An articulated robot with a grasping gripper

Abstract

This invention provides a gripper for an articulated robot, belonging to the field of articulated robot technology. It solves the problem that existing robotic arms can only grasp regularly shaped spherical objects, and the gripping strength is relatively low. This gripper for an articulated robot includes a mounting plate located at the wrist of the robot's end effector. A first finger cylinder is fixedly connected to the mounting plate. The first finger cylinder includes two symmetrically arranged first gripping fingers, each with a first clamping plate fixedly connected to it. Each first clamping plate has two first clamping plungers spaced apart, with the inner end of each first clamping plunger protruding from the inner side of the corresponding first clamping plate. The first gripping fingers and the first clamping plungers are staggered. This gripper for an articulated robot has the advantages of being able to grasp irregularly shaped ball joints and other similar parts, and providing a high degree of gripping strength.

Description

Technical Field

[0001] This utility model belongs to the field of articulated robot technology and relates to a grasping gripper for articulated robots. Background Technology

[0002] Articulated robots, also known as articulated arm robots, articulated robotic arms, or multi-joint robots, are industrial robots that simulate the movement mechanism of a human arm through multiple rotating joints. An articulated robot consists of multiple rotatable joints connected in series, each joint providing an independent degree of rotational freedom. By coordinating the angles of each joint, the end effector achieves precise positioning and attitude adjustment in three-dimensional space.

[0003] Existing articulated robots, such as the robotic arm disclosed in Chinese patent literature [Patent No.: 201420779907.8; Application Publication No.: CN204339776U], include a support, a main arm, a turntable, a power mechanism, a lifting mechanism, and a claw. The turntable is mounted on the support, one end of the main arm is rotatably connected to the turntable, the power mechanism drives the turntable to rotate, the lifting mechanism is located at the other end of the main arm, and the claw is connected to the telescopic shaft of the lifting mechanism. The claw includes a multi-axis cylinder with a cuboid structure and four grippers. The four sides of the multi-axis cylinder are provided with telescopic shafts, and the four grippers are respectively connected to the telescopic shafts on the four sides of the multi-axis cylinder. The end of the gripper away from the multi-axis cylinder has an arc surface, and the arc surface is provided with anti-slip parts.

[0004] This type of robotic arm uses multi-axis cylinders to move the first, second, third, and fourth grippers simultaneously towards their center point. This ensures that the gripped spherical object is subjected to even force, preventing breakage due to uneven force. The four grippers confine the spherical object within a square area, preventing it from falling. However, this type of robotic arm can only grasp regularly shaped spherical objects, and the gripping position is on the same layer of the spherical object, leading to the possibility of the object deflecting, resulting in a relatively low gripping stability. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a gripper for articulated robots. The technical problem to be solved is how to enable the gripper to grasp irregularly shaped ball joint parts with a high degree of firmness.

[0006] The objective of this utility model can be achieved through the following technical solution: a grasping gripper for an articulated robot, comprising a mounting plate located at the wrist of the articulated robot's end, wherein a first finger cylinder is fixedly connected to the mounting plate, the first finger cylinder comprising two symmetrically arranged first grasping fingers, characterized in that a first clamping plate is fixedly connected to each of the two first grasping fingers, and two first clamping plungers are spaced apart on each of the first clamping plates, the inner end of each first clamping plunger protruding from the inner side of the corresponding first clamping plate, and the first grasping fingers and the first clamping plungers are staggered.

[0007] The first clamp is fixed to the first gripping finger, so the first clamp moves together with the first gripping finger. The two first gripping fingers move inward to clamp the small diameter of the ball joint type part, and the four first clamping plungers move inward to clamp the large diameter of the ball joint type part. Since the first gripping fingers and the first clamping plungers are staggered, the gripper can grip different positions of the ball joint type part, so that the gripper can grip irregularly shaped ball joint type parts without deflection and with a high degree of gripping firmness.

