A multi-functional robotic gripper for loading and unloading materials on a sawing and drilling machine

Abstract

This utility model belongs to the field of robotics technology and discloses a multifunctional robotic gripper for loading and unloading sawing and drilling machines. It includes a six-axis robotic arm, with a connecting frame fixedly connected to the front end of the arm and a base plate fixedly connected to the bottom of the connecting frame. Round rods are movably sleeved inside the front and rear sides of the base plate. This utility model, by incorporating a vacuum suction cup and a pneumatic gripper, allows for product gripping by activating the pneumatic gripper. When faced with products that cannot be gripped directly, a servo motor is activated, causing the bottom of the vacuum suction cup to descend beyond the bottom of the pneumatic gripper. This allows the bottom of the vacuum suction cup to contact the outer surface of the product before the pneumatic gripper, enabling the product to be sucked up. This achieves the purpose of gripping different products, improving the flexibility of the robot gripper and reducing equipment costs.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically a multi-functional robotic gripper for loading and unloading sawing and drilling machines. Background Technology

[0002] As a key end effector for robots to interact with the external environment, the robotic gripper can grasp objects, ensuring stable gripping and safe release. It is a core component for achieving efficient human-robot collaboration in industrial automation, service robots, and special operations.

[0003] The sawing and drilling machine requires robots for automatic loading and unloading. However, the existing robots have simple gripper structures, such as grippers or suction cups. As a result, two types of robots need to be equipped to achieve automated loading and unloading operations, depending on the working conditions of the product. This not only significantly increases the equipment procurement cost, but also occupies more production space and increases the complexity of the production line layout. Therefore, it is necessary to improve them. Utility Model Content

[0004] The purpose of this utility model is to address the above-mentioned problems. This utility model provides a multi-functional robotic gripper for loading and unloading sawing and drilling machines, which has the advantage of being multi-functional.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-functional robotic gripper for loading and unloading sawing and drilling machines, comprising a six-axis robotic arm, a connecting frame fixedly connected to the front end of the six-axis robotic arm, a base plate fixedly connected to the bottom of the connecting frame, round rods movably sleeved inside the front and rear sides of the base plate, a mounting plate located below the base plate fixedly connected to the bottom of the round rods, a vacuum suction cup fixedly sleeved inside the mounting plate, an air guide box fixedly connected to the top of the vacuum suction cup, a connecting hose fixedly sleeved inside the back of the air guide box, pneumatic clamps fixedly sleeved inside the left and right ends of the base plate, and air nozzles located inside the pneumatic clamps fixedly sleeved inside the left and right ends of the base plate, with air guide boxes fixedly connected to the bottom of the air nozzles.

[0006] As a preferred embodiment of this utility model, a rubber pad is fixedly installed on the inner surface of the pneumatic clamp, and an anti-detachment plate is fixedly connected to the top of the round rod.

[0007] As a preferred embodiment of this utility model, a fixing bracket is fixedly installed on the top of the mounting plate, and the inner surface of the fixing bracket is fixedly connected to the outer surface of the air guide box.

[0008] As a preferred embodiment of this utility model, a mounting bracket is fixedly installed on the top of the base plate, the top of the mounting bracket is movably connected to the bottom of the connecting bracket, and a servo motor is fixedly installed on the right side of the mounting bracket.

[0009] As a preferred embodiment of this invention, the other end of the servo motor output shaft is fixedly connected to a threaded rod, and the outer surface of the threaded rod is movably sleeved with the inner wall of the mounting bracket.

[0010] As a preferred embodiment of this utility model, movable blocks are threaded onto both the left and right sides of the outer surface of the threaded rod, and the top of the movable blocks is movably connected to the top of the inner surface of the mounting bracket.

[0011] As a preferred embodiment of this invention, the front and back of the movable block are both hinged with hinge rods, and the bottom of the hinge rods is hinged to the top of the fixed frame.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] This invention, by incorporating a vacuum suction cup and a pneumatic gripper, allows for product gripping. When dealing with products that cannot be gripped directly, a servo motor is activated, causing the bottom of the vacuum suction cup to descend beyond the bottom of the pneumatic gripper. This ensures that the bottom of the vacuum suction cup contacts the outer surface of the product before the pneumatic gripper, enabling the product to be sucked up. This achieves the goal of gripping different products, improves the flexibility of the robot's gripper, and reduces equipment costs. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the base plate of this utility model;

[0016] Figure 3 This is a cross-sectional view of the front of the base plate of this utility model;

[0017] Figure 4 This is a bottom view of the bottom structure of the base plate of this utility model;

[0018] Figure 5 This is a cross-sectional view of the side of the base plate of this utility model.

