A gripper for a chair frame transport robot

Abstract

This utility model belongs to the field of robot handling fixture technology, and relates to a robot gripper for handling chair frames. It includes a quick-change connector, a main connecting rod, a first auxiliary connecting rod, and a second auxiliary connecting rod. Both the first and second auxiliary connecting rods are connected to the main connecting rod. One end of the main connecting rod is connected to the quick-change connector via a connecting flange assembly. The quick-change connector is used for connection with the robot. The other end of the main connecting rod is equipped with a gripping device. A first auxiliary positioning device is provided at the end of the first auxiliary connecting rod furthest from the main connecting rod, and a second auxiliary positioning device is connected at the end of the second auxiliary connecting rod furthest from the main connecting rod. The gripping device, the first auxiliary positioning device, and the second auxiliary positioning device are arranged in a triangular pattern. This utility model solves the problems existing in the handling of massage chair frames in the prior art, improves handling efficiency and safety, reduces labor costs, and provides support for the automated production of massage chairs.

Description

Technical Field

[0001] This utility model relates to a gripper for a chair frame transport robot, belonging to the field of robot handling fixture technology. Background Technology

[0002] The massage chair frame is the main supporting structure of the massage chair. In the production process, one of the key steps is to move the manufactured complete massage chair frame from the assembly station to the assembly station and assemble it into the outer shell.

[0003] Currently, on the assembly line, the movement, positioning, and installation of massage chair frames between workstations are primarily done manually by operators. This is not only labor-intensive but also inefficient. Furthermore, because massage chair frames are typically large, heavy, and irregularly shaped, single-person operation is difficult and poses significant safety hazards. Therefore, existing handling processes usually require at least two operators working together, significantly increasing labor costs.

[0004] In addition, existing manual handling methods often suffer from defects such as unstable operational precision and uncontrollable rhythm, making it difficult to coordinate with automated equipment that installs the five-star base of the seats. This makes this process a major obstacle to improving the overall automation level of the production line. Utility Model Content

[0005] The purpose of this invention is to provide a robotic gripper for handling chair frames, in order to solve the problems of low efficiency, high labor costs, poor safety, and incompatibility with automated production in the existing assembly and handling methods for massage chair frames on the production line.

[0006] The technical solution provided by this utility model is as follows: A gripper for a seat frame transport robot includes a quick-change connector, a main connecting rod, a first auxiliary connecting rod, and a second auxiliary connecting rod. Both the first and second auxiliary connecting rods are connected to the main connecting rod. One end of the main connecting rod is connected to the quick-change connector via a connecting flange assembly. The quick-change connector is used for connection with a robot. The other end of the main connecting rod is provided with a gripping device. A first auxiliary positioning device is provided at the end of the first auxiliary connecting rod furthest from the main connecting rod, and a second auxiliary positioning device is connected at the end of the second auxiliary connecting rod furthest from the main connecting rod. The gripping device, the first auxiliary positioning device, and the second auxiliary positioning device are arranged in a triangular configuration.

[0007] Compared with existing technologies, the technical solution provided by this utility model has the following advantages: By employing a triangularly arranged clamping device, a first auxiliary positioning device, and a second auxiliary positioning device, not only is the stability and load-bearing capacity of the clamp improved, but the positional accuracy of the frame during transportation is also ensured, preventing frame swaying or displacement. Furthermore, the quick-change connector allows for easy installation and disassembly of the clamp, facilitating compatibility with different robots. This utility model solves the problems existing in the transportation of massage chair frames in existing technologies, improves transportation efficiency and safety, reduces labor costs, and provides support for the automated production of massage chairs.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the clamping device includes a positioning plate, a positioning guide pin, a first gripper, a second gripper, and a clamping drive mechanism. The positioning plate is installed at the end of the main connecting rod away from the quick-change connector. One or more positioning guide pins are provided at the bottom of the positioning plate. The first gripper and the second gripper are respectively disposed on both sides of the positioning plate. The clamping drive mechanism can drive the first gripper and the second gripper to move towards or away from each other.