[0008] In the aforementioned articulated robot gripper, the first clamping plate is Z-shaped, L-shaped, or straight. One end of the first clamping plate is fixedly connected to the corresponding first gripping finger, and the first clamping plunger is disposed at the other end of the corresponding first clamping plate. This structure allows the first clamping plunger to be positioned appropriately, enabling it to clamp and position the large diameter of ball joint-type parts, and allowing the gripper to grasp irregularly shaped ball joint-type parts.

[0009] In the aforementioned articulated robot gripper, the outer wall of the inner end of the first gripping finger has a planar mounting surface. One end of the first clamping plate rests against the corresponding mounting surface, and one end of the first clamping plate is detachably connected to the corresponding first gripping finger via bolts. This structure ensures a reasonable connection between the first clamping plate and the first gripping finger, and the first clamping plate is detachable, allowing for replacement with different first clamping plates for different components, thus improving versatility.

[0010] In the aforementioned articulated robot gripper, the two first clamping plates are symmetrically arranged to improve gripping stability.

[0011] In the aforementioned articulated robot gripper, the first clamping plunger and the first clamping plate are adjustablely connected via threads. This structure allows for adjustment of the position of the first clamping plunger, and the angle of the first clamping plunger can also be adjusted as needed, enabling the first clamping plunger to better grip positioning ball joint-type parts.

[0012] In the aforementioned articulated robot gripper, a second finger cylinder is also fixedly connected to the mounting plate. The second finger cylinder is symmetrically arranged with the first finger cylinder, and includes two symmetrically arranged second gripping fingers. Each of the two second gripping fingers is fixedly connected to a second clamping plate. Each second clamping plate has two second clamping plungers spaced apart, with the inner end of each second clamping plunger protruding from the inner side of the corresponding second clamping plate. The second gripping fingers and the second clamping plungers are staggered. Installing multiple finger cylinders on the mounting plate allows the gripper to grasp multiple parts simultaneously, improving work efficiency.

[0013] Compared with the prior art, the first clamping plate of the grasping gripper of the articulated robot provided by this utility model moves together with the first grasping finger. The first grasping finger and the first clamping plunger are staggered in the vertical and horizontal directions, so that the grasping gripper can grasp different positions of ball joint type parts, and can grasp irregularly shaped ball joint type parts, effectively preventing the parts from deflecting and providing a high degree of gripping firmness. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this articulated robot.

[0015] Figure 2 This is a schematic diagram of the overall structure of the gripper.

[0016] Figure 3 This is an exploded view of the first finger cylinder and the first clamping plate of the gripper.

[0017] In the figure, 1 is the mounting plate; 2 is the first finger cylinder; 21 is the first grasping finger; 211 is the mounting surface; 3 is the first clamping plate; 4 is the first clamping plunger; 5 is the second finger cylinder; 51 is the second grasping finger; 6 is the second clamping plate; and 7 is the second clamping plunger. Detailed Implementation

[0018] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0019] like Figure 1 , Figure 2 As shown, the grasping gripper of this articulated robot includes a mounting plate 1, a first finger cylinder 2, a first clamping plate 3, a first clamping plunger 4, a second finger cylinder 5, a second clamping plate 6, and a second clamping plunger 7.

[0020] Mounting plate 1 is located at the wrist of the articulated robot. A first finger cylinder 2 and a second finger cylinder 5 are fixedly connected to mounting plate 1. The second finger cylinder 5 is symmetrically arranged with the first finger cylinder 2.

[0021] The first finger cylinder 2 includes two symmetrically arranged first grasping fingers 21, each of which is fixedly connected to a first clamping plate 3, and the two first clamping plates 3 are symmetrically arranged. Specifically, as follows... Figure 3 As shown, in this embodiment, the first clamping plate 3 is Z-shaped, and the outer side wall of the inner end of the first grasping finger 21 has a planar mounting surface 211. One end of the first clamping plate 3 is attached to the corresponding mounting surface 211. One end of the first clamping plate 3 is detachably connected to the corresponding first grasping finger 21 by bolts. In this embodiment, the first clamping plate 3 can be L-shaped or straight.

