Four-axis robot flexible grabbing unit

Abstract

The utility model relates to mechanical equipment technical field discloses a four -axis robot flexible snatch single machine, including four -axis robot body, and the one end of four -axis robot body is fixed with the connecting frame through bolt, and its inner chamber rotationally connects with a plurality of connecting blocks, and each connecting block inside all slidingly connects with flexible gripper, the inner chamber of each connecting block and flexible gripper is jointly bolted with fixed pin, and the surface of fixed pin slidingly connects with sleeve, and the one end of fixed pin is provided with a plurality of first clamping grooves, and the one end of sleeve inner chamber is fixedly connected with a plurality of first clamping blocks of cooperation clamping of first clamping groove, and the other end of fixed pin is provided with a plurality of second clamping grooves, and the other end of sleeve inner chamber is fixedly connected with a plurality of second clamping blocks of cooperation clamping of second clamping groove, and the top of each connecting block all is provided with a plurality of third clamping grooves, and one end of sleeve is fixedly connected with a plurality of third clamping blocks of cooperation clamping of third clamping groove, and reset spring is arranged between sleeve and fixed pin.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, specifically a four-axis robot flexible gripping single machine. Background Technology

[0002] A four-axis robot flexible gripper is a device that combines a four-axis robot end effector (referred to as the external axis) with flexible gripper technology. This device utilizes the robot's precise control capabilities and the adaptability of the flexible gripper to better complete the gripping tasks of complex or irregular objects. It is especially suitable for assembly, sorting and other application scenarios where no damage to the product surface is required.

[0003] In current applications of flexible gripper machines, flexible grippers are usually fixed with bolts. While this method of fixing ensures the stability and durability of the structure, it also brings some inconveniences in actual operation. First, when it is necessary to replace or maintain the flexible gripper, the staff usually need to carry special tools to unscrew the fixing bolts. This process may increase the operation time, especially in emergency maintenance or on-site replacement situations, where the lack of tools can be a major problem.

[0004] In view of this, the present invention proposes a four-axis robot flexible grasping single unit to solve the above-mentioned technical problems. Utility Model Content

[0005] To address the shortcomings of the aforementioned background technology, this utility model provides a technical solution for a four-axis robot with flexible gripping capabilities. It eliminates the reliance on screwdrivers and other tools for unscrewing bolts in existing technologies, and achieves manual operation through a snap-fit ​​quick-release mechanism, shortening disassembly time and making it particularly suitable for emergency maintenance scenarios. Furthermore, by utilizing the axial limiting of the first / second locking blocks and the locking slots, combined with the circumferential locking of the third locking block, a dual fixing structure of "axial anti-disengagement + circumferential anti-rotation" is formed, which has a stability no less than that of bolted connections, while also possessing a quick unlocking capability.

[0006] This utility model provides the following technical solution: a four-axis robot flexible grasping single unit, including a four-axis robot body;

[0007] A flexible gripping component is bolted to one end of the four-axis robot body;

[0008] The flexible gripping component includes a connecting frame, which is fixed to one end of the four-axis robot body by bolts. Multiple connecting blocks are rotatably connected to its inner cavity, and a flexible gripper is slidably connected inside each connecting block.

[0009] Each connecting block and the inner cavity of the flexible gripper are bolted together with a fixing pin. A sleeve is slidably connected to the surface of the fixing pin. One end of the fixing pin has multiple first slots. One end of the inner cavity of the sleeve is fixedly connected with multiple first blocks that engage with the first slots. The other end of the fixing pin has multiple second slots. The other end of the inner cavity of the sleeve is fixedly connected with multiple second blocks that engage with the second slots. The top of each connecting block has multiple third slots. One end of the sleeve is fixedly connected with multiple third blocks that engage with the third slots. A return spring is provided between the sleeve and the fixing pin.

[0010] As a preferred embodiment of this utility model, the first card slot, the first card block, the second card slot, the second card block, the third card slot, and the third card block are all distributed at equal intervals, and their shapes are all triangular.

[0011] As a preferred embodiment of this utility model, an auxiliary ring is fixedly connected to the surface of the sleeve, and the surface of the sleeve is provided with equally spaced anti-slip textures, which are concave in shape.