[0019] In the diagram: 1. Six-axis robotic arm; 2. Connecting frame; 3. Base plate; 4. Round rod; 5. Mounting plate; 6. Vacuum suction cup; 7. Air guide box; 8. Connecting hose; 9. Pneumatic clamp; 10. Air nozzle; 11. Air guide box; 12. Rubber pad; 13. Anti-detachment plate; 14. Fixing frame; 15. Mounting frame; 16. Servo motor; 17. Threaded rod; 18. Moving block; 19. Hinge rod. Detailed Implementation

[0020] 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.

[0021] like Figures 1 to 5 As shown, this utility model provides a multi-functional robotic gripper for loading and unloading sawing and drilling machines, including a six-axis robotic arm 1. A connecting frame 2 is fixedly connected to the front end of the six-axis robotic arm 1. A base plate 3 is fixedly connected to the bottom of the connecting frame 2. Round rods 4 are movably sleeved inside the front and rear sides of the base plate 3. A mounting plate 5 located below the base plate 3 is fixedly connected to the bottom of the round rods 4. A vacuum suction cup 6 is fixedly sleeved inside the mounting plate 5. An air guide box 7 is fixedly connected to the top of the vacuum suction cup 6. A connecting hose 8 is fixedly sleeved inside the back of the air guide box 7. Pneumatic clamps 9 are fixedly sleeved inside the left and right ends of the base plate 3. Air nozzles 10 located inside the pneumatic clamps 9 are fixedly sleeved inside the left and right ends of the base plate 3. An air guide box 11 is fixedly connected to the bottom of the air nozzles 10.

[0022] When gripping a product, the pneumatic clamp 9 can be activated to grip the product. When it is inconvenient to grip a product, the mounting plate 5 can be lowered so that the bottom of the vacuum suction cup 6 exceeds the bottom of the pneumatic clamp 9, so that the bottom of the vacuum suction cup 6 can contact the outer surface of the product to pick it up. Air can also be blown through the air nozzle 10 and the air guide box 11 to clean the outer surface of the product.

[0023] Among them, the inner surface of the pneumatic clamp 9 is fixedly installed with a rubber pad 12, and the top of the round rod 4 is fixedly connected with an anti-detachment plate 13.

[0024] By setting the rubber pad 12, the rubber pad 12 can play a role in preventing slipping and at the same time avoid damage to the outer surface of the product. The diameter of the anti-detachment plate 13 is larger than the diameter of the round rod 4, thereby preventing the round rod 4 from detaching from the interior of the base plate 3.

[0025] The mounting plate 5 is fixedly mounted on the top of a mounting bracket 14, and the inner surface of the mounting bracket 14 is fixedly connected to the outer surface of the air guide box 7.

[0026] By setting the fixing frame 14, the fixing frame 14 can play the role of fixing the air guide box 7, and when the fixing frame 14 descends, it will drive the mounting plate 5 to move downward.

[0027] The base plate 3 is fixedly mounted with a mounting bracket 15, the top of which is movably connected to the bottom of the connecting bracket 2, and a servo motor 16 is fixedly mounted on the right side of the mounting bracket 15.

[0028] The mounting bracket 15 is used to mount and fix the servo motor 16.

[0029] The other end of the output shaft of the servo motor 16 is fixedly connected to a threaded rod 17, and the outer surface of the threaded rod 17 is movably sleeved with the inner wall of the mounting bracket 15.

[0030] The threads on the left and right sides of the outer surface of the threaded rod 17 are in opposite directions. When the servo motor 16 is started, the threaded rod 17 will rotate.

[0031] The threaded rod 17 has a moving block 18 threadedly connected to both the left and right sides of its outer surface, and the top of the moving block 18 is movably connected to the top of the inner surface of the mounting bracket 15.

[0032] When the threaded rod 17 rotates, it will cause the two moving blocks 18 to move towards or away from each other.

