A gripper robot for automatic change
By designing a gripping robot with automatically changing grippers, and using electromagnets and small dual-axis motors to achieve automatic gripper replacement, the problem of time-consuming and labor-intensive gripper replacement in existing technologies is solved, thus improving production efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YANTAI SANHUAN INTELLIGENT EQUIP CO LTD
- Filing Date
- 2025-08-01
- Publication Date
- 2026-07-21
AI Technical Summary
The current process of replacing automotive grippers requires specialized tools and personnel, which is time-consuming and labor-intensive, resulting in low production efficiency.
Design an automatic gripper robot that uses electromagnets and a small dual-axis motor to achieve automatic gripper replacement. Combined with visual recognition and displacement sensors for precise positioning, the robot uses electromagnets to attract and release the gripper connector, and auxiliary boxes and connecting blocks to achieve fastening and loosening.
It enables automated replacement of grippers, improves production efficiency, reduces manual intervention, and simplifies the operation process.
Smart Images
Figure CN224527246U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gripping robot technology, and in particular to a gripping robot with automatic gripper changing capability. Background Technology
[0002] Automotive clip assembly is a common connection method in automobile production and repair. Due to its ease of operation, low cost, and detachability, it is widely used for securing interior and exterior trim, as well as some components. For various clip connection models, corresponding grippers need to be changed to meet production requirements.
[0003] The existing method of changing grippers is usually done manually. Since the parts that make up the grippers are quite complex, they require specialized tools and personnel to replace them. Moreover, after the grippers are replaced, they need to be adjusted, which makes changing grippers time-consuming and labor-intensive, reducing production efficiency.
[0004] Therefore, a gripping robot with automatic gripper changing is proposed to solve the above problems. Utility Model Content
[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a gripping robot with automatic gripper changing, so as to solve the problems existing in the background technology.
[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an automatic gripper-changing gripper robot, comprising a robot body and a gripper base, a support frame being provided on the gripper base, a gripper connecting sleeve being fixedly provided on the execution end of the robot body, a gripper inner sleeve being fixedly provided inside the gripper connecting sleeve, an electromagnet being provided between the top of the gripper inner sleeve and the inner top of the gripper connecting sleeve, a magnetically conductive power supply being provided on the top of the electromagnet and electrically connected thereto, the magnetically conductive power supply being fixedly provided inside the gripper connecting sleeve, the gripper inner sleeve having an annular structure, a vertical groove being provided at the bottom of the gripper inner sleeve, a horizontal groove being provided inside the vertical groove, the vertical groove and the horizontal groove forming a cross-shaped structure, and a gripper body being provided on the support frame.
[0007] Preferably, there are multiple vertical grooves and horizontal grooves evenly distributed around the periphery, and the number of vertical grooves and horizontal grooves is 4 sets.
[0008] Preferably, the gripper connecting sleeve is a bottle cap-shaped structure with a central hole in the lower part and a solid top. The electromagnet is fixedly installed inside the top of the gripper connecting sleeve, and the magnetic power supply is installed inside the solid top of the gripper connecting sleeve.
[0009] Preferably, a displacement sensor and a visual recognition camera are fixedly installed on the outer wall of the gripper connecting sleeve.
[0010] Preferably, the gripper body includes a metal gripper connector, a fixing plate is provided on the side wall of the gripper connector, an auxiliary box is provided on the fixing plate, and a retractable connecting block is provided inside the auxiliary box.
[0011] Preferably, the auxiliary box is equipped with a small dual-axis motor, and the two output shafts of the small dual-axis motor are respectively equipped with screws. The connecting block is provided with an internal threaded hole, and the connecting block is movably connected to the screws.
[0012] Preferably, a limiting plate is fixedly provided on the side of the connecting block near the small dual-axis motor.
[0013] Preferably, the top shape of the auxiliary box is adapted to the shape of the vertical groove opening, the shape of the connecting block is adapted to the shape of the surface connected to the horizontal groove, the number of auxiliary boxes is the same as the number of vertical grooves, and the number of connecting blocks is twice that of the horizontal grooves.
[0014] Preferably, a support plate is provided at the bottom of the gripper body, and a gripper head is provided at the bottom of the support plate.
[0015] The beneficial effects of this utility model are: 1. By setting up an electromagnet, a magnetic power supply, and a metal gripper connector, the gripper body can grasp and release. When the magnetic power supply is turned on, the electromagnet attracts the metal gripper connector, connecting the gripper body and the gripper connector. When the magnetic power supply is turned off, the electromagnet loses its magnetic force, and the gripper connector releases the gripper body onto the support frame.