[0010] The beneficial effect of adopting the above-mentioned further solution is that by inserting the positioning guide pin into the positioning hole of the seat frame, the seat frame with a certain placement deviation can be guided and corrected, thereby ensuring the assembly accuracy. The positioning guide pin provides an initial positioning reference for the placement of the seat frame, so that the frame has a roughly correct position before being gripped, reducing subsequent clamping and positioning errors.

[0011] Furthermore, the clamping drive mechanism includes a first clamping cylinder, a second clamping cylinder, a first slide table, and a second slide table. The upper part of the positioning plate is provided with a slide rail. The first slide table and the second slide table are both slidably mounted on the slide rail. The first gripper is connected to the first slide table, and the second gripper is connected to the second slide table. The cylinder bodies of the first clamping cylinder and the second clamping cylinder are pinned to the main connecting rod. The telescopic shaft of the first clamping cylinder is connected to the first slide table, and the telescopic shaft of the second clamping cylinder is connected to the second slide table.

[0012] The beneficial effect of adopting the above-mentioned further solution is that the clamping action of the gripper is more stable and reliable through the dual-cylinder driven slide structure, and it can provide sufficient clamping force to ensure that the seat frame will not fall off or shake during transportation.

[0013] Furthermore, both the first gripper and the second gripper have clamping grooves on their opposing sides.

[0014] The beneficial effect of adopting the above-mentioned further solution is that the shape of the clamping groove is adapted to the shape of the clamped part of the seat frame. During the transportation process, the seat frame can be embedded in the clamping groove, which can limit the frame to a certain extent, reduce the sliding and shaking of the frame on the clamp, and prevent it from sliding or shifting during transportation.

[0015] Furthermore, the first auxiliary positioning device includes a first auxiliary positioning cylinder and a first auxiliary positioning block. The cylinder body of the first auxiliary positioning cylinder is connected to the first auxiliary connecting rod, and the telescopic shaft of the first auxiliary positioning cylinder is connected to the first auxiliary positioning block.

[0016] The beneficial effect of adopting the above-mentioned further solution is that when the gripper grasps the skeleton, the first auxiliary positioning block can contact the skeleton from the side, providing additional positioning constraints for the skeleton, preventing the skeleton from moving, rotating or deforming during the handling process, and enhancing the stability of the gripper during the handling process.

[0017] Furthermore, the second auxiliary positioning device includes a U-shaped bracket, a first external support positioning cylinder, a second external support positioning cylinder, a first external support positioning block, and a second external support positioning block. The U-shaped bracket is installed at the end of the second auxiliary connecting rod away from the main connecting rod. The first external support positioning cylinder and the second external support positioning cylinder are respectively installed at both ends of the U-shaped bracket. The telescopic shaft of the first external support positioning cylinder is connected to the first external support positioning block, and the telescopic shaft of the second external support positioning cylinder is connected to the second external support positioning block. The first external support positioning cylinder and the second external support positioning cylinder are used to drive the first external support positioning block and the second external support positioning block to move towards or away from each other.

[0018] The beneficial effect of adopting the above-mentioned further solution is that by driving the first external support positioning block and the second external support positioning block to expand outward through the first external support positioning cylinder and the second external support positioning cylinder, they can be tightly contacted with the inner wall of the frame. At this time, friction and support force will be generated between the external support positioning block and the inner wall of the frame, which can prevent the frame from deforming or falling off during transportation and achieve auxiliary positioning function.

[0019] Furthermore, positioning grooves are provided on the positioning surfaces of both the first and second external support positioning blocks.

[0020] The beneficial effect of adopting the above-mentioned further solution is that the shape of the positioning groove is adapted to the shape of the positioning part of the frame, the positioning groove can limit the seat frame, and during the transportation process, the positioning groove can prevent the frame from sliding or rotating relative to the outer support positioning block.

