Multi-degree-of-freedom gripping fixture for industrial assembly line robots

Abstract

This utility model belongs to the field of gripping fixture technology, and discloses a multi-degree-of-freedom gripping fixture device for industrial assembly line robots. It includes a multi-degree-of-freedom robot body and a gripping mechanism mounted on the end of the robot body. The gripping mechanism has two gripper assemblies. The gripping mechanism includes a frame connected to the end of the multi-degree-of-freedom robot body. Each gripper assembly has a slider slidably connected to the frame. A bidirectional screw and a handwheel for controlling the rotation of the bidirectional screw are rotatably connected to the frame. The two ends of the bidirectional screw are threadedly connected to the sliders on the two gripper assemblies, so that the rotation of the bidirectional screw drives the two gripper assemblies to slide on the frame. This utility model allows for adjustment of the distance between the two gripper assemblies to accommodate materials of different lengths, improving flexibility and applicability.

Description

Technical Field

[0001] This utility model belongs to the field of gripping fixture technology, specifically relating to a multi-degree-of-freedom gripping fixture device for industrial assembly line robots. Background Technology

[0002] Industrial assembly line robots are mechanical systems specifically designed for automated production lines. They perform repetitive tasks with high precision, high speed, and programmability, thereby improving efficiency, consistency, and reducing labor costs. These typically include assembly robots, welding robots (such as those used in automobile manufacturing, where groups of 4 to 6 often work collaboratively), palletizing robots, handling robots, painting robots, and gripping robots, capable of performing tasks such as loading and unloading, welding, palletizing, inspection, and material handling. Assembly line robots achieve automated operation through programming or teaching, possessing multiple joints or degrees of freedom, and some are also equipped with vision, force sensing, and other perception capabilities, enabling them to make autonomous judgments and decisions.

[0003] Existing gripping robots for circular materials generally consist of a multi-degree-of-freedom robot body and a gripping mechanism installed at the end of the robot body. The gripping mechanism usually uses a single gripper assembly to grasp the material. However, the stability of gripping long materials is relatively poor when using a single gripper assembly. A few gripping mechanisms use two gripper assemblies to grasp the material. While this provides relatively better stability, it cannot be adjusted according to the length of the material, resulting in poor flexibility. Utility Model Content

[0004] The purpose of this invention is to provide a multi-degree-of-freedom gripping fixture device for industrial assembly line robots, in order to solve the aforementioned problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-degree-of-freedom gripping fixture device for an industrial assembly line robot includes a multi-degree-of-freedom robot body and a gripping mechanism mounted on the end of the multi-degree-of-freedom robot body. The gripping mechanism is provided with two gripper assemblies. The gripping mechanism includes a frame connected to the end of the multi-degree-of-freedom robot body. Each gripper assembly has a slider that is slidably connected to the frame. A bidirectional screw and a handwheel for controlling the rotation of the bidirectional screw are rotatably connected to the frame. The two ends of the bidirectional screw are threadedly connected to the sliders on the two gripper assemblies, so that the rotation of the bidirectional screw drives the two gripper assemblies to slide on the frame.

[0007] As a preferred technical solution of this utility model, the frame includes a first connecting rod connected to the body of the multi-degree-of-freedom robot. The end of the first connecting rod away from the body of the multi-degree-of-freedom robot is vertically connected to a downwardly extending vertical connecting rod. The lower end of the vertical connecting rod is vertically connected to a long bar extending along the assembly line direction, and the vertical connecting rod is located between two gripper assemblies. The bidirectional screw is rotatably connected inside the long bar. The sliders on the two gripper assemblies are slidably disposed on one side of the long bar. Both ends of one side of the long bar are provided with long bar limiting holes. One end of the slider passes through the long bar limiting hole and extends into the long bar and is threadedly connected to the bidirectional screw.

