A suction-grip dual-purpose conversion robot

Abstract

This utility model belongs to the field of robotics technology, specifically relating to a suction-grip dual-purpose conversion robot, including a base, on which a robotic arm is mounted, and the robotic arm is equipped with grippers and an adjustment mechanism. This suction-grip dual-purpose conversion robot releases the engagement between the second clamping ring and the first clamping ring by pushing the second clamping ring outwards, thereby releasing the positional limitation on the first clamping ring and the rotating shaft. At this point, rotating the handle drives the rotating shaft to rotate, causing the first clamping ring and the connecting plate to rotate, which in turn causes the magnetic suction plate and grippers to adjust their positions. After the position adjustment is complete, releasing the second clamping ring allows the elastic restoring action of the elastic telescopic rod to re-engage the second clamping ring with the first clamping ring, thus re-limiting the first clamping ring and subsequently limiting the position of the rotating shaft. At this point, materials can be processed using the adjusted magnetic suction plate or gripping block.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a suction-grip dual-purpose conversion robot. Background Technology

[0002] A suction-grip dual-purpose robot refers to a robot system that can switch between suction and gripping functions on demand through innovative structural design of the end effector. Its core feature is the integration of a convertible actuator. Through the linkage of mechanical structures, the splicing of modules, or the movement of drive components, the end effector can flexibly switch between suction mode and gripping mode to adapt to gripping objects of different shapes, materials, and weights.

[0003] Currently, in existing technologies, the end effectors of robotic arms are often limited to a single-function design: either they are only equipped with suction cup components, focusing on adsorbing smooth flat objects; or they are only equipped with gripper structures, focusing on gripping irregular or hard materials. This specialized design leads to frequent shutdowns and actuator replacements when the robotic arm is dealing with mixed types of materials, which not only interrupts the work process and reduces efficiency, but also increases the complexity of equipment debugging. In view of this, we propose a suction-grip dual-purpose conversion robot. Utility Model Content

[0004] The main objective of this invention is to provide a suction-grip dual-purpose conversion robot that can solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model proposes a suction-grip dual-purpose conversion robot, including a base, a mechanical arm on the base, a gripper and an adjustment mechanism on the mechanical arm, and a connecting block for the adjustment mechanism, which is fixedly connected to the gripper.

[0006] Preferably, the connecting block has a movable groove, a spring is fixedly connected to the inner wall of the movable groove, a clamping block is fixedly connected to the end of the spring away from the inner wall of the movable groove, and the clamping block is slidably connected to the movable groove.

[0007] Preferably, the robotic arm is rotatably connected to a rotating shaft, the rotating shaft is fixedly connected to a gripper, and the rotating shaft is fixedly connected to a handle.

[0008] Preferably, the rotating shaft is fixedly connected to a connecting plate, and a magnetic suction plate is fixedly connected to the end of the connecting plate away from the rotating shaft, and the rotating shaft is rotatably connected to the connecting plate.

[0009] Preferably, the rotating shaft is fixedly connected to a circular plate, and the circular plate is fixedly connected to a retaining ring.

[0010] Preferably, a fixed rod is fixedly connected to the outer wall of the robotic arm, and the fixed rod is rotatably connected to a rotating shaft. An auxiliary strip is fixedly connected to the outer wall of the rotating shaft, and a second circular plate is slidably connected to the auxiliary strip. A second retaining ring is fixedly connected to the second circular plate, and the second retaining ring meshes with a first retaining ring. An elastic telescopic rod is fixedly connected to the side wall of the fixed rod, and the end of the elastic telescopic rod away from the fixed rod is fixedly connected to the second circular plate. By moving the second retaining ring outward, the engagement between the second retaining ring and the first retaining ring is released, thereby releasing... In addition to limiting the position of the first clamping ring and the rotating shaft, the rotating shaft can be rotated by turning the handle, which in turn drives the first clamping ring and the connecting plate to rotate, thereby driving the magnetic suction plate and the gripper to adjust their position. After the position is adjusted, the second clamping ring is released, and the elastic return action of the elastic telescopic rod will drive the second clamping ring to re-engage with the first clamping ring, thereby limiting the position of the first clamping ring again, and thus limiting the position of the rotating shaft. At this time, the material can be processed by the adjusted magnetic suction plate or clamping block.