[0016] 2. By setting an inner sleeve with vertical and horizontal slots for the gripper, and by setting an auxiliary box and a connecting block at the gripper connector, the clamping force of the gripper connector and the gripper connecting sleeve is further improved. When the gripper connector is connected to the electromagnet, the small dual-axis motor rotates forward, driving the screw to rotate forward, which in turn causes the connecting block to engage with the horizontal slot; the small dual-axis motor rotates in reverse, the screw rotates in reverse, which in turn causes the connecting block to exit the horizontal slot, and then the electromagnet releases the gripper body. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is a schematic diagram of the structure of this utility model.
[0018] Figure 2 This is a schematic diagram of the gripper connecting sleeve structure of this utility model.
[0019] Figure 3 This is a cross-sectional schematic diagram of the gripper connecting sleeve of this utility model.
[0020] Figure 4 This is a schematic diagram of the inner sleeve structure of the gripper of this utility model.
[0021] Figure 5 This is a schematic cross-sectional view of the inner sleeve of the gripper of this utility model.
[0022] Figure 6 This is a front view of the gripper body of this utility model.
[0023] Figure 7 This is a schematic diagram of the auxiliary box structure of this utility model.
[0024] Figure 8 This is a cross-sectional schematic diagram of the auxiliary box of this utility model.
[0025] Explanation of reference numerals in the attached figures: 1. Robot body; 2. Gripper connecting sleeve; 3. Electromagnet; 4. Gripper inner sleeve; 41. Vertical slot; 42. Horizontal slot; 5. Displacement sensor; 6. Vision recognition camera; 7. Gripper body; 71. Gripper connector; 72. Fixing plate; 73. Auxiliary box; 74. Small dual-axis motor; 75. Screw; 76. Connecting block; 77. Support plate; 78. Gripper head; 79. Limiting plate; 8. Support frame; 9. Gripper base; 10. Magnetic power supply. Detailed Implementation
[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.
[0027] Reference Figures 1 to 8 This invention provides an embodiment of an automatically changing gripper robot, comprising a robot body 1 and a gripper base 9. A support frame 8 is provided on the gripper base 9. A gripper connecting sleeve 2 is fixedly provided at the execution end of the robot body 1. A gripper inner sleeve 4 is fixedly provided inside the gripper connecting sleeve 2. An electromagnet 3 is provided between the top of the gripper inner sleeve 4 and the gripper connecting sleeve 2. A magnetically conductive power supply 10 electrically connected to the top of the electromagnet 3 is provided. The magnetically conductive power supply 10 is fixedly provided inside the gripper connecting sleeve 2. The gripper inner sleeve 4 has a ring structure. A vertical groove 41 is provided at the bottom of the gripper inner sleeve 4. A horizontal groove 42 is provided inside the vertical groove 41. The vertical groove 41 and the horizontal groove 42 form a cross-shaped structure. A gripper body 7 is provided on the support frame 8.
[0028] Specifically, the execution end of the robot body 1 is fixedly equipped with a gripper connecting sleeve 2. The gripper connecting sleeve 2 is a bottle cap-shaped structure with a central opening in the lower part and a solid top. An electromagnet 3 is fixedly installed on the top of the opening part of the gripper connecting sleeve 2. A magnetic power supply 10 is fixedly installed inside the solid part of the gripper connecting sleeve 2. The magnetic power supply 10 is electrically connected to the electromagnet 3. The magnetic power supply 10 is used to turn the power on and off to the electromagnet 3, thereby magnetizing or demagnetizing the electromagnet 3.
[0029] Specifically, a gripper inner sleeve 4 is fixedly installed inside the hollow part of the gripper connecting sleeve 2. The top of the electromagnet 3 is connected to the gripper connecting sleeve 2, and the bottom of the electromagnet is connected to the top of the gripper inner sleeve 4. The gripper inner sleeve 4 has a ring structure, and a vertical groove 41 is provided at the bottom of the gripper inner sleeve 4. A horizontal groove 42 is provided inside the vertical groove 41, and the vertical groove 41 and the horizontal groove 42 form a cross-shaped structure. Furthermore, multiple vertical grooves 41 and horizontal grooves 42 are evenly distributed around the circumference. Preferably, there are 4 sets of vertical grooves 41 and horizontal grooves 42.