[0012] As a preferred technical solution of this utility model, the flexible gripping component further includes a sliding plate, which is slidably connected to the surface of the connecting frame. A cylinder is provided between the connecting frame and the sliding plate. The inner cavity of the sliding plate and the inner cavity of the connecting block are rotatably connected by a connecting rod. The sliding plate is driven to slide by the extension and retraction of the cylinder, and then the connecting block is driven to rotate by the connecting rod.

[0013] As a preferred technical solution of this utility model, the flexible gripper is in the shape of a right triangle, the top of the flexible gripper is provided with a relief groove, the inner cavity of the relief groove is provided with multiple reinforcing plates, and the flexible gripper is a rubber flexible gripper.

[0014] As a preferred embodiment of this utility model, the connecting frame is provided with a rotating shaft for mounting the connecting block, and the rotating shaft is provided with a bearing.

[0015] In a preferred embodiment of this utility model, the return spring is a compression spring, and the two ends of the return spring abut against the sleeve and the fixing pin, respectively.

[0016] As a preferred embodiment of this utility model, the surface of the fixing pin is provided with threads, and the fixing pin is connected to the connecting block and the flexible gripper through the threads.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This utility model abandons the existing technology of relying on tools such as screwdrivers to unscrew bolts, and realizes manual operation through a snap-fit ​​quick-release mechanism, which shortens the disassembly time and is especially suitable for emergency maintenance scenarios.

[0019] 2. This utility model utilizes the axial limiting of the first / second locking block and the slot, combined with the circumferential locking of the third locking block, to form a dual fixing structure of "axial anti-disengagement + circumferential anti-rotation", which has a stability no less than that of bolt connection, and also has the ability to unlock quickly. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the flexible gripping component structure of this utility model;

[0022] Figure 3 This is a partially enlarged view of the present invention;

[0023] Figure 4 This is a schematic diagram of the sleeve structure of this utility model;

[0024] Figure 5 This is a cross-sectional view of the sleeve of this utility model;

[0025] Figure 6 This is a cross-sectional view of the present invention;

[0026] Figure 7 This is a schematic diagram of the first slot structure of this utility model;

[0027] Figure 8 This is a schematic diagram of the second slot structure of this utility model;

[0028] Figure 9 This is a schematic diagram of the second card block structure of this utility model.

[0029] In the diagram: 1. Four-axis robot body; 2. Connecting frame; 201. Connecting block; 202. Flexible gripper; 3. Fixing pin; 301. Sleeve; 302. First slot; 303. First block; 304. Second slot; 305. Second block; 306. Third slot; 307. Third block; 308. Return spring; 4. Auxiliary ring; 5. Sliding plate; 501. Cylinder; 502. Connecting rod; 6. Relief groove; 601. Reinforcing plate. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Please see Figure 1-9 As shown, a four-axis robot flexible grasping single unit includes a four-axis robot body 1;

[0032] A flexible gripping component is bolted to one end of the four-axis robot body 1;

[0033] The flexible gripping component includes a connecting frame 2, which is fixed to one end of the four-axis robot body 1 by bolts. Multiple connecting blocks 201 are rotatably connected to its inner cavity, and a flexible gripper 202 is slidably connected inside each connecting block 201.

[0034] Each connecting block 201 and the inner cavity of the flexible gripper 202 are bolted together with a fixing pin 3. A sleeve 301 is slidably connected to the surface of the fixing pin 3. One end of the fixing pin 3 is provided with multiple first slots 302. One end of the inner cavity of the sleeve 301 is fixedly connected with multiple first blocks 303 that engage with the first slots 302. The other end of the fixing pin 3 is provided with multiple second slots 304. The other end of the inner cavity of the sleeve 301 is fixedly connected with multiple second blocks 305 that engage with the second slots 304. The top of each connecting block 201 is provided with multiple third slots 306. One end of the sleeve 301 is fixedly connected with multiple third blocks 307 that engage with the third slots 306. A return spring 308 is provided between the sleeve 301 and the fixing pin 3.

