An industrial robot with a composite clamping structure

Abstract

This utility model relates to an industrial robot with a composite gripper structure, including a robot arm, a power control device, and a composite gripper. The composite gripper is connected to the end of the robot arm, and the power control device is located at the fixed end of the robot arm. The composite gripper is connected to the power control device. The composite gripper consists of an adjustable suction cup and a powered gripper. The adjustable suction cup is connected to the center bottom side of the powered gripper, and the powered gripper is fixed to the end of the robot arm. Both the adjustable suction cup and the powered gripper are connected to the power control device. This utility model optimizes the robot gripper design, changing the traditional single-gripper robot arm to a robot with a composite gripper. It has both suction cup-type grippers and claw-type grippers to adapt to a wider range of processed parts. The claw gripper has a simple structure, and the suction cup has an adjustable suction force function, making it suitable for widespread use.

Description

Technical Field

[0001] This utility model relates to the field of industrial robots, and in particular to an industrial robot with a composite clamping structure. Background Technology

[0002] Industrial robot grippers are core components for achieving automated operations. Traditional grippers are mostly single-structured. For example, mechanical grippers can only grasp some regular parts for processing, while suction cup grippers can only adsorb some flat parts for processing. On the same production line, robots need to change grippers of multiple specifications to complete production. If we want to reduce costs, we need to change multiple grippers on a single robot arm to complete production. This process is cumbersome and complex, and it is easy to damage the precision of the robot arm. Therefore, an industrial robot with a composite gripper structure is designed. Utility Model Content

[0003] The purpose of this utility model is to provide an industrial robot with a composite clamping structure to solve the above-mentioned technical problems. To achieve the above purpose, this utility model adopts the following technical solution: An industrial robot with a composite gripper structure includes a robot arm, a power control device, and a composite gripper. The composite gripper is connected to the end of the robot arm, and the power control device is located at the fixed end of the robot arm. The composite gripper is connected to the power control device. The composite gripper consists of an adjustable suction cup and a powered gripper. The adjustable suction cup is connected to the bottom center of the powered gripper, and the powered gripper is fixed to the end of the robot arm. Both the adjustable suction cup and the powered gripper are connected to the power control device.

[0004] Based on the above technical solution, the power gripper consists of a gripper connecting frame, gripper claws, and gripper linkage cylinders. Multiple sets of gripper claws are provided, with equal circumferential angles. The middle section of the gripper claw is connected to the side of the gripper connecting frame. The top end of the gripper linkage cylinder is connected to the gripper connecting frame, and the bottom end of the cylinder is connected to the top of the gripper claw. The upper section of the adjustable suction cup is fixed to the center of the gripper connecting frame, and the lower section of the adjustable suction cup is located on the inner bottom side of the gripper connecting frame. The gripper connecting frame is fixed to the end of the robot arm, and the gripper linkage cylinder is connected to a power control device.

[0005] Based on the above technical solution, the gripper connecting frame consists of an upper frame, a lower frame, a diagonally parallel frame, a gripper connecting position, a cylinder connecting position, and an arm fixing column. The upper frame and the lower frame are concentric, with the upper frame positioned above the lower frame. The diagonally parallel frame is inclined between the upper and lower frames. The gripper connecting position is positioned at a constant circumferential angle on the side of the lower frame, and the cylinder connecting position is positioned at a constant circumferential angle on the side of the upper frame. The rear shaft of the gripper linkage cylinder is connected to... At the cylinder connection position, the gripper consists of a gripper arm and a linkage connection position. The linkage connection position is located at the top of the gripper arm, and the top of the gripper arm is connected to the gripper connection position by a pin. The linkage connection position is connected to the front end of the gripper linkage cylinder by a pin. A suction cup fixing groove is provided in the center of the upper frame. The upper section of the adjustable suction cup is fixed in the suction cup fixing groove. The arm fixing post is fixed on the top surface of the upper frame and is fixed on the end of the robot arm.

[0006] Based on the above technical solution, the adjustable suction cup is composed of a suction cup body, a connecting air pipe, and a suction cup fixing end. The suction cup body is fixed to the lower side of the bottom end of the suction cup fixing end. The connecting air pipe passes through the suction cup fixing end and connects to the inner bottom side of the suction cup body. The connecting air pipe is connected to a power control device. The suction cup fixing end is fixed in the suction cup fixing ring groove.

[0007] Compared with the prior art, the present invention has the following advantages: The present invention optimizes the setting of the robot gripper, changes the traditional single gripper robot arm, and improves it into a robot with a composite gripper, which has both suction cup gripper and claw gripper to adapt to more processing parts. The claw gripper has a simple structure, and the suction cup has an adjustable suction force function, which is suitable for widespread use. Attached Figure Description

[0008] Figure 1 This is a general appearance diagram of the present utility model.

[0009] Figure 2 This is a schematic diagram of the composite fixture of this utility model.