[0030] In some embodiments, a displacement sensor 5 and a vision recognition camera 6 are provided on the outer wall of the gripper connecting sleeve 2. The displacement sensor 5 is used to identify the position of the gripper seat 9, and the vision recognition camera 6 is used to identify the model of the gripper body 7. When it is necessary to replace the gripper body 7, the external controller sends a signal to the robot body 1. The robot body 1 moves the execution end to the gripper seat 9 according to a preset program. The movement trajectory and position are identified by the displacement sensor 5. Then, the displacement sensor 5 feeds the information back to the controller. Then, the vision recognition camera 6 identifies the model, position, and other information of the multiple gripper bodies 7 on the gripper seat 9. Then, the robot body 1 performs micro-movements to replace the gripper body 7.
[0031] Specifically, a support frame 8 is provided on the claw base 9, and various types of gripper bodies 7 are provided on the support frame 8. The gripper body 7 includes a gripper connector 71, a support plate 77, and a gripper head 78. The gripper body 7 is placed on the support frame 8 via the support plate 77. The support plate 77 is located at the bottom of the gripper connector 71, and the gripper head 78 is located at the bottom of the connector 71. The gripper body 7 is provided with an independent drive structure, the specific drive being existing technology.
[0032] Specifically, the gripper connector 71 is made of metal, and a fixing plate 72 is fixedly installed on the outer wall of the gripper connector 71. An auxiliary box 73 is fixedly installed on the fixing plate 72. The auxiliary box 73 has a telescopic structure for cooperating with the horizontal groove 42. The top surface shape of the auxiliary box 73 is the same as the bottom surface shape of the vertical groove 41, and the height is the same as the vertical groove 41 so that the auxiliary box 73 can enter the vertical groove 41.
[0033] In this embodiment, the telescopic structure includes a small dual-axis motor 74 disposed within an auxiliary box 73. Each end of the small dual-axis motor 74 has a screw 75 mounted on its output shaft. A connecting block 76 is movably mounted on each screw 75, and the connecting block 76 has a through threaded hole. The screw 75 engages with the threaded hole. Through holes are provided on both sides of the auxiliary box 73 for the connecting block 76 to pass through. A limiting plate 79 is provided at one end of the connecting block 76 located within the auxiliary box 73. The limiting plate 79 is larger than the through hole size to prevent the connecting block 76 from detaching from the screw 75. The shape of the connecting block 76's direction of movement is the same as the cross-sectional shape of the transverse groove 42, allowing the connecting block 76 to enter the transverse groove 42. The number of auxiliary boxes 73 is the same as the number of vertical grooves 41, and the number of connecting blocks 76 is twice the number of transverse grooves 42.
[0034] In some embodiments, the auxiliary box 73 has through holes on both sides. The telescopic structure includes two electrically operated telescopic rods disposed within the auxiliary box 73. The two electrically operated telescopic rods can pass through the two through holes respectively. The ends of the electrically operated telescopic rods engage with the transverse groove 42. A drive device for driving the electrically operated telescopic rods is disposed within the auxiliary box 73. When the gripper connecting sleeve 2 engages, the auxiliary box 73 enters the vertical groove 41, and then the drive device drives the electrically operated telescopic rods to extend in, so that the ends of the electrically operated telescopic rods enter the transverse groove 42 to achieve connection. When it is necessary to replace the gripper body 7, the drive device drives the electrically operated telescopic rods to retract into the auxiliary box 73, and then the auxiliary box 73 exits the vertical groove 41.
[0035] In some embodiments, a fixing member is provided in the center of the auxiliary box 73, and guide shafts are respectively provided on both sides of the fixing member. A connecting block 76 is movably sleeved on the guide shaft. A spring is provided between the connecting block 76 and the fixing member. In the normal state, part of the spring is located outside the auxiliary box 73, and the spring is sleeved on the guide shaft. When the gripper connecting sleeve 2 is engaged with the gripper connecting head 71, the auxiliary box 73 enters the vertical groove 41, and the connecting block 76 outside the auxiliary box 73 is compressed. When the connecting block 76 enters the horizontal groove 42, the spring pops the connecting block 76 out and connects it with the horizontal groove 42. When the gripper body 7 is replaced, the support plate 77 on the gripper body 7 is placed on the support frame 8, and then downward force is applied. The connecting block 76 is compressed and pushed out of the horizontal groove 42, and then the auxiliary box 73 exits from the vertical groove 41. Furthermore, the upper and lower corners of the connecting block 76 and the upper and lower corners of the connecting block 76 entering and exiting the horizontal groove 42 are chamfered to facilitate the entry and exit of the connecting block 76 into and out of the horizontal groove 42.