[0035] The first slot 302, the first block 303, the second slot 304, the second block 305, the third slot 306, and the third block 307 are all distributed at equal intervals and are all triangular in shape to achieve a stable snap-fit.

[0036] An auxiliary ring 4 is fixedly connected to the surface of the sleeve 301. The surface of the sleeve 301 is provided with equally spaced anti-slip textures. The anti-slip textures are concave to increase the friction when the operator holds the sleeve.

[0037] The flexible gripping component also includes a sliding plate 5, which is slidably connected to the surface of the connecting frame 2. A cylinder 501 is provided between the connecting frame 2 and the sliding plate 5. The inner cavity of the sliding plate 5 and the inner cavity of the connecting block 201 are rotatably connected to a connecting rod 502. The extension and retraction of the cylinder 501 drives the sliding plate 5 to slide, and then the connecting rod 502 drives the connecting block 201 to rotate.

[0038] The flexible gripper 202 is in the shape of a right triangle. A relief groove 6 is provided on the top of the flexible gripper 202. Multiple reinforcing plates 601 are provided in the inner cavity of the relief groove 6. The flexible gripper 202 is a rubber flexible gripper to enhance the structural strength of the flexible gripper 202.

[0039] The connecting frame 2 is provided with a rotating shaft for mounting the connecting block 201, and the rotating shaft is provided with a bearing to improve the flexibility of the rotation of the connecting block 201.

[0040] The return spring 308 is a compression spring. The two ends of the return spring 308 abut against the sleeve 301 and the fixing pin 3 respectively to ensure that the sleeve 301 can be reset in time.

[0041] The surface of the fixing pin 3 is provided with threads. The fixing pin 3 is connected to the connecting block 201 and the flexible claw 202 through the threads to facilitate disassembly and installation.

[0042] The connecting frame 2 serves as a basic support component and is rigidly connected to the robot body via bolts. The rotating shaft (including bearings) in its inner cavity supports the rotation of multiple connecting blocks 201, forming a mechanical foundation for multi-angle adjustment.

[0043] The cylinder 501 serves as a power source, and its telescopic movement drives the sliding plate 5 to slide along the surface of the connecting frame 2. The linear motion is converted into the rotation of the connecting block 201 through the connecting rod 502, thereby realizing the angle adjustment of the flexible gripper 202 to adapt to different gripping posture requirements.

[0044] Features of flexible gripper 202: Made of flexible rubber material with a Shore hardness of 30-50HA, combined with a right-angled triangular shape and a reinforcing plate 601 in the relief groove 6, it can both conform to the surface of irregular objects through deformation and transmit gripping force through the reinforced structure, avoiding rigid collision damage to the workpiece.

[0045] Initial locked state

[0046] Sleeve 301 maintains its initial position under the preload of return spring 308:

[0047] The third locking block 307 at one end of the sleeve is embedded in the third locking groove 306 at the top of the connecting block 201 to form a circumferential limit and prevent the sleeve from rotating around the fixing pin 3.

[0048] The first locking block 303 in the inner cavity of the sleeve engages with the first locking groove 302 at one end of the fixed pin, restricting the axial movement of the fixed pin 3 and ensuring that the flexible gripper 202 is rigidly connected to the connecting block 201 through the fixed pin, so that the force transmission is stable when gripping.

[0049] Disassembly and unlocking operation

[0050] When it is necessary to replace the flexible gripper 202:

[0051] The operator holds the sleeve 301 through the auxiliary ring 4 and applies an upward pulling force using the concave anti-slip texture on the surface to overcome the elastic force of the return spring 308 and make the sleeve 301 slide along the axis of the fixed pin 3.

[0052] As the sleeve 301 moves upward, the third locking block 307 first disengages from the third locking groove 306, releasing the circumferential lock between the sleeve 301 and the connecting block 201;

[0053] As the sleeve 301 continues to move upward, the first locking block 303 disengages from the first locking groove 302. At this time, the fixing pin 3 loses its axial limit, but the second locking block 305 at the other end of the sleeve cavity and the second locking groove 304 at the other end of the fixing pin 3 enter a locking state, forming a new limiting structure.