[0010] Figure 3 This is a detailed schematic diagram showing the disassembly of the composite fixture of this utility model.

[0011] Figure 4 This is a detailed schematic diagram of the gripper connecting frame and gripper claw of this utility model.

[0012] Figure 5 This is a schematic diagram of the adjustable suction cup of this utility model.

[0013] In the diagram: 1. Robotic arm; 2. Power control device; 3. Composite gripper; 4. Adjustable suction cup; 5. Power gripper; 6. Gripper connecting frame; 7. Gripper linkage cylinder; 8. Upper frame; 9. Lower frame; 10. Diagonal parallel frame; 11. Gripper connection position; 12. Cylinder connection position; 13. Arm fixing post; 14. Gripper gripper arm; 15. Linkage connection position; 16. Pin; 17. Suction cup fixing groove; 18. Suction cup body; 19. Connecting air pipe; 20. Suction cup fixing end; 21. Detailed Implementation

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0015] An industrial robot with a composite gripper structure includes a robot arm 1, a power control device 2, and a composite gripper 3. The composite gripper 3 is connected to the end of the robot arm 1. The power control device 2 is located at the fixed end of the robot arm 1. The composite gripper 3 is connected to the power control device 2. The composite gripper 3 consists of an adjustable suction cup 4 and a powered gripper 5. The adjustable suction cup 4 is connected to the center bottom side of the powered gripper 5. The powered gripper 5 is fixed to the end of the robot arm 1. Both the adjustable suction cup 4 and the powered gripper 5 are connected to the power control device 2.

[0016] The above describes the main components of the robot and the main parts of the robotic arm gripper, as well as the main connection and positional relationships, with corresponding appendices. Figure 1 and attached Figure 2 . The power gripper 5 consists of a gripper connecting frame 6, gripper claws 7, and gripper linkage cylinders 8. Multiple sets of gripper claws 7 are provided, with each set having an equal circumferential angle. The middle section of each gripper claw 7 is connected to the side of the gripper connecting frame 6. The top end of the gripper linkage cylinder 8 is connected to the gripper connecting frame 6, and the bottom end of the gripper linkage cylinder 8 is connected to the top of each gripper claw 7. The upper section of the adjustable suction cup 4 is fixed to the center of the gripper connecting frame 6, and the lower section of the adjustable suction cup 4 is located on the inner bottom side of the gripper connecting frame 6. The gripper connecting frame 6 is fixed to the end of the robot arm 1, and the gripper linkage cylinder 8 is connected to the power control device 2.

[0017] The above describes the main components and connections of the power gripper, with corresponding appendices. Figure 3 .

[0018] The gripper connecting frame 6 consists of an upper ring frame 9, a lower ring frame 10, a diagonally parallel frame 11, a gripper connecting position 12, a cylinder connecting position 13, and an arm fixing column 14. The upper ring frame 9 and the lower ring frame 10 are concentric, with the upper ring frame 9 positioned above the lower ring frame 10. The diagonally parallel frame 11 is inclined between the upper ring frame 9 and the lower ring frame 10. The gripper connecting position 12 is positioned at equal circumferential angles on the side of the lower ring frame 10, and the cylinder connecting position 13 is positioned at equal circumferential angles on the side of the upper ring frame 9. The rear shaft of the gripper linkage cylinder 8 is connected to the cylinder connecting position 13. The gripper 7 consists of a gripper arm 15 and a linkage connection position 16. The linkage connection position 16 is located at the top of the gripper arm 15. The top of the gripper arm 15 is connected to the gripper connection position 12 via a pin 17. The linkage connection position 16 is connected to the front end of the gripper linkage cylinder 8 via a pin 17. The center of the upper frame 9 is provided with a suction cup fixing groove 18. The upper section of the adjustable suction cup 4 is fixed in the suction cup fixing groove 18. The arm fixing post 14 is fixed on the top surface of the upper frame 9 and is fixed on the end of the robot arm 1.

[0019] The above describes the main structure of the gripper connecting frame 6 and gripper 7 in the composite fixture 3, as well as the relationship between the parts connected to them. (See attached diagram.) Figure 4 .

[0020] The adjustable suction cup 4 consists of a suction cup body 19, a connecting air pipe 20, and a suction cup fixing end 21. The suction cup body 19 is fixed to the lower side of the bottom end of the suction cup fixing end 21. The connecting air pipe 20 passes through the suction cup fixing end 21 and connects to the inner bottom side of the suction cup body 19. The connecting air pipe 20 is connected to the power control device 2. The suction cup fixing end 21 is fixed in the suction cup fixing groove 18.

[0021] The above describes the main components of the adjustable suction cup 4 and the connection relationship and position of the gripper connecting frame 6, with corresponding appendices. Figure 2 and attached Figure 5 .

