Industrial robot with quick gripper change
Patent Information
- Application Number
- CN202521823768.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-26
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-08-26
AI Technical Summary
[0003]但是，现有技术中，在生产作业时，会通过工业机器人夹爪进行抓取物料作业，但不同的生产线使用的夹具会有不同，在更换产线时，需要工作人员进行拆卸在重新安装夹具，更换产线时较为麻烦
本实用新型通过设置安插组件，通过工业机器人带动机械臂进行移动调整，机械臂移动时带动安装箱进行移动，将安装箱的开口处与夹爪上的移动块对齐，此时机械臂带动安装箱下移，安装箱与移动块接触，安装箱下移的同时对移动块进行挤压，移动块受到挤压产生移动并向中心靠拢，移动块移动时对弹簧进行挤压，弹簧受到挤压收缩，使得移动块之间的间距调整至与安装箱适配，随着安装箱的移动，当安装箱带动卡口移动至与移动块平齐时，弹簧释放弹力推动移动块复位，移动块卡入卡口内，此时启动气缸，气缸带动楔块移动对移动块挤压，推动移动块深入卡口内，具有对工业机器人的作业夹具进行对接安装，方便在更换产线时进行拆装更换不同的夹具的优点。
Smart Images
Figure CN224659447U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of industrial robot technology, specifically to a robot with a quick-change claw structure. Background Technology
[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom robotic devices designed for industrial applications. They can automatically perform tasks, relying on their own power and control capabilities to achieve various functions. They can be commanded by humans or operate according to pre-programmed procedures. Modern industrial robots can also act according to principles established using artificial intelligence technology. Industrial robots typically consist of three basic parts: a body, a drive system, and a control system, and are widely used in manufacturing processes such as material handling, welding, and assembly.
[0003] However, in existing technologies, industrial robots use grippers to pick up materials during production operations. But different production lines use different grippers, and when changing production lines, workers need to disassemble and reinstall the grippers, which is quite troublesome. Utility Model Content
[0004] The purpose of this invention is to provide an industrial robot with a quick-change gripper structure, which has the advantage of docking and installing the working gripper of the industrial robot, making it convenient to disassemble and replace different grippers when changing production lines, thereby solving the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: an industrial robot with a quick-change gripper structure, comprising an industrial robot component, a mounting component, and an unlocking component. The industrial robot component is used to grip materials. The mounting component is disposed on the industrial robot component for docking and replacing the gripper head of the industrial robot component. The unlocking component is disposed on the industrial robot component for pushing and unlocking the mounting component. The mounting component includes a mounting box, a cylinder, a wedge, and two moving blocks. The mounting box is disposed inside the industrial robot component. The cylinder is fixedly mounted on the top inner wall of the mounting box. The wedge is fixedly mounted on the output end of the cylinder. Both moving blocks are disposed inside the mounting box.
[0006] Furthermore, the outer wall of the wedge is inclined, and the cross-section of the wedge is trapezoidal.
[0007] Furthermore, the top of the movable block is arc-shaped, and triangular protrusions are provided on the outer wall of the movable block.
[0008] Furthermore, the mounting assembly also includes two bayonets, a spring, a mounting block, a slide groove, and two sliders. The two bayonets are both located on the inner walls of both sides of the mounting box. The bayonets are adapted to the moving blocks. The spring is fixedly mounted on the outer wall of the side of the two moving blocks that are close to each other. The mounting block is mounted on the industrial robot assembly. The slide groove is located on the top of the mounting block. The two sliders are slidably mounted in the slide groove. The two sliders are fixedly connected to the two moving blocks respectively.
[0009] Furthermore, the industrial robot assembly includes a robotic arm and a gripper, the gripper being positioned below the robotic arm and the mounting block being fixedly mounted on top of the gripper.
[0010] Furthermore, the unlocking assembly includes a disc, a mounting slot, a bidirectional screw, two adjusting blocks, two upright plates, two top posts, and a motor. The disc is fixedly mounted on the bottom of the robotic arm, the mounting slot is located on the top of the disc, the bidirectional screw is rotatably mounted in the mounting slot, the two adjusting blocks are threaded onto the bidirectional screw, the two upright plates are respectively fixedly mounted on the bottom of the two adjusting blocks, the two top posts are respectively fixedly mounted on the outer wall of the two upright plates on one side close to each other, the motor is fixedly mounted on one side outer wall of the disc, and the output end of the motor is fixedly connected to one end of the bidirectional screw.