[0008] As a preferred technical solution of this utility model, both ends of one side of the long bar are fixed with slide rails, the slider is slidably connected to the slide rails, and long bar limiting holes are provided on one side of the long bar above and below the slide rails. Both sides of the slider pass through the long bar limiting holes and are connected to the inside of the long bar with screw rings. The screw rings are threadedly connected to the bidirectional screw rod.

[0009] As a preferred technical solution of this utility model, both ends of the long rod are fixed with bearing seats, and both ends of the bidirectional screw are rotatably connected to the long rod through two bearing seats.

[0010] As a preferred technical solution of this utility model, the handwheel is rotatably connected to one side of the upper part of the vertical connecting rod, and the central rod of the handwheel is connected to the middle part of the bidirectional screw through the first transmission assembly.

[0011] As a preferred technical solution of this utility model, the first transmission component includes a driving sprocket, a driven sprocket, and a chain. The driving sprocket is mounted on the central rod of the handwheel, and the driven chain is mounted on the middle of the bidirectional screw. The driving sprocket and the driven sprocket are connected by the chain.

[0012] As a preferred technical solution of this utility model, the gripper assembly includes a U-shaped base fixedly connected to the slider. An upper gripper and a lower gripper are rotatably connected to both sides of the U-shaped base. The upper gripper extends from the top of the long bar to the other side of the long bar, and the lower gripper extends from the bottom of the long bar to the other side of the long bar. A telescopic electric cylinder is installed in the middle of the U-shaped base. The telescopic rod of the telescopic electric cylinder is connected to the upper gripper and the lower gripper through a transmission assembly, so as to drive the upper gripper and the lower gripper to achieve the opening and closing action through the telescopic electric cylinder.

[0013] In a preferred embodiment of this invention, the telescopic rod of the telescopic electric cylinder is connected to a transmission rod. The transmission rod is located on the side of the telescopic electric cylinder away from the long rod. An upper rotating shaft is provided at the upper part of the transmission rod, and upper hinge rods are rotatably connected to both ends of the upper rotating shaft. The end of the upper hinge rod away from the upper rotating shaft is rotatably connected to the middle of the upper gripper. A lower rotating shaft is provided at the lower part of the transmission rod, and lower hinge rods are rotatably connected to both ends of the lower rotating shaft. The end of the lower hinge rod away from the lower rotating shaft is rotatably connected to the middle of the lower gripper.

[0014] Beneficial effects: This utility model uses two gripper components to grip materials, ensuring stability during gripping. For materials of different lengths, the handwheel can be held to control its rotation, which in turn drives the bidirectional screw to rotate. The two ends of the bidirectional screw are respectively threaded to the sliders fixedly connected to the two gripper components. The sliders are slidably connected to the frame. Therefore, when the bidirectional screw rotates, the sliders can drive the two gripper components to move closer or further away from each other, realizing the adjustment of the distance between the two gripper components to accommodate materials of different lengths, thereby improving flexibility and applicability. Attached Figure Description

[0015] Figure 1 This is a side view of the present invention;

[0016] Figure 2 This is a side view of the gripper assembly in this utility model;

[0017] Figure 3 This is a three-dimensional schematic diagram of the gripping mechanism in this utility model from a first-person perspective;

[0018] Figure 4 This is a three-dimensional schematic diagram of the gripping mechanism in this utility model from a second perspective. Detailed Implementation

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is 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. It should be noted that the description of these embodiments is used to help understand this utility model, but does not constitute a limitation on this utility model.

[0020] Example:

