A robot gripper

Abstract

The utility model discloses a mechanical hand clamp in the technical field of clamp equipment, including main clamp table, the panel of needle clamp table is vertically fixed and is inserted with a plurality of thimble, and the thimble is vertically slid and is inserted with thimble telescopic link in each, the thimble head is provided with the clamping groove of horizontal through, and the clamping groove is inlayed and is provided with the clamping needle, and the left and right sides of clamping needle are provided with the clamping projection, when the clamping groove stretches out the thimble inside, the clamping projection stretches out outward, the utility model discloses the hole structure of part itself, adopts the thimble head with the clamping projection of stretching out to carry out the clamping action, can be adapted to all kinds of small parts with the hollow hole, when taking the material, the clamping projection can be supported open and drag the part after passing through the part hole, guarantees that the part does not happen to fall and lean displacement in the transfer process, and the adaptability is strong, has solved the automatic taking and placing problem of all kinds of hollow small parts, and has improved the technological production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of clamping equipment technology, specifically to a robotic arm clamp. Background Technology

[0002] In the daily production and assembly process, hardware parts often require clamping. Currently, there are various types of clamps on the market, including adsorption, clamping, and magnetic types. However, for some thin-walled small parts with holes, the clamping effect is still unsatisfactory. These parts are mostly made of plastic injection molding or thin metal parts. General clamping components can easily cause them to deform. Magnetic clamps are not universally applicable, and adsorption is also ineffective due to their uneven surfaces. Developing adaptable clamping parts for these types of parts requires high mold costs and poor compatibility. This often results in manual handling of these parts, slowing down the production rhythm of the assembly line and wasting time and effort.

[0003] Based on this, the present invention designs a robotic gripper to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic gripper to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A robotic gripper includes a main gripper platform. A multi-functional suction cup assembly is located on the left side of the main gripper platform, and a positioning and protection assembly is located on the right side. A needle gripper platform is suspended from the lower center of the main gripper platform. The needle gripper platform is vertically and telescopically suspended below the main gripper platform via multiple platform limiting telescopic rods. A pin cylinder for driving the lifting and lowering of the needle gripper platform is fixedly and invertedly installed on the bottom surface of the main gripper platform. Multiple pin cylinders are vertically and fixedly inserted into the panel of the needle gripper platform. Each pin sleeve has a vertically sliding pin telescopic rod inserted inside it. The top of the pin telescopic rod is fixedly inserted into the panel of the main fixture table. The bottom end of the pin telescopic rod is provided with a pin head, which slides out of the pin sleeve. The pin head has a horizontally penetrating clamping groove, and a clamping pin is embedded in the clamping groove. The left and right sides of the clamping pin are provided with locking protrusions. When the clamping groove extends outward from the inside of the pin sleeve, the locking protrusions extend outward.

[0006] As a further embodiment of this utility model: the ejector pin is a V-shaped elastic clamp, and the locking protrusions are respectively provided on each side of the V-shape. When the ejector pin is stored in the clamping groove, the ejector pin is in an elastically compressed state.

[0007] As a further embodiment of this utility model: the inner wall of the bottom opening of the ejector sleeve is gradually opening, and the pointed end of the ejector head is facing down, while the flared end is facing up and is inverted.

[0008] As a further embodiment of this utility model: the bottom end of the ejector pin sleeve is fixedly equipped with a pressure ring for abutting against the surface of the hole in the part.

[0009] As a further embodiment of this utility model: the ejector sleeve and the ejector telescopic rod are respectively mounted on the panels of the corresponding needle clamp table and the main clamp table via mounting blocks.

[0010] As a further embodiment of this utility model: the suction cup assembly includes multiple suction cups, a lifting frame is mounted on the left side of the main clamping table, a lifting cylinder is fixedly and invertedly mounted on the lifting frame, a suction cup frame is fixed to the telescopic end of the lifting cylinder, and multiple suction cups are mounted on the suction cup frame by a downward pressure spring.

