Truss manipulator multifunctional gripping device

Abstract

This utility model belongs to the field of gantry robot technology, and in particular, a multi-functional gripping device for a gantry robot. It includes a robot body, with a gripping mechanism mounted on the gripping end surface of the robot body. The gripping mechanism includes gripping fingers, and mounting grooves are formed on the opposing surfaces of two adjacent gripping fingers. An extension airbag is fixedly connected to the inner wall of the mounting groove. This multi-functional gripping device for a gantry robot, by mounting a gripping mechanism on the gripping end surface of the robot body, uses the gripping fingers to grip an object while simultaneously inflating the extension airbag. This causes the extension airbag to push the two adjacent gripping fingers to extend, increasing the area of ​​the object being gripped. Simultaneously, the deformation of the extension airbag and the gripping airbag wraps around the protrusions on the surface of the object, thus adapting to various irregularly shaped objects. This makes the gripping mechanism effective in facilitating the gripping of irregularly shaped objects by the gantry robot.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, and in particular to a multi-functional clamping device for gantry robots. Background Technology

[0002] When existing gantry robots grip items on wire mesh shelves, they need to directly grip the surface of the items using the hard surface of the gripper end. However, the specifications of the gripper end are relatively fixed. When the specifications are small, the contact area with the items is reduced, which reduces the gripping stability. When the specifications are large, the contact area with the items is increased, but the surface of the items is uncertain. Especially for some irregularly shaped items, the surface of the gripper end may be pushed up by the protrusions on the surface of the irregularly shaped items, which will make the gripping unstable and make it difficult to grip irregularly shaped items securely. Utility Model Content

[0003] To address the technical problem that existing gantry manipulator gripping devices are not convenient for gripping irregularly shaped items, this utility model proposes a multi-functional gripping device for gantry manipulators.

[0004] This utility model proposes a multi-functional gripping device for a truss manipulator, including a manipulator body. A gripping mechanism is installed on the gripping end surface of the manipulator body. The gripping mechanism includes gripping fingers. Mounting grooves are formed on the opposing surfaces of two adjacent gripping fingers. An extension airbag is fixedly connected to the inner wall of the mounting groove. A gripping airbag is fixedly connected to one side surface of the extension airbag. The interior of the gripping airbag communicates with the interior of the extension airbag.

[0005] Preferably, a spring is fixedly connected to the inner wall of the finger clamping device, and one side surface of the extension airbag is slidably sleeved on the surface of the spring.

[0006] Preferably, the surface of the finger clamp is provided with friction holes, and an anti-slip post is slidably inserted into the inner wall of the friction holes. The anti-slip post is made of silicone, and one end of the anti-slip post is fixedly connected to the outer surface of the extension airbag.

[0007] Preferably, a mounting plate is fixedly connected to the gripping end surface of the robotic arm body, one end surface of the gripping finger is slidably connected to the surface of the mounting plate, and a groove is formed on the surface of the mounting plate.

[0008] Preferably, a slider is fixedly connected to one end surface of the finger clamping device. The slider is T-shaped, and the surface of the slider is slidably connected to the inner wall of the groove.

[0009] Preferably, an air tube is slidably inserted into the surface of the mounting plate, and one end of the air tube communicates with the interior of the extension airbag.

[0010] The beneficial effects of this utility model are as follows:

[0011] 1. By installing a gripping mechanism on the gripping end surface of the robot body, the gripping fingers in the gripping mechanism grip the object while inflating the extension airbag. This causes the extension airbag to push the two adjacent gripping fingers to extend, increasing the area of ​​the object being wrapped. At the same time, the deformation of the extension airbag and the gripping airbag wraps the synapses on the surface of the object, thus adapting to various irregularly shaped objects. This makes the gripping mechanism more effective in gripping irregularly shaped objects with the gantry robot.

[0012] 2. By setting friction holes on the surface of the gripping finger, friction points are increased by using the inner wall of the friction holes. This increases the friction between the gripping finger surface and the object. At the same time, by moving the anti-slip column inside the friction hole, the expansion of the extension airbag causes the anti-slip column to extend, thereby further increasing the friction between the anti-slip column and the object. When the extension airbag causes the anti-slip column to retract, it can also retract and hide, avoiding accidental damage to the soft material anti-slip column. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a multi-functional clamping device for a truss manipulator proposed in this utility model;

[0014] Figure 2 This is a perspective view of the manipulator body structure of a multi-functional clamping device for a truss manipulator proposed in this utility model;

[0015] Figure 3 This is a diagram showing the inflated state of the extension airbag structure of a multi-functional gripping device for a truss manipulator proposed in this utility model.

[0016] Figure 4 This is a perspective view of the extension airbag structure of a multi-functional gripping device for a truss manipulator proposed in this utility model;

[0017] Figure 5 This is a perspective view of the gripping finger structure of a multi-functional gripping device for a truss manipulator proposed in this utility model.

[0018] In the diagram: 1. Robotic arm body; 2. Gripping finger; 21. Extension airbag; 22. Gripping airbag; 23. Spring; 24. Anti-slip post; 25. Mounting plate; 26. Slider; 3. Air tube. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Reference Figures 1-5 A multi-functional gripping device for a truss manipulator includes a manipulator body 1. A gripping mechanism is installed on the gripping end surface of the manipulator body 1. The gripping mechanism includes gripping fingers 2. Mounting grooves are provided on the opposing surfaces of two adjacent gripping fingers 2. An extension airbag 21 is fixedly connected to the inner wall of the mounting groove. A gripping airbag 22 is fixedly connected to one side surface of the extension airbag 21. The interior of the gripping airbag 22 communicates with the interior of the extension airbag 21.