[0021] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, this embodiment provides a multi-degree-of-freedom gripping fixture device for an industrial assembly line robot, including a multi-degree-of-freedom robot body 1 and a gripping mechanism 2 installed at the end of the multi-degree-of-freedom robot body 1, so as to control the gripping mechanism 2 to perform multi-angle movements through the multi-degree-of-freedom robot body 1. The gripping mechanism 2 is provided with two gripper assemblies 201, so as to grip materials by the cooperation of the two gripper assemblies 201. In addition to the two gripper assemblies 201, the gripping mechanism 2 also includes a frame 202 connected to the end of the multi-degree-of-freedom robot body 1. Sliding parts are fixed on both gripper assemblies 201. A slider 3 is connected to the frame 202. A bidirectional screw and a handwheel 4 for controlling the rotation of the bidirectional screw are rotatably connected to the frame 202. The handwheel 4 can be directly connected to the bidirectional screw or indirectly connected to the bidirectional screw through other components. The two ends of the bidirectional screw are threadedly connected to the sliders 3 on the two gripper assemblies 201 respectively. The rotation of the bidirectional screw is controlled by the handwheel 4. The rotation of the bidirectional screw drives the two gripper assemblies 201 to slide on the frame 202, realizing the adjustment of the distance between the two gripper assemblies 201. This allows for adjustment for materials of different lengths, improving flexibility and applicability.

[0022] This invention uses two gripper assemblies 201 to grip materials, ensuring stability during gripping. For materials of different lengths, the handwheel 4 can be held to rotate, driving the bidirectional screw to rotate. The two ends of the bidirectional screw are threadedly connected to sliders 3, which are fixedly connected to the two gripper assemblies 201. The sliders 3 are slidably connected to the frame 202. Therefore, when the bidirectional screw rotates, the sliders 3 can drive the two gripper assemblies 201 to move closer or further away from each other, realizing the adjustment of the distance between the two gripper assemblies 201 to adjust for materials of different lengths, improving flexibility and applicability.

[0023] As a preferred embodiment of this invention, it should be further explained that the frame 202 includes a first connecting rod 2021 connected to the multi-degree-of-freedom robot body 1. The first connecting rod 2021 extends in the opposite direction away from the multi-degree-of-freedom robot body 1. A vertically extending vertical connecting rod 2022 is vertically connected to the end of the first connecting rod 2021 away from the multi-degree-of-freedom robot body 1. A long bar 2023 extending along the assembly line direction is vertically connected to the lower end of the vertical connecting rod 2022. The vertical connecting rod 2022 is located between the two gripper assemblies 201. The spacing between the two gripper assemblies 201 is adjusted so as not to interfere with their movement and to allow sufficient space for their sliding. The bidirectional screw is rotatably connected to the long bar 2023. The sliders 3 on both gripper assemblies 201 are slidably disposed on one side of the long bar 2023. Both ends of one side of the long bar 2023 are provided with long bar limiting holes. One end of the slider 3 passes through the long bar limiting hole and extends into the long bar 2023 and is threadedly connected to the bidirectional screw. This allows the slider 3 to slide by rotating the bidirectional screw, thereby adjusting the distance between the two gripper assemblies 201.

[0024] As a preferred embodiment of this invention, it should be further explained that both ends of one side of the long bar 2023 are fixed with slide rails 5, and the slider 3 is slidably connected to the slide rails 5. This makes the sliding of the slider 3 more stable. The vertical dimension of the slider 3 is larger than that of the slide rail 5. Long bar limiting holes are provided on one side of the long bar 2023 above and below the slide rail 5. This also allows both sides of the slider 3 to pass through the long bar limiting holes and be connected to the screw ring inside the long bar 2023. The screw ring is threadedly connected to the bidirectional screw. This makes the movement of the gripper assembly 201 more flexible and stable when the gripper assembly 201 is adjusted by the bidirectional screw.

[0025] As a preferred embodiment of this invention, it should be further explained that both ends of the long rod 2023 are fixed with bearing seats. The bearing seats can be installed after the bidirectional screw is installed. The two ends of the bidirectional screw are rotatably connected to the long rod 2023 through two bearing seats. This can enhance the stability of the long rod 2023 and make the rotation of the bidirectional screw more flexible.

[0026] As a preferred embodiment of this invention, it should be further explained that the handwheel 4 is rotatably connected to one side of the upper part of the vertical connecting rod 2022, and the central rod of the handwheel 4 is connected to the middle part of the bidirectional screw through the first transmission component. This not only facilitates the control of the bidirectional screw rotation through the handwheel 4, but also allows the handwheel 4 to avoid the gripper assembly 201 as much as possible, making it more convenient to control the handwheel 4.