[0022] The main drive of the overall equipment is the power control device 2. The power control device 2 is an overall equipment that can control the movement of the robot arm 1 and the action of the composite gripper 3. The main pneumatic equipment provided for the composite gripper 3 includes the gripper 7 gripping action connected to the gripper linkage cylinder 8, and the pneumatic equipment required for adjusting the suction force of the adjustable suction cup 4.

[0023] When the equipment needs to work, the gripper 7 or the adjustable suction cup 4 can be selected to hold the equipment, depending on the usage. When using the gripper 7, the power control device 2 controls the gripper linkage cylinder 8 to extend and retract. When the gripper linkage cylinder 8 is long, it pushes the linkage connection 16 in the gripper 7 to move outward. The linkage connection 16 is fixed on the gripper arm 15, so the linkage connection 16 moves with the pin as the axis, thus the bottom inner side of the gripper arm 15 is linked to achieve the clamping process. When the adjustable suction cup 4 is working, the gripper 7 needs to be adjusted to rotate with the pin 17 as the axis so that the gripper arm 15 does not affect the working surface of the adjustable suction cup 4. Then, the robot arm 1 makes the suction cup body 19 press on the object to be adsorbed. The power control device 2 extracts the air from the bottom side of the suction cup body 19 through the connecting air pipe 20 and always provides a negative pressure condition for the bottom side of the suction cup body 19 so that the suction cup body 19 can always be adsorbed on the surface of the object to achieve the adsorption work. It can also be used when the adjustable suction cup 4 and the gripper 7 in the composite clamp 3 need to work at the same time.

[0024] The above description is a preferred embodiment of the present utility model. For those skilled in the art, any changes, modifications, substitutions and variations made to the implementation methods without departing from the principles and spirit of the present utility model, based on the teachings of the present utility model, still fall within the protection scope of the present utility model.

Claims

1. An industrial robot having a composite jig structure, characterized by comprising: The system includes a robotic arm (1), a power control device (2), and a composite gripper (3). The composite gripper (3) is connected to the end of the robotic arm (1). The power control device (2) is located at the fixed end of the robotic arm (1). The composite gripper (3) is connected to the power control device (2). The composite gripper (3) consists of an adjustable suction cup (4) and a power gripper (5). The adjustable suction cup (4) is connected to the center bottom side of the power gripper (5). The power gripper (5) is fixed to the end of the robotic arm (1). Both the adjustable suction cup (4) and the power gripper (5) are connected to the power control device (2). The power gripper (5) consists of a gripper connected to a frame (6) and a gripper. The system consists of a gripper (7) and a gripper linkage cylinder (8). Multiple grippers (7) are provided, each with an equal circumferential angle. The middle section of the gripper (7) is connected to the side of the gripper connecting frame (6). The top end of the gripper linkage cylinder (8) is connected to the gripper connecting frame (6), and the bottom end of the gripper linkage cylinder (8) is connected to the top of the gripper (7). The upper section of the adjustable suction cup (4) is fixed to the center of the gripper connecting frame (6), and the lower section of the adjustable suction cup (4) is located on the inner bottom side of the gripper connecting frame (6). The gripper connecting frame (6) is fixed to the end of the robot arm (1). The gripper linkage cylinder (8) is connected to a power control unit. The control device (2) consists of an upper ring frame (9), a lower ring frame (10), a diagonally parallel frame (11), a gripper connection position (12), a cylinder connection position (13), and an arm fixing column (14). The upper ring frame (9) and the lower ring frame (10) are arranged with the same center, and the upper ring frame (9) is located on the upper side of the lower ring frame (10). The diagonally parallel frame (11) is inclined between the upper ring frame (9) and the lower ring frame (10). The gripper connection position (12) is located at the same circumferential angle on the side of the lower ring frame (10). The cylinder connection position (13) is located at the same circumferential angle on the side of the upper ring frame (9). The rear shaft of the gripper linkage cylinder (8) is connected to the cylinder connection position. At position (13), the gripper (7) is composed of a gripper arm (15) and a linkage connection position (16). The linkage connection position (16) is located at the top of the gripper arm (15). The top of the gripper arm (15) is connected to the gripper connection position (12) by a pin (17). The linkage connection position (16) is connected to the front end of the gripper linkage cylinder (8) by a pin (17). The center of the upper frame (9) is provided with a suction cup fixing groove (18). The upper section of the adjustable suction cup (4) is fixed in the suction cup fixing groove (18). The arm fixing post (14) is fixed on the top surface of the upper frame (9) and fixed on the end of the robot arm (1).

2. The industrial robot having a composite clamp structure according to claim 1, characterized in that, The adjustable suction cup (4) consists of a suction cup body (19), a connecting air pipe (20), and a suction cup fixing end (21). The suction cup body (19) is fixed to the lower side of the bottom end of the suction cup fixing end (21). The connecting air pipe (20) passes through the suction cup fixing end (21) and connects to the inner bottom side of the suction cup body (19). The connecting air pipe (20) is connected to the power control device (2). The suction cup fixing end (21) is fixed in the suction cup fixing groove (18).

Images