[0011] As a further embodiment of this utility model: the positioning and protection assembly includes multiple positioning and protection rods disposed on the right side of the main fixture table, and the positioning and protection rods are vertically installed on the side of the main fixture table by means of mounting hoops.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model utilizes the hole structure of the part itself and uses a pin head with a protruding locking protrusion for clamping action. It can be adapted to various small parts with hollow holes. When picking up the material, the locking protrusion can pass through the hole of the part and open up to hold the part, ensuring that the part will not fall, tilt or shift during the transfer process. It has strong adaptability, solves the problem of automatic picking and placing of various hollow small parts, and improves the efficiency of process production. 2. The suction cup assembly provided in this utility model can be used for auxiliary positioning of the ejector pin head or for individual part picking and placing, which enhances the multifunctionality of the needle clamp table of this application. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 for Figure 1 The main view; Figure 3 for Figure 1 A schematic diagram of the bottom structure; Figure 4 This is a schematic diagram of the structure of the ejector pin sleeve and ejector pin telescopic rod; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 This is an axial cross-sectional view of the ejector pin telescopic rod of the ejector pin sleeve. Figure 7 This is a schematic diagram of the suction cup holder structure; Figure 8 This is a schematic diagram of the needle clamp structure.

[0014] The attached diagram lists the components represented by each number as follows: Main clamping table 1, lifting frame 10, lifting cylinder 2, suction cup frame 20, suction cup 21, downward pressure spring 22, needle clamping table 3, table limiting telescopic rod 30, mounting hoop 31, ejector pin sleeve 32, ejector pin telescopic rod 33, ejector pin head 34, clamping groove 35, clamping needle 36, locking protrusion 37, pressure ring 38, ejector pin cylinder 39, positioning protection rod 4. Detailed Implementation Example 1

[0015] Please see Figure 1-8 This utility model provides a technical solution: a robotic gripper, including a main gripper platform 1. A multi-functional suction cup assembly is provided on the left side of the main gripper platform 1, and a positioning and protection assembly is provided on the right side. A needle gripper platform 3 is suspended from the lower middle part of the main gripper platform 1. The needle gripper platform 3 is vertically and telescopically suspended below the main gripper platform 1 by multiple platform limiting telescopic rods 30. A pin cylinder 39 for driving the lifting and lowering of the needle gripper platform 3 is fixedly and invertedly installed on the bottom surface of the main gripper platform 1. Multiple pin sleeves 3 are vertically and fixedly inserted into the panel of the needle gripper platform 3. 2. Each ejector sleeve 32 is vertically and slidably inserted with an ejector telescopic rod 33. The top of the ejector telescopic rod 33 is fixedly inserted into the panel of the main fixture table 1. The bottom end of the ejector telescopic rod 33 is provided with an ejector head 34. The ejector head 34 slides out of the ejector sleeve 32. The ejector head 34 is provided with a horizontal through-groove 35. The clamping pin 36 is embedded in the clamping groove 35. The left and right sides of the clamping pin 36 are provided with locking protrusions 37. When the clamping groove 35 extends outward into the ejector sleeve 32, the locking protrusions 37 extend outward. During operation, the main clamping platform 1 is set up for direct installation and connection with an external robotic arm. The positioning and protection components facilitate the overall positioning and protection of the main clamping platform 1. The suction cup assembly can be used for adsorbing small parts and for assisting in clamping the needle clamping platform 3. The ejector pin 34 on the needle clamping platform 3 is mainly inserted into the hole of the part. Then, the ejector pin cylinder 39 drives the needle clamping platform 3 to move. The needle clamping platform 3 rises and falls vertically under the guidance of multiple platform limiting telescopic rods 30. Since the top of the ejector pin telescopic rod 33 and the bottom outer wall of the ejector pin sleeve 32 are fixed, the needle clamping platform 3... During the process of pulling apart the main fixture stage 1, the ejector telescopic rod 33 is also pulled and slides inside the ejector sleeve 32. After the ejector head 34 extends out of the ejector sleeve 32, the locking protrusion 37 on the clamping pin 36 will extend outward from the inside after the clamping groove 35 is exposed. At this time, the locking protrusion 37 moves to the bottom area of ​​the part hole and holds the part from the bottom. Thus, when the robot moves the main fixture stage 1 as a whole, the part can be stably locked by the ejector head 34 and will not fall or shake. Even if tilting or flipping occurs, the part locked by the ejector head 34 can maintain a stable clamping state.

[0016] The ejector pin sleeve 32 and the ejector pin telescopic rod 33 are respectively mounted on the panels of the corresponding needle clamp table 3 and the main clamp table 1 via mounting blocks 31; During operation, the initial positions of the ejector sleeve 32 and the ejector telescopic rod 33 can be adjusted according to the depth of the hole in the part, thereby adjusting the insertion depth of the ejector head 34. This ensures that the ejector head 34 can pass through the hole in the part before the locking protrusion 37 extends and abuts against the bottom of the part.