[0027] As a preferred embodiment of this invention, it should be further explained that the first transmission component includes a drive sprocket 6, a driven sprocket, and a chain. The drive sprocket 6 is mounted on the central rod of the handwheel 4, and the central rod is directly rotatably connected to the upper part of the vertical connecting rod 2022 to ensure the stability of the handwheel 4. The driven chain is mounted on the middle part of the bidirectional screw. The drive sprocket 6 and the driven sprocket are connected by the chain, so the drive sprocket 6 can be controlled to rotate by the handwheel 4. The drive sprocket 6 contacts the chain and drives the driven sprocket to rotate, and the driven sprocket then drives the bidirectional screw to rotate synchronously.

[0028] As a preferred embodiment of this invention, it should be further noted that the gripper assembly 201 includes a U-shaped base 2011 fixedly connected to the slider 3. The opening of the U-shaped base 2011 faces the multi-degree-of-freedom robot body 1. An upper gripper 2012 and a lower gripper 2013 are rotatably connected to both sides of the U-shaped base 2011. The upper gripper 2012 extends from above the long bar 2023 to the other side of the long bar 2023, and the lower gripper 2013 extends from the long bar 2023 to the other side of the long bar 2023. The lower part of 23 extends to the other side of the long bar 2023, which facilitates the gripping of materials by opening and closing the upper gripper 2012 and the lower gripper 2013; a telescopic electric cylinder 2014 is installed in the middle of the U-shaped base 2011. The telescopic rod of the telescopic electric cylinder 2014 is connected to the upper gripper 2012 and the lower gripper 2013 through a transmission assembly, so as to drive the upper gripper 2012 and the lower gripper 2013 to achieve the opening and closing action by the telescopic electric cylinder 2014, which is simple and convenient to control.

[0029] As a preferred embodiment of this invention, it should be further explained that the telescopic rod of the telescopic electric cylinder 2014 is connected to a transmission rod 2015. The transmission rod 2015 is located on the side of the telescopic electric cylinder 2014 away from the long rod 2023. An upper rotating shaft is provided at the upper part of the transmission rod 2015, and both ends of the upper rotating shaft are rotatably connected to upper hinge rods 2016. The end of the upper hinge rod 2016 away from the upper rotating shaft is rotatably connected to the middle of the upper gripper 2012. A lower rotating shaft is provided at the lower part of the transmission rod 2015, and both ends of the lower rotating shaft are rotatable. A lower hinge rod 2017 is connected, with one end of the lower hinge rod 2017 away from the lower rotating shaft rotatably connected to the middle of the lower gripper 2013. In practice, the telescopic rod of the telescopic electric cylinder 2014 can drive the transmission rod 2015 to approach or move away from the long bar 2023. When the transmission rod 2015 approaches the long bar 2023, the transmission rod 2015 drives the upper gripper 2012 and the lower gripper 2013 to open, and vice versa, it drives the upper gripper 2012 and the lower gripper 2013 to close, thereby controlling the upper gripper 2012 and the lower gripper 2013 to grab materials.

[0030] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A multi-degree-of-freedom gripping fixture device for an industrial assembly line robot, comprising a multi-degree-of-freedom robot body (1) and a gripping mechanism (2) mounted on the end of the multi-degree-of-freedom robot body (1), wherein the gripping mechanism (2) is provided with two gripper assemblies (201), characterized in that, The gripping mechanism (2) includes a frame (202) connected to the end of the multi-degree-of-freedom robot body (1). Each of the two gripper assemblies (201) has a slider (3) that is slidably connected to the frame (202). A bidirectional screw and a handwheel (4) for controlling the rotation of the bidirectional screw are rotatably connected to the frame (202). The two ends of the bidirectional screw are threadedly connected to the sliders (3) on the two gripper assemblies (201) respectively, so as to drive the two gripper assemblies (201) to slide on the frame (202) through the rotation of the bidirectional screw.