[0021] To install the extension airbag 21, a spring 23 is fixedly connected to the inner wall of the gripping finger 2. One side surface of the extension airbag 21 is slidably sleeved on the surface of the spring 23. The contraction and reset of the spring 23 drives two adjacent gripping fingers 2 to move closer together, thus facilitating the combined use of two adjacent gripping fingers 2. Friction holes are opened on the surface of the gripping finger 2. Anti-slip posts 24 are slidably inserted into the inner wall of the friction holes. The anti-slip posts 24 are made of silicone. One end of the anti-slip posts 24 is fixedly connected to the outer surface of the extension airbag 21. The anti-slip posts 24 extend outward through the friction holes, thereby increasing the friction of the gripping finger 2 surface.

[0022] By creating friction holes on the surface of the gripping finger 2, friction points are increased by utilizing the inner wall of the friction holes. This increases the friction between the surface of the gripping finger 2 and the object. At the same time, by moving the anti-slip column 24 within the friction holes, the expansion of the extension airbag 21 causes the anti-slip column 24 to extend, thereby further increasing the friction between the anti-slip column 24 and the object. Furthermore, when the extension airbag 21 causes the anti-slip column 24 to retract, the anti-slip column 24 can be retracted and hidden, preventing accidental damage to the soft material anti-slip column 24.

[0023] To allow for the movable installation of the gripping finger 2, a mounting plate 25 is fixedly connected to the gripping end surface of the robotic arm body 1. One end surface of the gripping finger 2 is slidably connected to the surface of the mounting plate 25. A groove is provided on the surface of the mounting plate 25. The gripping finger 2 is movablely installed using the mounting plate 25, which facilitates the connection between the gripping finger 2 and the robotic arm body 1. A slider 26 is fixedly connected to one end surface of the gripping finger 2. The slider 26 is T-shaped, and its surface is slidably connected to the inner wall of the groove. The gripping finger 2 is movablely installed using the slider 26, which facilitates the sliding of the gripping finger 2 on the surface of the mounting plate 25.

[0024] By installing a gripping mechanism on the gripping end surface of the robot body 1, the gripping fingers 2 in the gripping mechanism grip the object while inflating the extension airbag 21. This causes the extension airbag 21 to push the two adjacent gripping fingers 2 to extend, increasing the area of ​​the object being wrapped. At the same time, the deformation of the extension airbag 21 and the gripping airbag 22 wraps the synapses on the surface of the object, thus adapting to various irregularly shaped objects. This makes the gripping mechanism effective in facilitating the gripping of irregularly shaped objects by the gantry robot.

[0025] An air tube 3 is slidably inserted into the surface of the mounting plate 25. One end of the air tube 3 is connected to the inside of the stretch airbag 21. The stretch airbag 21 is connected to an external air source and its control device, such as an air pump, through the air tube 3, so as to facilitate the control of the expansion and contraction of the stretch airbag 21.

[0026] Working principle:

[0027] In use, air is injected into the extension airbag 21 through the air tube 3, causing the extension airbag 21 and the clamping airbag 22 to inflate and push the two adjacent clamping fingers 2 outward. The spring 23 is stretched, and the slider 26 slides to the outermost end in the groove and is pressed against by the extension airbag 21. The extension airbag 21 squeezes the inner end of the anti-slip column 24, and the other end of the anti-slip column 24 extends outward through the friction hole. The robotic arm body 1 clamps the object by the clamping fingers 2. The protractor end of the object squeezes the extension airbag 21, and the extension airbag 21 wraps around the surface of the object. The surface of the clamping fingers 2 is clamped and fixed to the surface of the object by the anti-slip column 24.

[0028] 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.

Claims

1. A multi-functional gripping device for a truss manipulator, comprising a manipulator body (1), characterized in that: The gripping end surface of the robotic arm body (1) is equipped with a gripping mechanism, which includes gripping fingers (2). The opposing surfaces of two adjacent gripping fingers (2) are provided with mounting grooves. An extension airbag (21) is fixedly connected to the inner wall of the mounting groove. A gripping airbag (22) is fixedly connected to one side surface of the extension airbag (21). The interior of the gripping airbag (22) is connected to the interior of the extension airbag (21).

2. The multi-functional gripping device for a truss robot according to claim 1, characterized in that: A spring (23) is fixedly connected to the inner wall of the clamping finger (2), and one side surface of the stretching airbag (21) is slidably sleeved on the surface of the spring (23).

3. The multi-functional gripping device for a truss robot according to claim 2, characterized in that: The surface of the gripping finger (2) is provided with friction holes, and an anti-slip post (24) is slidably inserted into the inner wall of the friction holes. The anti-slip post (24) is made of silicone, and one end of the anti-slip post (24) is fixedly connected to the outer surface of the stretching airbag (21).

4. The multi-functional gripping device for a truss robot according to claim 3, characterized in that: The gripping end surface of the robotic arm body (1) is fixedly connected to an installation plate (25), and one end surface of the gripping finger (2) is slidably connected to the surface of the installation plate (25). The surface of the installation plate (25) is provided with a sliding groove.

5. A multi-functional gripping device for a truss robot according to claim 4, characterized in that: A slider (26) is fixedly connected to one end surface of the clamping finger (2). The slider (26) is T-shaped and its surface is slidably connected to the inner wall of the groove.

6. The multi-functional gripping device for a truss robot according to claim 5, characterized in that: An air tube (3) is slidably inserted into the surface of the mounting plate (25), and one end of the air tube (3) is connected to the interior of the stretching airbag (21).

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