[0021] Furthermore, the connecting flange assembly includes a first connecting flange, a crank arm, and a second connecting flange connected in sequence. The first connecting flange is connected to the main connecting rod, and the second connecting flange is connected to the quick-connect coupling.

[0022] The beneficial effect of adopting the above-mentioned further solution is that the design of the crank arm can adjust the angle and positional relationship between the main connecting rod and the quick-change connector to a certain extent, so that the gripper can better adapt to different robot installation positions and workspace requirements. Attached Figure Description

[0023] 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of the seat frame handling robot gripper of this utility model;

[0025] Figure 2 This is a three-dimensional structural diagram of the seat frame handling robot gripper of this utility model from another perspective;

[0026] Figure 3 This is a front view of the chair frame handling robot gripper of this utility model;

[0027] Figure 4 For the present utility model Figure 3 The right view;

[0028] Figure 5 For the present utility model Figure 4 A magnified structural diagram of part A;

[0029] Figure 6 This is a three-dimensional structural diagram of the seat frame;

[0030] Figure 7 A schematic diagram of the structure used when a seat frame is moved by a gripper of a seat frame transport robot.

[0031] In the diagram, 1. Quick-connect coupling; 2. Main connecting rod; 3. First auxiliary connecting rod; 4. Second auxiliary connecting rod; 5. Positioning plate; 6. Positioning guide pin; 7. First gripper; 8. Second gripper; 9. First clamping cylinder; 10. Second clamping cylinder; 11. First slide table; 12. Second slide table; 13. Slide rail; 14. Clamping groove; 15. First auxiliary positioning cylinder; 16. First auxiliary positioning block; 17. U-shaped bracket; 18. First external support positioning cylinder; 19. Second external support positioning cylinder; 20. First external support positioning block; 21. Second external support positioning block; 22. First connecting flange; 23. Crank arm; 24. Second connecting flange; 25. Seat frame. Detailed Implementation

[0032] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the objects described and do not imply any priority in order or any specific technical meaning. Furthermore, the concepts of "connection" and "linkage" mentioned in this application, unless otherwise specified, are considered to include both direct connection (linkage) and indirect connection (linkage).

[0033] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

[0034] The principles and features of this utility model are described below with reference to examples. The examples are only used to explain this utility model and are not intended to limit the scope of this utility model.

[0035] like Figure 1 - Figure 6As shown, the technical solution provided by this utility model is as follows: A gripper for a seat frame 25 transport robot includes a quick-change connector 1, a main connecting rod 2, a first auxiliary connecting rod 3, and a second auxiliary connecting rod 4. The first auxiliary connecting rod 3 and the second auxiliary connecting rod 4 are both connected to the main connecting rod 2. One end of the main connecting rod 2 is connected to the quick-change connector 1 through a connecting flange assembly. The quick-change connector 1 is used to connect to the robot. The other end of the main connecting rod 2 is provided with a gripping device, which is used to grip the frame. The end of the first auxiliary connecting rod 3 away from the main connecting rod 2 is provided with a first auxiliary positioning device. The first auxiliary positioning device and the second auxiliary positioning device are used for auxiliary positioning. The end of the second auxiliary connecting rod 4 away from the main connecting rod 2 is connected to a second auxiliary positioning device. The gripping device, the first auxiliary positioning device, and the second auxiliary positioning device are arranged in a triangular pattern.

[0036] By employing a triangularly arranged gripping device, a first auxiliary positioning device, and a second auxiliary positioning device, not only is the stability and load-bearing capacity of the gripper improved, but the positional accuracy of the skeleton during handling is also ensured, preventing the skeleton from swaying or shifting. Furthermore, the quick-connect coupling 1 allows for easy installation and removal of the gripper, facilitating compatibility with different robots.