[0022] Two first clamping plungers 4 are spaced apart on the other end of each first clamping plate 3. The first clamping plungers 4 are adjustablely connected to the first clamping plate 3 by means of threads. The inner end of each first clamping plunger 4 protrudes from the inner side of the corresponding first clamping plate 3. The first grasping finger 21 is staggered from the first clamping plunger 4.

[0023] The second finger cylinder 5 includes two symmetrically arranged second grasping fingers 51. A second clamping plate 6 is fixedly connected to each of the two second grasping fingers 51. Two second clamping plungers 7 are spaced apart on each second clamping plate 6. The inner end of each second clamping plunger 7 protrudes from the inner side of the corresponding second clamping plate 6. The second grasping fingers 51 and the second clamping plungers 7 are staggered.

[0024] During operation, the articulated robot moves the gripper to a set position, and the two first gripping fingers 21 move inward, causing the two first clamping plates 3 to move inward. The two first gripping fingers 21 clamp the small diameter of the ball joint type part, and the four first clamping plungers 4 clamp the large diameter of the ball joint type part, so that the gripper grips the ball joint type irregular part. The working process of the second finger cylinder 5 is the same.

[0025] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0026] Although this document frequently uses terms such as mounting plate 1, first finger cylinder 2, first grasping finger 21, mounting surface 211, first clamping plate 3, first clamping plunger 4, second finger cylinder 5, second grasping finger 51, second clamping plate 6, and second clamping plunger 7, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A grasping gripper for an articulated robot, comprising a mounting plate (1) located at the wrist of the articulated robot, wherein a first finger cylinder (2) is fixedly connected to the mounting plate (1), the first finger cylinder (2) comprising two symmetrically arranged first grasping fingers (21), characterized in that, Two first gripping fingers (21) are fixedly connected to a first clamping plate (3). Each first clamping plate (3) is provided with two first clamping plungers (4) spaced apart. The inner end of each first clamping plunger (4) protrudes and is provided on the inner side of the corresponding first clamping plate (3). The first gripping fingers (21) and the first clamping plungers (4) are staggered.

2. The grasping gripper for an articulated robot according to claim 1, characterized in that, The first clamp (3) is Z-shaped, L-shaped or straight, and one end of the first clamp (3) is fixedly connected to the corresponding first grasping finger (21). The first clamping plunger (4) is located at the other end of the corresponding first clamp (3).

3. A grasping gripper for an articulated robot according to claim 2, characterized in that, The outer side wall of the inner end of the first grasping finger (21) has a planar mounting surface (211), one end of the first clamp (3) is attached to the corresponding mounting surface (211), and one end of the first clamp (3) is detachably connected to the corresponding first grasping finger (21) by bolts.

4. A grasping gripper for an articulated robot according to claim 1, 2, or 3, characterized in that, The two first clamps (3) are symmetrically arranged.

5. A grasping gripper for an articulated robot according to claim 1, 2, or 3, characterized in that, The first clamping plunger (4) and the first clamping plate (3) are adjustablely connected by threads.

6. A grasping gripper for an articulated robot according to claim 1, 2, or 3, characterized in that, The mounting plate (1) is also fixedly connected to a second finger cylinder (5). The second finger cylinder (5) is symmetrically arranged with the first finger cylinder (2). The second finger cylinder (5) includes two symmetrically arranged second grasping fingers (51). A second clamping plate (6) is fixedly connected to each of the two second grasping fingers (51). Two second clamping plungers (7) are spaced apart on each second clamping plate (6). The inner end of each second clamping plunger (7) protrudes from the inner side of the corresponding second clamping plate (6). The second grasping fingers (51) and the second clamping plungers (7) are staggered.

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