[0011] Furthermore, a support plate is fixedly installed on each of the two upright plates, and the support plate is fixedly connected to the adjusting block.
[0012] In summary, due to the adoption of the above-mentioned technologies, the beneficial effects of this utility model are: This invention utilizes a mounting assembly, where an industrial robot drives a robotic arm for adjustment. As the robotic arm moves, it moves the mounting box, aligning its opening with a moving block on the gripper. The robotic arm then lowers the mounting box, bringing it into contact with the moving block. This downward movement compresses the moving block, causing it to move and converge towards the center. The movement of the moving block also compresses a spring, causing it to contract and adjust the spacing between the moving blocks to match the mounting box. As the mounting box moves further, when the mounting box moves the clamping jaws to align with the moving blocks, the spring releases its force, pushing the moving blocks back into place. At this point, a cylinder is activated, moving a wedge to press and push the moving blocks deeper into the clamping jaws. This design allows for the docking and installation of industrial robot fixtures, facilitating easy replacement of different fixtures when changing production lines.
[0013] This invention features an unlocking component. When the cylinder is activated, it retracts and moves the wedge block to its reset position. Simultaneously, the motor starts, driving a bidirectional screw to rotate. This rotation of the screw moves the adjusting block within the mounting slot, causing it to move towards the center. The adjusting block then moves the vertical plate, which in turn moves the top column. The top column moves closer to and into the bayonet, pushing against the movable block inside the bayonet. The movable block is then pushed out of the bayonet, and the gripper is no longer locked, allowing it to be removed. This design offers the advantages of convenient pushing and squeezing, and easy unlocking and disassembly of the fixture with its installation limit. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of an industrial robot with a quick-change claw structure according to the present invention. Figure 2 This is a schematic diagram of the front cross-sectional structure of an industrial robot with a quick-change claw structure according to the present invention. Figure 3 This is a side sectional view of an industrial robot with a quick-change claw structure according to the present invention. Figure 4 This is a bottom-view cross-sectional view of an industrial robot with a quick-change claw structure according to the present invention.
[0015] In the diagram: 1. Industrial robot component; 101. Robotic arm; 102. Gripper; 2. Mounting component; 201. Mounting box; 202. Cylinder; 203. Wedge; 204. Moving block; 205. Bayonet; 206. Spring; 207. Mounting block; 208. Slide; 209. Slider; 3. Unlocking component; 301. Disc; 302. Mounting slot; 303. Bidirectional screw; 304. Adjusting block; 305. Vertical plate; 306. Top column; 307. Motor. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.
[0017] This utility model provides, for example Figures 1-4 As shown, an industrial robot with a quick-change gripper structure includes an industrial robot component 1, a mounting component 2, and an unlocking component 3. The industrial robot component 1 is used to grip materials. The mounting component 2 is mounted on the industrial robot component 1 for docking and replacing the gripper of the industrial robot component 1. The unlocking component 3 is mounted on the industrial robot component 1 for pushing and unlocking the mounting component 2. The mounting component 2 includes a mounting box 201, a cylinder 202, a wedge 203, and two moving blocks 204. The mounting box 201 is located inside the industrial robot component 1. The cylinder 202 is fixedly mounted on the top inner wall of the mounting box 201. The wedge 203 is fixedly mounted on the output end of the cylinder 202. Both moving blocks 204 are located inside the mounting box 201. More specifically, the industrial robot drives the robotic arm 101 to move and adjust. When the robotic arm 101 moves, it drives the mounting box 201 to move, thus moving the mounting box 201. The opening aligns with the movable block 204 on the gripper 102. At this time, the robotic arm 101 moves the mounting box 201 downwards, bringing it into contact with the movable block 204. As the mounting box 201 moves downwards, it compresses the movable block 204, causing it to move and move towards the center. The movement of the movable block 204 compresses the spring 206, causing it to contract and adjust the spacing between the movable blocks 204 to match the mounting box 201. As the mounting box 201 moves... When the mounting box 201 moves the bayonet 205 to be flush with the moving block 204, the spring 206 releases its elastic force to push the moving block 204 back to its original position. The moving block 204 then engages with the bayonet 205. At this time, the cylinder 202 is activated, and the cylinder 202 moves the wedge 203 to press against the moving block 204, pushing the moving block 204 deeper into the bayonet 205. This has the advantage of docking and installing the working fixtures of industrial robots, and is convenient for disassembling and replacing different fixtures when changing production lines.