[0033] The movable block 18 has hinge rods 19 on both its front and back sides, and the bottom of the hinge rods 19 is hinged to the top of the fixed frame 14.

[0034] When the two moving blocks 18 move toward each other, the hinge rod 19 will push the fixed frame 14 downward, thereby allowing the mounting plate 5 to move downward.

[0035] Working principle and usage process of this utility model:

[0036] The operator connects the air source to the pneumatic clamp 9, the air nozzle 10, and the connecting hose 8, enabling the pneumatic clamp 9, the air nozzle 10, and the vacuum suction cup 6 to operate normally. When it is necessary to clamp the workpiece, the pneumatic clamp 9 can be activated to clamp the workpiece. When the workpiece cannot be clamped, the servo motor 16 can be activated, causing the threaded rod 17 to drive the two moving blocks 18 to move in opposite directions. This causes the hinge rod 19 to push the fixed frame 14 down, thereby causing the mounting plate 5 to descend under the limiting action of the round rod 4. This allows the bottom of the vacuum suction cup 6 to exceed the bottom of the pneumatic clamp 9, enabling the vacuum suction cup 6 to contact the product before the pneumatic clamp 9 and pick up the product. After the product is picked up, the six-axis robotic arm 1 can adjust the overall angle of the connecting frame 2 to adjust the tilt angle of the product, thereby emptying the residual cutting fluid and chips inside the product.

[0037] The operator can activate the air nozzle 10, which will blow out an airflow that is guided by the air guide box 11 and blown toward the product, thereby cleaning the product.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0039] 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 multifunctional robot gripper for sawing and drilling of blanks, comprising a six-axis robot arm (1), characterized in that: The front end of the six-axis robotic arm (1) is fixedly connected to a connecting frame (2), and the bottom of the connecting frame (2) is fixedly connected to a base plate (3). The interior of the front and rear sides of the base plate (3) is movably fitted with round rods (4). The bottom of the round rods (4) is fixedly connected to a mounting plate (5) located below the base plate (3). The interior of the mounting plate (5) is fixedly fitted with a vacuum suction cup (6). The top of the vacuum suction cup (6) is fixedly connected with an air guide box (7). The interior of the back of the air guide box (7) is fixedly fitted with a connecting hose (8). The interior of the left and right ends of the base plate (3) is fixedly fitted with pneumatic clamps (9). The interior of the left and right ends of the base plate (3) is fixedly fitted with air nozzles (10) located inside the pneumatic clamps (9). The bottom of the air nozzles (10) is fixedly connected with an air guide box (11).

2. The multi-functional robot gripper for sawing and drilling workpiece feeding and discharging according to claim 1, characterized in that: The inner surface of the pneumatic clamp (9) is fixedly fitted with a rubber pad (12), and the top of the round rod (4) is fixedly connected with an anti-detachment plate (13).

3. The multi-functional robot gripper for sawing and drilling blanking of a saw drill machine according to claim 1, characterized in that: A fixing bracket (14) is fixedly installed on the top of the mounting plate (5), and the inner surface of the fixing bracket (14) is fixedly connected to the outer surface of the air guide box (7).

4. The multi-functional robot gripper for sawing and drilling blanking of a saw drill machine according to claim 1, characterized in that: A mounting bracket (15) is fixedly installed on the top of the base plate (3). The top of the mounting bracket (15) is movably connected to the bottom of the connecting bracket (2). A servo motor (16) is fixedly installed on the right side of the mounting bracket (15).

5. The multi-functional robotic gripper for loading and unloading a sawing and drilling machine according to claim 4, characterized in that: The other end of the output shaft of the servo motor (16) is fixedly connected to a threaded rod (17), and the outer surface of the threaded rod (17) is movably sleeved with the inner wall of the mounting bracket (15).

6. The multi-functional robot gripper for sawing and drilling blank loading and unloading according to claim 5, characterized in that: The left and right sides of the outer surface of the threaded rod (17) are threaded with movable blocks (18), and the top of the movable blocks (18) is movably connected to the top of the inner surface of the mounting bracket (15).

7. The multi-functional robot gripper for sawing and drilling blanking of a saw drill machine according to claim 6, characterized in that: The movable block (18) has hinge rods (19) hinged to both the front and back sides, and the bottom of the hinge rods (19) is hinged to the top of the fixed frame (14).

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