A robot gripper

Abstract

The utility model discloses a kind of robot gripper, including mobile station (1) and the clamping jaw component (21) for being clamped on the first object (A) to be grabbed in the bottom of mobile station (1), it is characterized by: the clamping jaw component (21) is arranged in pairs, every pair of the clamping jaw component (21) has two groups of clamping jaw component (21) and is symmetrically arranged along front-back direction, respectively for clamping the edge of the front side and rear side of the first object (A) to be grabbed, and one of the clamping jaw component (21) is installed in the bottom of the mobile station (1) by floating structure (22), and can be moved along front-back direction relative to the mobile station (1). Compared with prior art, the robot gripper of the utility model can avoid the deviation of the grabbing position caused by the deformation of the object to be grabbed, and affect the grabbing accuracy.

Description

Technical Field

[0001] This utility model relates to the field of automotive parts technology, specifically to a robotic gripper. Background Technology

[0002] Automotive parts include engine parts, transmission parts, braking parts, steering parts, and body parts. When processing automotive parts, especially on the production line, robotic grippers are needed to grip and fix the processed parts and transfer them quickly.

[0003] The grippers used in existing robotic grippers are mainly mechanical grippers, which grasp objects by mechanical force. They have a simple structure and are suitable for regular objects. For details, please refer to Chinese patent application number CN202422005728.5, "A mobile gripper for an automotive parts production line".

[0004] For existing robotic grippers, mechanical grippers are typically configured in pairs to hold two opposite parts of the workpiece, ensuring the stability of the gripping action. However, in current production lines, workpieces are prone to deformation during processing, causing a shift in the gripping position, which affects the gripping accuracy of the robotic gripper. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a robot gripper that can avoid the gripping position shift caused by the deformation of the object to be gripped, thus avoiding the impact on the gripping accuracy.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a robot gripper, including a mobile platform and a gripper assembly installed at the bottom of the mobile platform for gripping a first object to be gripped, characterized in that: the gripper assemblies are arranged in pairs, each pair of gripper assemblies has two sets of gripper assemblies symmetrically arranged in the front-back direction, respectively used to grip the front and rear edges of the first object to be gripped, and one set of gripper assemblies is installed at the bottom of the mobile platform through a floating structure and can move relative to the mobile platform in the front-back direction.

[0007] To facilitate the movement of the gripper assembly in the front-to-back direction, the floating structure includes:

[0008] The fixed base is fixed relative to the movable stage; and

[0009] The sliding seat can be slidably mounted on the fixed seat for mounting the corresponding gripper assembly.

[0010] To ensure stable sliding of the sliding seat on the fixed seat, the fixed seat is provided with a guide rail extending in the front-to-back direction, and the sliding seat is provided with a slider that guides and cooperates with the guide rail.

[0011] To maintain the gripper assembly in its theoretical position without external force, the floating structure also includes...

[0012] Two limiting seats are fixed relative to the moving platform and are arranged symmetrically in the front-back direction;

[0013] A limiting arm is mounted on the side of the sliding seat and located between the two limiting seats; and

[0014] Two elastic elements, corresponding to the limiting seats, each elastic element acts between the limiting arm and the corresponding limiting seat, so that the limiting arm always tends to be centrally arranged between the two limiting seats.

[0015] To facilitate the installation of the elastic element, the elastic element is a compression spring, with its two ends abutting against the opposite surfaces of the limiting arm and the corresponding limiting seat.

[0016] In order to grip the front and rear edges of the first object to be grasped, each group of gripper assemblies includes a first gripper and a second gripper, as well as a drive member for driving the first gripper and the second gripper to open and close relative to each other.

[0017] To facilitate moving the mobile platform to the target object grasping position, the mobile platform is equipped with a connecting shaft for driving and connecting to an external drive mechanism, and a vision camera for monitoring the position of the object to be grasped.