[0011] Preferably, a suction cup is provided below the base.

[0012] This invention provides a robot that can be used for both suction and gripping. It has the following advantages: (1) The suction-grip dual-purpose conversion robot moves the second toothed ring outward, thereby releasing the meshing relationship between the second toothed ring and the first toothed ring, and thus releasing the position limit of the first toothed ring and the rotating shaft. At this time, the rotating shaft can be driven to rotate by turning the handle, thereby driving the first toothed ring and the connecting plate to rotate, and then driving the magnetic suction plate and the gripper to rotate and adjust their positions. After the position adjustment is completed, the second toothed ring is released. Under the elastic reset action of the elastic telescopic rod, the second toothed ring will re-mesh with the first toothed ring, thereby limiting the first toothed ring again, and thus limiting the position of the rotating shaft. At this time, the material can be operated by adjusting the magnetic suction plate or the gripping block.

[0013] (2) The suction-clamping conversion robot can flexibly adapt to the clamping requirements of materials of different sizes through the setting of the movable groove and spring. Its elastic potential energy provides continuous and adaptive clamping force for the clamping block. When in contact with the material, the spring deforms as the clamping block slides, and the clamping block is tightly attached to the surface of the material through the reaction force. This avoids damage to fragile materials by rigid clamping and prevents clamping loosening due to size error. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a three-dimensional sectional view of part of the device of this utility model; Figure 3 This utility model Figure 2 Schematic diagram of the structure of region A in the middle; Figure 4 This is a schematic diagram of the overall three-dimensional structure of the present invention. Figure 2 ; Figure 5 This utility model Figure 4 Schematic diagram of the structure of region B in the middle.

[0016] Explanation of icon numbers: 1. Base; 2. Suction cup; 3. Robotic arm; 4. Gripper; 5. Adjustment mechanism; 51. Connecting block; 52. Movable groove; 53. Spring; 54. Clamping block; 55. Connecting plate; 56. Magnetic suction plate; 57. Round plate one; 58. Gear ring one; 59. Gear ring two; 510. Round plate two; 511. Rotating shaft; 512. Auxiliary bar; 513. Elastic telescopic rod; 514. Fixing rod; 515. Handle.

[0017] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] 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.

[0019] Please see Figures 1-5 This utility model proposes a suction-grip dual-purpose conversion robot, including a base 1, a mechanical arm 3 on the base 1, a gripper 4 and an adjustment mechanism 5 on the mechanical arm 3, the adjustment mechanism 5 including a connecting block 51, the connecting block 51 and the gripper 4 are fixedly connected.

[0020] In this embodiment of the utility model, in order to enable the adjustment mechanism 5 to operate better, specifically, the connecting block 51 is provided with a movable groove 52, a spring 53 is fixedly connected to the inner wall of the movable groove 52, a clamping block 54 is fixedly connected to the end of the spring 53 away from the inner wall of the movable groove 52, and the clamping block 54 is slidably connected to the movable groove 52. The robotic arm 3 is rotatably connected to a rotating shaft 511, the rotating shaft 511 is fixedly connected to a gripper 4, a handle 515 is fixedly connected to the rotating shaft 511, and a connecting plate is fixedly connected to the rotating shaft 511. 55. A magnetic suction plate 56 is fixedly connected to the end of the connecting plate 55 away from the rotating shaft 511, and the rotating shaft 511 is rotatably connected to the connecting plate 55. A circular plate 57 is fixedly connected to the rotating shaft 511, and a retaining ring 58 is fixedly connected to the circular plate 57. A fixing rod 514 is fixedly connected to the outer wall of the robotic arm 3, and the fixing rod 514 is rotatably connected to the rotating shaft 511. An auxiliary strip 512 is fixedly connected to the outer wall of the rotating shaft 511, and a circular plate 510 is slidably connected to the auxiliary strip 512. A retaining ring is fixedly connected to the circular plate 510. Ring 2 59 engages with ring 1 58. An elastic telescopic rod 513 is fixedly connected to the side wall of the fixed rod 514. The end of the elastic telescopic rod 513 away from the fixed rod 514 is fixedly connected to the circular plate 2 510. By pushing ring 2 59 outward, the engagement between ring 2 59 and ring 1 58 is released, thereby releasing the positional limitation on ring 1 58 and the rotating shaft 511. At this point, rotating the handle 515 will drive the rotating shaft 511 to rotate. This causes the first toothed ring 58 and the connecting plate 55 to rotate, which in turn causes the magnetic suction plate 56 and the gripper 4 to rotate and adjust their positions. After the position adjustment is completed, the second toothed ring 59 is released. Under the elastic reset action of the elastic telescopic rod 513, the second toothed ring 59 will re-engage with the first toothed ring 58, thereby limiting the first toothed ring 58 again, and thus limiting the position of the rotating shaft 511. At this time, the material can be processed by the adjusted magnetic suction plate 56 or the clamping block 54.