[0018] In addition, the outer wall of the wedge 203 is inclined, and the cross-section of the wedge 203 is trapezoidal.
[0019] In addition, the top of the movable block 204 is arc-shaped, and triangular protrusions are provided on the outer wall of the movable block 204.
[0020] In addition, the mounting assembly 2 also includes two bayonets 205, a spring 206, a mounting block 207, a slide groove 208, and two sliders 209. The two bayonets 205 are both formed on the inner walls of both sides of the mounting box 201. The bayonets 205 are adapted to the moving blocks 204. The spring 206 is fixedly installed on the outer wall of the two moving blocks 204 that are close to each other. The mounting block 207 is set on the industrial robot assembly 1. The slide groove 208 is formed on the top of the mounting block 207. The two sliders 209 are slidably installed in the slide groove 208. The two sliders 209 are respectively fixedly connected to the two moving blocks 204.
[0021] like Figure 1 As shown, the industrial robot component 1 includes a robotic arm 101 and a gripper 102. The gripper 102 is disposed below the robotic arm 101, and the mounting block 207 is fixedly mounted on the top of the gripper 102.
[0022] like Figure 1 As shown, in some embodiments, the unlocking assembly 3 includes a disc 301, a mounting groove 302, a bidirectional screw 303, two adjusting blocks 304, two upright plates 305, two top posts 306, and a motor 307. The disc 301 is fixedly mounted on the bottom end of the robotic arm 101. The mounting groove 302 is formed on the top of the disc 301. The bidirectional screw 303 is rotatably mounted in the mounting groove 302. The two adjusting blocks 304 are threaded onto the bidirectional screw 303. The two upright plates 305 are respectively fixedly mounted on the bottom of the two adjusting blocks 304. The two top posts 306 are respectively fixedly mounted on the outer wall of the two upright plates 305 on the side that are close to each other. The motor 307 is fixedly mounted on the outer wall of one side of the disc 301. The output end of the motor 307 is connected to the bidirectional screw 304. One end of 03 is fixedly connected. More specifically, when the cylinder 202 is started, the cylinder 202 retracts and drives the wedge block 203 to move and reset. At this time, the motor 307 is started, and the motor 307 drives the bidirectional screw 303 to rotate. While the bidirectional screw 303 rotates, it drives the adjusting block 304 to move. The adjusting block 304 moves in the mounting groove 302 and moves towards the center. The adjusting block 304 drives the vertical plate 305 to move. The vertical plate 305 drives the top column 306 to move. The top column 306 moves closer to and rises into the bayonet 205, pushing the moving block 204 that is stuck in the bayonet 205. The moving block 204 is pushed and moves out of the bayonet 205. At this time, the gripper 102 is no longer limited and locked, and the gripper 102 can be removed. It has the advantages of convenient pushing and squeezing, and unlocking and disassembling the fixture with installation limit.
[0023] In some embodiments, a support plate is fixedly installed on each of the two upright plates 305, and the support plate is fixedly connected to the adjusting block 304.