2. The multi-degree of freedom gripper device for industrial pipeline robots according to claim 1, characterized in that, The frame (202) includes a first connecting rod (2021) connected to the multi-degree-of-freedom robot body (1). The end of the first connecting rod (2021) away from the multi-degree-of-freedom robot body (1) is vertically connected to a downwardly extending vertical connecting rod (2022). The lower end of the vertical connecting rod (2022) is vertically connected to a long bar (2023) extending along the assembly line direction. The vertical connecting rod (2022) is located between two gripper assemblies (201). The bidirectional screw is rotatably connected inside the long bar (2023). The sliders (3) on the two gripper assemblies (201) are slidably disposed on one side of the long bar (2023). Long bar limiting holes are opened at both ends of one side of the long bar (2023). One end of the slider (3) passes through the long bar limiting hole and extends into the long bar (2023) and is threadedly connected to the bidirectional screw.

3. The multi-degree of freedom gripper device for industrial pipeline robots according to claim 2, characterized in that, Both ends of one side of the long rod (2023) are fixed with slide rails (5), and the slider (3) is slidably connected to the slide rails (5). Long rod limiting holes are provided on one side of the long rod (2023) above and below the slide rails (5). Both sides of the slider (3) pass through the long rod limiting holes and are connected to the screw rings inside the long rod (2023). The screw rings are threadedly connected to the bidirectional screw.

4. The multi-degree of freedom gripper device for industrial pipeline robots according to claim 3, characterized in that, Both ends of the long rod (2023) are fixed with bearing seats, and both ends of the bidirectional screw are rotatably connected to the long rod (2023) through two bearing seats.

5. The multi-degree of freedom gripper device for industrial pipeline robots according to any one of claims 2-4, characterized in that, The handwheel (4) is rotatably connected to one side of the upper part of the vertical connecting rod (2022), and the center rod of the handwheel (4) is connected to the middle part of the bidirectional screw through the first transmission assembly.

6. The multi-degree of freedom gripper device for industrial pipeline robots according to claim 5, characterized in that, The first transmission assembly includes a drive sprocket (6), a driven sprocket, and a chain. The drive sprocket (6) is mounted on the central rod of the handwheel (4), and the driven chain is mounted on the middle of the bidirectional screw. The drive sprocket (6) and the driven sprocket are connected by a chain.

7. The multi-degree of freedom gripper device for industrial pipeline robots according to any one of claims 2-4, characterized in that, The gripper assembly (201) includes a U-shaped base (2011) fixedly connected to the slider (3). An upper gripper (2012) and a lower gripper (2013) are rotatably connected to both sides of the U-shaped base (2011). The upper gripper (2012) extends from above the long bar (2023) to the other side of the long bar (2023), and the lower gripper (2013) extends from below the long bar (2023) to the other side of the long bar (2023). A telescopic electric cylinder (2014) is installed in the middle of the U-shaped base (2011). The telescopic rod of the telescopic electric cylinder (2014) is connected to the upper gripper (2012) and the lower gripper (2013) through a transmission assembly, so as to drive the upper gripper (2012) and the lower gripper (2013) to achieve the opening and closing action through the telescopic electric cylinder (2014).

8. The multi-degree of freedom gripper device for industrial pipeline robots according to claim 7, characterized in that, The telescopic rod of the telescopic electric cylinder (2014) is connected to a transmission rod (2015). The transmission rod (2015) is located on the side of the telescopic electric cylinder (2014) away from the long rod (2023). An upper rotating shaft is provided on the upper part of the transmission rod (2015). Both ends of the upper rotating shaft are rotatably connected to upper hinge rods (2016). The end of the upper hinge rod (2016) away from the upper rotating shaft is rotatably connected to the middle of the upper gripper (2012). A lower rotating shaft is provided on the lower part of the transmission rod (2015). Both ends of the lower rotating shaft are rotatably connected to lower hinge rods (2017). The end of the lower hinge rod (2017) away from the lower rotating shaft is rotatably connected to the middle of the lower gripper (2013).

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