[0021] Furthermore, a suction cup 2 is provided below the base 1, which can stably attach the entire device.

[0022] In this invention, the material is magnetically attracted by the magnetic suction plate 56 and clamped by the clamping block 54. When switching between magnetic attraction and clamping, the second toothed ring 59 must be pushed outward to disengage it from the first toothed ring 58, thereby releasing the position limit between the first toothed ring 58 and the rotating shaft 511. Then, by turning the handle 515, the rotating shaft 511 can be rotated, which in turn rotates the first toothed ring 58 and the connecting plate 55, thereby adjusting the position of the magnetic suction plate 56 and the gripper 4. After the position adjustment is completed, the second toothed ring 59 is released. Under the elastic reset action of the elastic telescopic rod 513, the second toothed ring 59 will re-engage with the first toothed ring 58, thereby limiting the position of the first toothed ring 58 again, and thus limiting the position of the rotating shaft 511. At this time, the material can be processed by the adjusted magnetic suction plate 56 or clamping block 54.

[0023] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A suction-gripper dual conversion robot comprising a base (1), characterized in that: The base (1) is provided with a mechanical arm (3), and the mechanical arm (3) is provided with a gripper (4) and an adjustment mechanism (5). The adjustment mechanism (5) includes a connecting block (51), and the connecting block (51) is fixedly connected to the gripper (4).

2. The suction-gripper convertible robot according to claim 1, wherein: The connecting block (51) is provided with a movable groove (52), and a spring (53) is fixedly connected to the inner wall of the movable groove (52). A clamping block (54) is fixedly connected to one end of the spring (53) away from the inner wall of the movable groove (52), and the clamping block (54) is slidably connected to the movable groove (52).

3. The suction-gripper convertible robot according to claim 1, wherein: The robotic arm (3) is rotatably connected to a rotating shaft (511), the rotating shaft (511) is fixedly connected to a gripper (4), and the rotating shaft (511) is fixedly connected to a handle (515).

4. The suction-gripper convertible robot according to claim 3, wherein: The rotating shaft (511) is fixedly connected to a connecting plate (55), and a magnetic suction plate (56) is fixedly connected to one end of the connecting plate (55) away from the rotating shaft (511), and the rotating shaft (511) is rotatably connected to the connecting plate (55).

5. The suction-gripper convertible robot according to claim 3, wherein: The rotating shaft (511) is fixedly connected to a circular plate (57), and the circular plate (57) is fixedly connected to a toothed ring (58).

6. The suction-gripper convertible robot according to claim 5, wherein: The outer wall of the robotic arm (3) is fixedly connected to a fixed rod (514), the fixed rod (514) is rotatably connected to a rotating shaft (511), the outer wall of the rotating shaft (511) is fixedly connected to an auxiliary strip (512), the auxiliary strip (512) is slidably connected to a circular plate (510), the circular plate (510) is fixedly connected to a toothed ring (59), the toothed ring (59) meshes with a toothed ring (58), the side wall of the fixed rod (514) is fixedly connected to an elastic telescopic rod (513), and the end of the elastic telescopic rod (513) away from the fixed rod (514) is fixedly connected to the circular plate (510).

7. The suction-gripper convertible robot according to claim 1, wherein: A suction cup (2) is provided below the base (1).

Images