[0024] Working principle: Step 1: Docking and Installation. The industrial robot moves and adjusts the robotic arm 101. As the robotic arm 101 moves, it moves the mounting box 201, aligning the opening of the mounting box 201 with the moving block 204 on the gripper 102. At this point, the robotic arm 101 moves the mounting box 201 downwards, bringing it into contact with the moving block 204. As the mounting box 201 moves downwards, it compresses the moving block 204, causing it to move and move towards the center. During this movement, the moving block 204 acts on the spring 206. When the spring 206 is compressed, it contracts, adjusting the spacing between the moving blocks 204 to match the mounting box 201. As the mounting box 201 moves, when the mounting box 201 moves the bayonet 205 to be flush with the moving blocks 204, the spring 206 releases its elastic force to push the moving blocks 204 back to their original position, and the moving blocks 204 are inserted into the bayonet 205. At this time, the cylinder 202 is activated, and the cylinder 202 drives the wedge block 203 to move and compress the moving blocks 204, pushing the moving blocks 204 deeper into the bayonet 205. At this time, the docking installation is completed.
[0025] Step 2: Push-to-disassemble. Start cylinder 202. Cylinder 202 retracts and drives wedge block 203 to move and reset. At this time, start motor 307. Motor 307 drives bidirectional screw 303 to rotate. While rotating, bidirectional screw 303 drives adjusting block 304 to move. Adjusting block 304 moves in mounting groove 302 and moves towards the center. Adjusting block 304 drives vertical plate 305 to move. Vertical plate 305 drives top column 306 to move. Top column 306 moves close to and rises into bayonet 205, pushing the moving block 204 into bayonet 205. The moving block 204 is pushed out of bayonet 205. At this time, gripper 102 is no longer limited and locked, and gripper 102 can be removed.
[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
Claims
1. An industrial robot with a quick-change gripper structure, characterized in that: The device includes an industrial robot assembly, a mounting assembly, and an unlocking assembly. The industrial robot assembly is used to grip materials. The mounting assembly is mounted on the industrial robot assembly and is used to dock and replace the gripper head of the industrial robot assembly. The unlocking assembly is mounted on the industrial robot assembly and is used to unlock the mounting assembly by pushing it open. The mounting assembly includes a mounting box, a cylinder, a wedge, and two moving blocks. The mounting box is located inside the industrial robot assembly. The cylinder is fixedly mounted on the top inner wall of the mounting box. The wedge is fixedly mounted on the output end of the cylinder. Both moving blocks are located inside the mounting box.
2. The industrial robot with a quick-change gripper structure according to claim 1, characterized in that: The outer wall of the wedge is inclined, and the cross-section of the wedge is trapezoidal.
3. The industrial robot with a quick-change gripper structure according to claim 1, characterized in that: The top of the movable block is arc-shaped, and triangular protrusions are provided on the outer wall of the movable block.
4. The industrial robot with a quick-change gripper structure according to claim 1, characterized in that: The mounting assembly also includes two bayonets, a spring, a mounting block, a slide groove, and two sliders. The two bayonets are both located on the inner walls of both sides of the mounting box. The bayonets are adapted to the moving blocks. The spring is fixedly mounted on the outer wall of the side of the two moving blocks that are close to each other. The mounting block is mounted on the industrial robot assembly. The slide groove is located on the top of the mounting block. The two sliders are slidably mounted in the slide groove. The two sliders are fixedly connected to the two moving blocks respectively.
5. The industrial robot with a quick-change gripper structure according to claim 4, characterized in that: The industrial robot assembly includes a robotic arm and a gripper, the gripper being positioned below the robotic arm and the mounting block being fixedly mounted on top of the gripper.
6. The industrial robot with a quick-change gripper structure according to claim 1, characterized in that: The unlocking assembly includes a disc, a mounting slot, a bidirectional screw, two adjusting blocks, two upright plates, two top posts, and a motor. The disc is fixedly mounted on the bottom of the robotic arm. The mounting slot is located on the top of the disc. The bidirectional screw is rotatably mounted in the mounting slot. Both adjusting blocks are threaded onto the bidirectional screw. The two upright plates are fixedly mounted on the bottom of the two adjusting blocks. The two top posts are fixedly mounted on the outer wall of the two upright plates on their adjacent sides. The motor is fixedly mounted on the outer wall of one side of the disc, and the output end of the motor is fixedly connected to one end of the bidirectional screw.
7. The industrial robot with a quick-change gripper structure according to claim 6, characterized in that: A support plate is fixedly installed on each of the two upright plates, and the support plate is fixedly connected to the adjustment block.