripper according to claim 1, characterized in that: The two ends of the mounting plate (3) are fixedly connected to the left and right side walls of the housing (1) respectively by screw assemblies.

4. The novel robot gripper according to claim 1, characterized in that: The mounting plate (3) is provided with a pair of linear guide rail assemblies (13), and the two linear guide rail assemblies (13) are respectively connected to two racks (5).

5. The novel robot gripper according to claim 1, characterized in that: The rear end of the horizontal arm (72) is provided with an upwardly extending connecting part (74); the connecting part (74) is fixedly connected to the lower end of the lower extension arm (61) by a screw assembly.

6. The novel robot gripper according to claim 4, characterized in that: The connecting arm assembly (6) also includes an L-shaped plate (62) connected to the upper part of the lower extension arm (61), the L-shaped plate (62) passing through the square hole (11) and connected to the slider of the linear guide assembly (13); the rack is connected to the L-shaped plate.

7. The novel robot gripper according to claim 1, characterized in that: A sensor switch (12) is installed at the lower end of the housing (1), and a sensor plate (63) corresponding to the sensor switch (12) is installed on the connecting arm assembly (6). The sensor switch (12) is electrically connected to the control system of the robot and is used to clamp the left and right side walls of the part to be grasped when the sensor plate (63) reaches the position of the sensor switch (12).

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