[0018] Compared with the prior art, the advantages of this utility model are as follows: by using two sets of gripper assemblies arranged symmetrically in the front and back directions to grip the front and back edges of the first object to be grasped, and one set of gripper assemblies is mounted on the bottom of the moving platform through a floating structure, this set of gripper assemblies can move relative to the moving platform in the front and back directions, thereby compensating for the deviation of the gripping position caused by the deformation of the first object to be grasped, and avoiding affecting the gripping accuracy of the robot gripper. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the robot gripper of this utility model;

[0020] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure from another direction;

[0021] Figure 3 for Figure 2 A three-dimensional structural diagram of the gripper assembly and the floating structure;

[0022] Figure 4 for Figure 2 A three-dimensional structural diagram of the tear-off label module;

[0023] Figure 5 for Figure 4 A longitudinal sectional view;

[0024] Figure 6 This is a three-dimensional structural diagram of the robot gripper of this utility model when gripping a box (the label-tearing module is omitted);

[0025] Figure 7 This is a three-dimensional structural diagram of an embodiment of the robot gripper of this utility model when the non-adhesive part of the label is lifted by the top rod;

[0026] Figure 8 This is a three-dimensional structural diagram of an embodiment of the robot gripper of this utility model when it begins to remove a label from a workpiece;

[0027] Figure 9 This is a three-dimensional structural diagram of the robot gripper of this utility model after the workpiece is gripped into the box (the label-tearing module is omitted). Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] In the specification and claims of this utility model, terms indicating direction, such as "front," "rear," "upper," "lower," "left," "right," "side," "top," and "bottom," are used to describe various exemplary structural parts and elements of this utility model. However, the use of these terms is merely for the purpose of explanation and is based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in this utility model can be arranged in different orientations, these terms indicating direction are for illustrative purposes only and should not be regarded as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0030] like Figures 1 to 9 The image shows a preferred embodiment of the robot gripper of this utility model. The robot gripper includes a mobile platform 1 and a first gripping module, a second gripping module, and a label-tearing module 4 mounted on the mobile platform 1. The first and second gripping modules are used to grip a first object A and a second object B to be gripped, respectively, and the label-tearing module 4 is used to tear off labels C from the objects to be gripped.

[0031] The mobile station 1 is equipped with a connecting shaft 11 for connecting to an external drive mechanism and a vision camera 12 for monitoring the position of the object to be grasped.

[0032] The first gripping module includes four sets of gripper assemblies 21 and two sets of floating structures 22. Specifically, the four sets of gripper assemblies 21 are respectively installed at the four corners of the bottom of the moving platform 1, and the gripper assemblies 21 are arranged in pairs. Each pair of gripper assemblies 21 corresponds to two sets of gripper assemblies 21 arranged symmetrically in the front-back direction. The two sets of gripper assemblies 21 located on the front side correspond one-to-one with the two sets of floating structures 22, and are installed on the bottom of the moving platform 1 through the corresponding floating structures 22, and can move relative to the moving platform 1 in the front-back direction. The two sets of gripper assemblies 21 located on the rear side are directly installed on the bottom of the moving platform 1.

[0033] In this embodiment, each gripper assembly 21 includes a first gripper 211 and a second gripper 212 for gripping the first object A to be grasped, and a drive member 213 for driving the first gripper 211 and the second gripper 212 to open and close relative to each other. Specifically, the gripper assemblies 21 located on the front and rear sides are used to grip the front and rear edges of the first object A to be grasped, respectively; in this embodiment, the drive member 213 is a finger cylinder.

[0034] In this embodiment, each floating structure 22 includes a fixed base 221, a sliding base 222, a limiting base 223, a limiting arm 224, and an elastic element 225. Specifically, the fixed base 221 is directly installed on the bottom of the moving platform 1, and the fixed base 221 is provided with a guide rail 2211 extending in the front-to-back direction; the sliding base 222 is provided with a slider 2221 that guides and cooperates with the guide rail 2211, so that the sliding base 222 can be slidably installed on the fixed base 221. The driving members 213 of the two sets of gripper assemblies 21 located on the front side are installed on the sliding base 222 of the corresponding floating structure 22, and the driving members 213 of the two sets of gripper assemblies 21 located on the rear side are directly installed on the bottom of the moving platform 1. There are two limiting seats 223, symmetrically arranged on the fixed seat 221 along the front-back direction; a limiting arm 224 is installed on the side of the sliding seat 222, and the limiting arm 224 is located between the two limiting seats 223; there are two elastic elements 225, corresponding one-to-one with the aforementioned limiting seats 223; each elastic element 225 is a compression spring, and the two ends of the compression spring abut against the opposite surfaces of the limiting arm 224 and the corresponding limiting seat 223, so that the limiting arm 224 always tends to be centrally arranged between the two limiting seats 223. It is precisely because the two sets of gripper assemblies 21 located on the front side can move along the front-back direction with the corresponding sliding seat 222 that the offset of the gripping position caused by the deformation of the first object to be gripped A can be compensated.