[0037] In this embodiment, the clamping device includes a positioning plate 5, positioning guide pins 6, a first gripper 7, a second gripper 8, and a clamping drive mechanism. The positioning plate 5 is installed at the end of the main connecting rod 2 away from the quick-connect joint 1. One or more positioning guide pins 6 are provided at the bottom of the positioning plate 5. The first gripper 7 and the second gripper 8 are respectively disposed on both sides of the positioning plate 5. The clamping drive mechanism can drive the first gripper 7 and the second gripper 8 to move towards or away from each other. By inserting the positioning guide pins 6 into the positioning holes of the seat frame 25, the seat frame 25 with a certain placement deviation is guided, thereby ensuring assembly accuracy. The positioning guide pins 6 provide an initial positioning reference for the placement of the seat frame 25, ensuring the frame has a roughly correct position before being gripped, reducing subsequent clamping and positioning errors.

[0038] The clamping drive mechanism includes a first clamping cylinder 9, a second clamping cylinder 10, a first slide 11, and a second slide 12. A slide rail 13 is provided on the upper part of the positioning plate 5. Both the first slide 11 and the second slide 12 are slidably mounted on the slide rail 13, and are located on opposite sides of the main connecting rod 2. The first gripper 7 is connected to the first slide 11, and the second gripper 8 is connected to the second slide 12. The cylinder bodies of the first clamping cylinder 9 and the second clamping cylinder 10 are pinned to the main connecting rod 2. The telescopic shaft of the first clamping cylinder 9 is connected to the first slide 11, and the telescopic shaft of the second clamping cylinder 10 is connected to the second slide 12. The dual-cylinder driven slide structure ensures smoother and more reliable clamping action and provides sufficient clamping force, ensuring that the seat frame 25 will not detach or shake during transport.

[0039] Both the first gripper 7 and the second gripper 8 have clamping grooves 14 on their opposing sides. The shape of the clamping grooves 14 is adapted to the shape of the clamped part of the seat frame 25. During transportation, the seat frame 25 can be embedded in the clamping grooves 14, which can limit the frame to a certain extent, reduce the sliding and shaking of the frame on the grippers, and prevent it from sliding or shifting during transportation.

[0040] The first auxiliary positioning device includes a first auxiliary positioning cylinder 15 and a first auxiliary positioning block 16. The cylinder body of the first auxiliary positioning cylinder 15 is connected to the first auxiliary connecting rod 3, and the telescopic shaft of the first auxiliary positioning cylinder 15 is connected to the first auxiliary positioning block 16. When the gripper grasps the skeleton, the first auxiliary positioning block 16 can contact the skeleton from the side, providing additional positioning constraints for the skeleton, preventing the skeleton from moving, rotating, or deforming during transportation, and enhancing the stability of the gripper during transportation.

[0041] The second auxiliary positioning device includes a U-shaped bracket 17, a first external support positioning cylinder 18, a second external support positioning cylinder 19, a first external support positioning block 20, and a second external support positioning block 21. The U-shaped bracket 17 is installed at the end of the second auxiliary connecting rod 4 away from the main connecting rod 2. The first external support positioning cylinder 18 and the second external support positioning cylinder 19 are respectively installed at both ends of the U-shaped bracket 17. The telescopic shaft of the first external support positioning cylinder 18 is connected to the first external support positioning block 20, and the telescopic shaft of the second external support positioning cylinder 19 is connected to the second external support positioning block 21. The first external support positioning cylinder 18 and the second external support positioning cylinder 19 are used to drive the first external support positioning block 20 and the second external support positioning block 21 to move towards or away from each other. The first external support positioning cylinder 18 and the second external support positioning cylinder 19 drive the first external support positioning block 20 and the second external support positioning block 21 to expand outward, so that they are in tight contact with the inner wall of the frame. At this time, friction and support force will be generated between the external support positioning block and the inner wall of the frame, which can prevent the frame from deforming or falling off during transportation and achieve auxiliary positioning.