[0054] Rotate the sleeve 301 (since the third locking block 307 has disengaged, the sleeve 301 can rotate circumferentially), and drive the fixing pin 3 to rotate synchronously through the cooperation of the second locking block 305 and the second locking groove 304, so that the threaded connection between the fixing pin 3 and the connecting block 201 and the flexible gripper 202 is loosened, and the fixing pin 3 can be removed without tools.

[0055] Reset Locking Mechanism

[0056] Reverse operation when installing the new flexible gripper 202:

[0057] After the fixing pin 3 passes through the mounting hole of the connecting block 201 and the flexible gripper 202, it pushes the sleeve 301 downward, and the return spring 308 is compressed and stored.

[0058] When the third locking block 307 is aligned with the third locking slot 306, the reset spring 308 releases its elastic force, and the sleeve 301 automatically locks into the initial position. At the same time, the first locking block 303 engages with the first locking slot 302, completing a double lock and ensuring that there is no loosening during the gripping process.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, in the accompanying drawings of this utility model, the fill patterns are merely for distinguishing layers and do not constitute any other limitation.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible gripping single unit of a four-axis robot, comprising a four-axis robot body (1); Its features are: A flexible gripping component is bolted to one end of the four-axis robot body (1); The flexible gripping component includes a connecting frame (2), which is fixed to one end of the four-axis robot body (1) by bolts. Multiple connecting blocks (201) are rotatably connected to its inner cavity, and a flexible gripper (202) is slidably connected inside each connecting block (201). Each connecting block (201) and the inner cavity of the flexible gripper (202) are bolted together with a fixing pin (3). A sleeve (301) is slidably connected to the surface of the fixing pin (3). One end of the fixing pin (3) is provided with multiple first slots (302). One end of the inner cavity of the sleeve (301) is fixedly connected with multiple first blocks (303) that engage with the first slots (302). The other end of the fixing pin (3) is provided with multiple second slots (304). The other end of the inner cavity of the sleeve (301) is fixedly connected with multiple second blocks (305) that engage with the second slots (304). The top of each connecting block (201) is provided with multiple third slots (306). One end of the sleeve (301) is fixedly connected with multiple third blocks (307) that engage with the third slots (306). A return spring (308) is provided between the sleeve (301) and the fixing pin (3).

2. The four-axis robot flexible gripper according to claim 1, characterized in that: The first card slot (302), the first card block (303), the second card slot (304), the second card block (305), the third card slot (306), and the third card block (307) are all distributed at equal intervals, and their shapes are all triangular.

3. A four-axis robot flexible gripper according to claim 1, characterized in that: An auxiliary ring (4) is fixedly connected to the surface of the sleeve (301), and the surface of the sleeve (301) is provided with anti-slip textures distributed at equal intervals, the anti-slip textures being concave in shape.

4. A four-axis robot flexible gripper according to claim 1, characterized in that: The flexible gripping component also includes a sliding plate (5), which is slidably connected to the surface of the connecting frame (2). A cylinder (501) is provided between the connecting frame (2) and the sliding plate (5). The inner cavity of the sliding plate (5) and the inner cavity of the connecting block (201) are rotatably connected to a connecting rod (502). The sliding plate (5) is driven to slide by the extension and retraction of the cylinder (501), and then the connecting block (201) is driven to rotate by the connecting rod (502).

5. A four-axis robot flexible gripper according to claim 1, characterized in that: The flexible gripper (202) is in the shape of a right triangle. A relief groove (6) is provided on the top of the flexible gripper (202). Multiple reinforcing plates (601) are provided in the inner cavity of the relief groove (6). The flexible gripper (202) is a rubber flexible gripper.

6. A four-axis robot flexible gripper according to claim 1, characterized in that: The connecting frame (2) is provided with a rotating shaft for mounting the connecting block (201), and the rotating shaft is provided with a bearing.

7. A four-axis robot flexible gripper according to claim 1, characterized in that: The return spring (308) is a compression spring, and its two ends abut against the sleeve (301) and the fixing pin (3) respectively.

8. A four-axis robot flexible gripper according to claim 1, characterized in that: The surface of each fixing pin (3) is provided with threads, and the fixing pin (3) is connected to the connecting block (201) and the flexible gripper (202) through the threads.

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