[0035] The second gripping module includes a vacuum suction cup 31, a lifting mechanism 32, and a vacuum generator 33.

[0036] Specifically, there are four vacuum suction cups 31, which are installed at the four corners of the bottom of the moving platform 1 to be adsorbed onto the protrusion inside the second object B to be grasped; the top of each vacuum suction cup 31 is connected to a hollow connecting rod 311, which can be moved up and down through the moving platform 1.

[0037] There are four lifting mechanisms 32, which correspond one-to-one with the vacuum suction cups 31 mentioned above. Each lifting mechanism 32 is a pen-shaped cylinder and is installed on the moving platform 1. Its power output shaft is connected to the corresponding connecting rod 311 to drive the corresponding vacuum suction cup 31 to lift.

[0038] There are four vacuum generators 33, which correspond one-to-one with the vacuum suction cups 31 mentioned above. Each vacuum generator 33 is installed on the top of the moving platform 1, and its suction end is connected to the port at the top of the corresponding connecting rod 311 for evacuating the corresponding vacuum suction cup 31.

[0039] The second capture module mentioned above has at least two states:

[0040] In the first state, such as Figure 9 As shown, the vacuum suction cup 31 is higher than the first gripper 211 and the second gripper 212, thereby avoiding the vacuum suction cup 31 from affecting the gripper assembly 21's gripping of the first object A to be grasped;

[0041] In the second state, such as Figure 6 As shown, the vacuum suction cup 31 is positioned below the first gripper 211 and the second gripper 212, thereby preventing the gripper assembly 21 from affecting the vacuum suction cup 31's adsorption of the second object B to be grasped.

[0042] The label-tearing module 4 includes an installation strip 41, a positioning plate 42, a clamping block 43, and a translation mechanism 44.

[0043] Specifically, the mounting strip 41 is mounted on the movable platform 1 in the front-rear direction and extends outward from the front side of the movable platform 1;

[0044] The positioning plate 42 is erected at the front end of the mounting strip 41. A top rod 421 extending outward is provided on one side of the end of the positioning plate 42. The top rod 421 can lift the non-adhesive part of the label C during the process of the positioning plate 42 moving along the plane where the label C is located, so as to guide the non-adhesive part of the label C into the gap 430 below.

[0045] The clamping block 43 can be movably mounted on the mounting strip 41. There is a gap 430 between the clamping block 43 and the positioning plate 42 for accommodating the non-adhesive part of the label C. The clamping block 43 and the positioning plate 42 have corresponding grooves 431 and protrusions 422 on their opposite surfaces, respectively.

[0046] The translation mechanism 44 is a two-axis cylinder and is mounted on the mounting strip 41. Its power output shaft is connected to the clamping block 43 to drive the clamping block 43 to move back and forth so that the clamping block 43 presses against the positioning plate 42 or moves away from the positioning plate 42.

[0047] With the clamping block 43 pressed against the positioning plate 42, the protrusion 422 is inserted into the groove 431, thereby preventing the non-adhesive part of the label C sandwiched between the clamping block 43 and the positioning plate 42 from easily dislodging from the gap 430.

[0048] The working principle of this embodiment is as follows: In this embodiment, the first object to be grasped, A, and the second object to be grasped, B, are respectively a workpiece and a box for storing the workpiece. When it is necessary to store the workpiece in the box...