[0042] The first outer support positioning block 20 and the second outer support positioning block 21 are both provided with positioning grooves on their positioning surfaces. The shape of the positioning groove is adapted to the shape of the positioning part of the frame. The positioning groove can limit the position of the seat frame 25. During transportation, the positioning groove can prevent the frame from sliding or rotating relative to the outer support positioning block.

[0043] The connecting flange assembly includes a first connecting flange 22, a crank arm 23, and a second connecting flange 24 connected in sequence. The first connecting flange 22 is connected to the main connecting rod 2, and the second connecting flange 24 is connected to the quick-connect coupling 1. This design allows for adjustment of the angle and positional relationship between the main connecting rod 2 and the quick-connect coupling 1, enabling the gripper to better adapt to different robot installation positions and workspace requirements.

[0044] refer to Figure 7 As shown, the working process of the seat frame 25 handling robot gripper of this utility model is as follows:

[0045] The robot moves to the storage position of the seat frame 25 according to the preset program, adjusts its posture, and simultaneously activates the cylinders of the gripper. Specifically, the telescopic shafts of the first clamping cylinder 9 and the second clamping cylinder 10 are in the extended position, causing the first gripper 7 and the second gripper 8 on the first slide 11 and the second slide 12 to be in the maximum open state. The telescopic shaft of the first auxiliary positioning cylinder 15 is in the retracted state, and the first auxiliary positioning block 16 is moved away from the area that may come into contact with the seat frame 25. The telescopic shafts of the first external support positioning cylinder 18 and the second external support positioning cylinder 19 are also retracted, so that the first external support positioning block 20 and the second external support positioning block 21 are in the minimum distance position.

[0046] The robot slowly lowers the gripper, causing the positioning guide pin 6 at the bottom of the positioning plate 5 to gradually approach the positioning hole at the bottom of the seat frame 25. When the positioning guide pin 6 is inserted into the positioning hole, it initially corrects the seat frame 25, which has a certain placement deviation, ensuring that the frame has a roughly correct orientation in the horizontal direction, laying the foundation for subsequent precise gripping and positioning.

[0047] The telescopic shaft of the first clamping cylinder 9 extends, pushing the first slide 11 to move along the slide rail 13 towards the main connecting rod 2, causing the first gripper 7 to move closer to the seat frame 25. Simultaneously, the telescopic shaft of the second clamping cylinder 10 also extends, pushing the second slide 12 to move along the slide rail 13 towards the main connecting rod 2, causing the second gripper 8 to move closer to the seat frame 25. As the two grippers move towards each other, the clamping grooves 14 on their opposite sides gradually enclose both sides of the seat frame 25. When the clamping force between the grippers and the frame reaches a preset value, the clamping cylinders stop operating, and the seat frame 25 is firmly clamped between the two grippers.

[0048] Simultaneously, the first auxiliary positioning cylinder 15 also begins to operate, its telescopic shaft extending to push the first auxiliary positioning block 16 towards the head of the seat frame 25 until the first auxiliary positioning block 16 is in close contact with the bracket at the head position of the seat frame 25; the first external support positioning cylinder 18 and the second external support positioning cylinder 19 also begin to operate, their telescopic shafts extending simultaneously to push the first external support positioning block 20 and the second external support positioning block 21 to move in opposite directions, respectively. As the two external support positioning blocks expand outward, when their positioning grooves are tightly fitted with the inner wall of the rear bracket of the seat frame 25, they are positioned and clamped from inside the frame.

[0049] This invention solves the problems existing in the handling of massage chair frames in the prior art, improves handling efficiency and safety, reduces labor costs, and provides support for the automated production of massage chairs.