[0036] During use, when the gripper body 7 needs to be replaced, the external controller sends a signal to the robot body 1. The robot body 1 moves the execution end to the gripper seat 9 according to the preset program. The movement trajectory and position are identified by the displacement sensor 5. Then, the vertical slot 41 is aligned with the auxiliary box 73, and the auxiliary box 73 is inserted into the vertical slot 41. When the top of the auxiliary box 73 reaches the top of the vertical slot 41, the small dual-axis motor 74 rotates forward, driving the screw 75 to rotate forward, thereby causing the connecting block 76 to engage with the horizontal slot 42. Then, the magnetic power supply 10 powers and magnetizes the electromagnet 3, and the electromagnet 3 picks up the metal gripper connector 71, completing the replacement of the gripper body 7. When the gripper body 7 is lowered, the support plate 77 on the gripper body 7 is placed on the support frame 8 on the gripper seat 9 by the program setting. The small dual-axis motor 74 reverses and the screw 75 reverses, which causes the connecting block 76 to exit the transverse groove 42. Then the magnetic power supply 10 is de-energized, the magnetic force of the electromagnet 3 disappears, and the gripper body 7 is released from the gripper connecting sleeve 2 and falls onto the support frame 8.
[0037] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.
Claims
1. A gripping robot with an automatic gripper replacement mechanism, comprising a robot body (1) and a gripper base (9), wherein a support frame (8) is provided on the gripper base (9), characterized in that: The robot body (1) is fixedly provided with a gripper connecting sleeve (2) at the execution end. A gripper inner sleeve (4) is fixedly provided inside the gripper connecting sleeve (2). An electromagnet (3) is provided between the gripper inner sleeve (4) and the top of the gripper connecting sleeve (2). A magnetic power supply (10) electrically connected to the top of the electromagnet (3) is provided. The magnetic power supply (10) is fixedly provided inside the gripper connecting sleeve (2). The gripper inner sleeve (4) is a ring structure. A vertical groove (41) is provided at the bottom of the gripper inner sleeve (4). A horizontal groove (42) is provided inside the vertical groove (41). The vertical groove (41) and the horizontal groove (42) form a cross-shaped structure. A gripper body (7) is provided on the support frame (8).
2. The gripping robot with automatic gripper changing according to claim 1, characterized in that: The vertical groove (41) and the horizontal groove (42) are evenly distributed in multiple directions, and the number of vertical grooves (41) and horizontal grooves (42) is 4 sets.
3. The gripping robot with automatic gripper changing according to claim 1, characterized in that: The gripper connecting sleeve (2) is a bottle cap-shaped structure with a central hole in the lower part and a solid top. The electromagnet (3) is fixedly installed inside the top of the gripper connecting sleeve (2), and the magnetic power supply (10) is installed inside the solid top of the gripper connecting sleeve (2).
4. A gripping robot with automatically changing grippers according to claim 1, characterized in that: A displacement sensor (5) and a visual recognition camera (6) are fixedly installed on the outer wall of the gripper connecting sleeve (2).
5. A gripping robot with automatically changing grippers according to claim 1, characterized in that: The gripper body (7) includes a metal gripper connector (71), a fixing plate (72) is provided on the side wall of the gripper connector (71), an auxiliary box (73) is provided on the fixing plate (72), and a retractable connecting block (76) is provided inside the auxiliary box (73).
6. A gripping robot with automatically changing grippers according to claim 5, characterized in that: The auxiliary box (73) is equipped with a small dual-axis motor (74). The two output shafts of the small dual-axis motor (74) are respectively equipped with screws (75). The connecting block (76) is provided with an internal thread hole and is movably connected to the screws (75).
7. A gripping robot with automatically changing grippers according to claim 6, characterized in that: A limiting plate (79) is fixedly installed on the side of the connecting block (76) near the small dual-axis motor (74).
8. A gripping robot with automatically changing grippers according to claim 5, characterized in that: The top shape of the auxiliary box (73) is adapted to the shape of the groove opening of the vertical groove (41), the shape of the surface of the connecting block (76) connected to the horizontal groove (42) is adapted, the number of auxiliary boxes (73) is the same as the number of vertical grooves (41), and the number of connecting blocks (76) is twice that of the horizontal grooves (42).
9. A gripping robot with automatically changing grippers according to claim 5, characterized in that: The gripper body (7) is provided with a support plate (77) at the bottom, and the support plate (77) is provided with a claw head (78) at the bottom.