[0049] (1) Grab the box to the target location:

[0050] First, the lifting mechanism 32 is activated to drive the vacuum suction cups 31 to move downwards, causing the second gripping module to switch to the second state. Then, the vision camera 12 is activated to monitor the position of the box. Subsequently, the external drive mechanism moves the moving stage 1 to the corresponding position based on the signal collected by the vision camera 12, so that each vacuum suction cup 31 abuts against the protrusion inside the box. Next, each vacuum generator 33 is activated so that the corresponding vacuum suction cup 31 is adsorbed onto the protrusion inside the box (e.g., ...). Figure 6 (As shown), then the external drive mechanism moves the box to the target position through the moving stage 1, and finally turns off each vacuum generator 33 so that the corresponding vacuum suction cup 31 releases its adsorption on the box;

[0051] (2) Remove the label from the workpiece:

[0052] First, the vision camera 12 is activated to monitor the position of the label on the workpiece. Then, the external drive mechanism moves the moving stage 1 to the corresponding position based on the signal collected by the vision camera 12, so that the end of the push rod 421 is positioned below the non-adhesive part of the label (e.g., Figure 7 (As shown), then the external drive mechanism continues to drive the positioning plate 42 of the label-tearing module 4 to translate along the plane where the label is located. During this process, the push rod 421 lifts the non-adhesive part of the label to guide the non-adhesive part of the label into the gap 430. Then, the translation mechanism 44 is activated to drive the clamping block 43 to move toward the positioning plate 42 until the non-adhesive part of the label is clamped (as shown). Figure 8 (As shown), then the external drive mechanism drives the moving stage 1 to move away from the workpiece to remove the label;

[0053] (3) Grab the workpiece with the label removed and place it into the box;

[0054] First, the lifting mechanism 32 is activated to drive the vacuum suction cup 31 upward, causing the second gripping module to switch to the first state. Then, the vision camera 12 is activated to monitor the position of the workpiece. Subsequently, the external drive mechanism moves the moving stage 1 to the corresponding position according to the signal collected by the vision camera 12, so that the front and rear edges of the workpiece are inserted between the first gripper 211 and the second gripper 212 of the corresponding gripper assembly 21. Next, each drive component 213 is activated to drive the corresponding first gripper 211 and second gripper 212 to close and clamp the front and rear edges of the workpiece. Then, the external drive mechanism moves the workpiece into the box body (e.g., Figure 9 As shown), finally, each driving component 213 is activated to drive the corresponding first gripper 211 and second gripper 212 to open and release the workpiece from clamping.

Claims

1. A robotic gripper, comprising a movable stage (1) and a gripper assembly (21) mounted on the bottom of the movable stage (1) for gripping a first object (A) to be gripped, characterized in that: The gripper assemblies (21) are arranged in pairs. Each pair of gripper assemblies (21) has two sets of gripper assemblies (21) arranged symmetrically in the front and back directions, respectively used to grip the front and rear edges of the first object to be grasped (A). One set of gripper assemblies (21) is installed on the bottom of the moving platform (1) through a floating structure (22) and can move relative to the moving platform (1) in the front and back directions.

2. The robot gripper according to claim 1, characterized in that: The floating structure (22) includes a fixed base (221) fixed relative to the movable platform (1); and The sliding seat (222) is slidably mounted on the fixed seat (221) for mounting the corresponding gripper assembly (21).

3. The robot gripper according to claim 2, characterized in that: The fixed base (221) is provided with a guide rail (2211) extending in the front-back direction, and the sliding base (222) is provided with a slider (2221) that guides and cooperates with the guide rail (2211).

4. The robot gripper according to claim 2, characterized in that: The floating structure (22) also includes two limiting seats (223), which are fixed relative to the moving platform (1) and arranged symmetrically in the front-back direction; A limiting arm (224) is mounted on the side of the sliding seat (222) and located between the two limiting seats (223); and Two elastic elements (225) are provided, corresponding to the limiting seats (223). Each elastic element (225) acts between the limiting arm (224) and the corresponding limiting seat (223) so that the limiting arm (224) always tends to be centrally located between the two limiting seats (223).

5. The robot gripper according to claim 4, characterized in that: The elastic element (225) is a compression spring, and the two ends of the compression spring abut against the opposite surfaces of the limiting arm (224) and the corresponding limiting seat (223).

6. The robot gripper according to claim 1, characterized in that: Each of the gripper assemblies (21) includes a first gripper (211) and a second gripper (212) and a drive member (213) for driving the first gripper (211) and the second gripper (212) to open and close relative to each other.

7. The robotic gripper according to any one of claims 1 to 6, characterized in that: The mobile stage (1) is equipped with a connecting shaft (11) for driving connection with an external drive mechanism and a vision camera (12) for monitoring the position of the object to be grasped.

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