[0050] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A seat frame handling robot gripper, characterized by, The system includes a quick-connect coupling (1), a main connecting rod (2), a first auxiliary connecting rod (3), and a second auxiliary connecting rod (4). The first auxiliary connecting rod (3) and the second auxiliary connecting rod (4) are both connected to the main connecting rod (2). One end of the main connecting rod (2) is connected to the quick-connect coupling (1) through a connecting flange assembly. The quick-connect coupling (1) is used to connect to the robot. The other end of the main connecting rod (2) is provided with a clamping device. The end of the first auxiliary connecting rod (3) away from the main connecting rod (2) is provided with a first auxiliary positioning device. The end of the second auxiliary connecting rod (4) away from the main connecting rod (2) is connected with a second auxiliary positioning device. The clamping device, the first auxiliary positioning device, and the second auxiliary positioning device are arranged in a triangular pattern.

2. The seat frame handling robot gripper according to claim 1, characterized in that The clamping device includes a positioning plate (5), a positioning guide pin (6), a first gripper (7), a second gripper (8), and a clamping drive mechanism. The positioning plate (5) is installed on the end of the main connecting rod (2) away from the quick-change connector (1). One or more positioning guide pins (6) are provided at the bottom of the positioning plate (5). The first gripper (7) and the second gripper (8) are respectively arranged on both sides of the positioning plate (5). The clamping drive mechanism can drive the first gripper (7) and the second gripper (8) to move towards or away from each other.

3. The seat frame handling robot gripper according to claim 2, characterized in that The clamping drive mechanism includes a first clamping cylinder (9), a second clamping cylinder (10), a first slide (11), and a second slide (12). The upper part of the positioning plate (5) is provided with a slide rail (13). The first slide (11) and the second slide (12) are both slidably mounted on the slide rail (13). The first gripper (7) is connected to the first slide (11), and the second gripper (8) is connected to the second slide (12). The cylinder body of the first clamping cylinder (9) and the cylinder body of the second clamping cylinder (10) are pinned to the main connecting rod (2). The telescopic shaft of the first clamping cylinder (9) is connected to the first slide (11), and the telescopic shaft of the second clamping cylinder (10) is connected to the second slide (12).

4. The seat frame handling robot gripper according to claim 2, characterized in that The first gripper (7) and the second gripper (8) are provided with gripping grooves (14) on opposite sides.

5. The seat frame handling robot gripper according to any one of claims 1-4, characterized in that, The first auxiliary positioning device includes a first auxiliary positioning cylinder (15) and a first auxiliary positioning block (16). The cylinder body of the first auxiliary positioning cylinder (15) is connected to the first auxiliary connecting rod (3), and the telescopic shaft of the first auxiliary positioning cylinder (15) is connected to the first auxiliary positioning block (16).

6. The seat frame handling robot gripper according to claim 5, characterized in that The second auxiliary positioning device includes a U-shaped bracket (17), a first external support positioning cylinder (18), a second external support positioning cylinder (19), a first external support positioning block (20), and a second external support positioning block (21). The U-shaped bracket (17) is installed at one end of the second auxiliary connecting rod (4) away from the main connecting rod (2). The first external support positioning cylinder (18) and the second external support positioning cylinder (19) are respectively installed at both ends of the U-shaped bracket (17). The telescopic shaft of the first external support positioning cylinder (18) is connected to the first external support positioning block (20), and the telescopic shaft of the second external support positioning cylinder (19) is connected to the second external support positioning block (21). The first external support positioning cylinder (18) and the second external support positioning cylinder (19) are used to drive the first external support positioning block (20) and the second external support positioning block (21) to move towards or away from each other.

7. The seat frame handling robot gripper according to claim 6, characterized in that The first external support positioning block (20) and the second external support positioning block (21) are both provided with positioning grooves on their positioning surfaces.

8. The seat frame handling robot gripper according to claim 1, characterized in that, The connecting flange assembly includes a first connecting flange (22), a crank arm (23), and a second connecting flange (24) connected in sequence. The first connecting flange (22) is connected to the main connecting rod (2), and the second connecting flange (24) is connected to the quick-connect coupling (1).

Images