[0017] The suction cup assembly includes multiple suction cups 21. A lifting frame 10 is mounted on the left side of the main clamping table 1. A lifting cylinder 2 is fixedly and invertedly mounted on the lifting frame 10. A suction cup frame 20 is fixed to the telescopic end of the lifting cylinder 2. Multiple suction cups 21 are mounted on the suction cup frame 20 by a downward pressure spring 22. During operation, the lifting cylinder 2 drives the suction cup frame 20 to move directly downwards until the suction cup 21 presses against the surface of the part and the spring 22 is compressed. The suction cup 21 can be equipped with an additional air tube to enhance the negative pressure. When the part is large, multiple suction cups 21 can press and adsorb the side of the part, and then multiple ejector pins 34 in the middle position and lock the hole of the part, thereby achieving multiple clamping effects. When the part is small, the suction cup 21 can also adsorb additional components and accessories on its own, achieving a multi-functional effect.

[0018] The positioning and protection assembly includes multiple positioning and protection rods 4 arranged on the right side of the main clamping table 1. The positioning and protection rods 4 are vertically installed on the side of the main clamping table 1 by means of mounting blocks 31. During operation, the positioning guard rod 4 can be adjusted in depth by installing the hoop 31. This can prevent the robot arm from directly impacting the parts in the middle of the needle clamp table 3, or it can be used in conjunction with the structural components of the external workstation for auxiliary positioning. Example 2

[0019] The difference between this embodiment and Embodiment 1 is that: The ejector pin 34 is a V-shaped elastic clamp, and the locking protrusions 37 are respectively provided on each side of the V-shape. When the ejector pin 34 is stored in the clamping groove 35, the ejector pin 34 is in an elastically compressed state outward. The inner wall of the bottom opening of the ejector sleeve 32 is gradually opening, and the pointed end of the ejector head 34 is facing down and the flared end is facing up, which is inverted. During operation, when the ejector head 34 extends out of the clamping groove 35, the two side corners of the top of the ejector head 34 slide within the opening of the involute ejector sleeve 32 and gradually expand. At this time, the clamping groove 35 has been exposed, and the two side corners of the locking protrusion 37 are expanded outward to extend out of the clamping groove 35, thus completing the extension action of the locking protrusion 37.

[0020] The bottom end of the ejector sleeve 32 is fixedly equipped with a pressure ring 38 for abutting against the surface of the hole in the part; During operation, the pressure ring 38 will first contact and abut against the surface of the part, so that the ejector head 34 can continue to extend downward steadily until the ejector head 34 passes through the locking protrusion 37 on the part surface and extends out, completing the locking action.

Claims

1. A robotic gripper, comprising a main gripper table (1), characterized in that: A multi-functional suction cup assembly is provided on the left side of the main clamping platform (1), and a positioning and protection assembly is provided on the right side of the main clamping platform (1). A needle clamping platform (3) is suspended on the lower middle side of the main clamping platform (1). The needle clamping platform (3) is vertically and telescopically suspended below the main clamping platform (1) by multiple platform limiting telescopic rods (30). A pin cylinder (39) for driving the needle clamping platform (3) to rise and fall is fixedly installed upside down on the bottom surface of the main clamping platform (1). Multiple pin sleeves (32) are vertically and fixedly inserted on the panel of the needle clamping platform (3). Each pin sleeve (32) has a pin inserted vertically and slidingly. The top of the ejector telescopic rod (33) is fixedly inserted into the panel of the main clamping table (1). The bottom end of the ejector telescopic rod (33) is provided with an ejector head (34). The ejector head (34) slides out of the ejector sleeve (32). The ejector head (34) is provided with a transverse through groove (35). The groove (35) is embedded with a clamping needle (36). The left and right sides of the clamping needle (36) are provided with locking protrusions (37). When the groove (35) extends outward into the ejector sleeve (32), the locking protrusions (37) extend outward.

2. The robotic gripper according to claim 1, characterized in that: The ejector pin (34) is a V-shaped elastic clamp, and the locking protrusion (37) is respectively provided on each side of the V-shape. When the ejector pin (34) is stored in the clamping groove (35), the ejector pin (34) is in an elastically compressed state outward.

3. The robotic gripper according to claim 2, characterized in that: The inner wall of the bottom opening of the ejector sleeve (32) is gradually opening, and the tip of the ejector head (34) is facing down and the flared opening is facing up.

4. A robotic gripper according to claim 3, characterized in that: The bottom end of the ejector sleeve (32) is fixedly fitted with a pressure ring (38) for abutting against the surface of the hole in the part.

5. A robotic gripper according to claim 1, characterized in that: The ejector pin sleeve (32) and the ejector pin telescopic rod (33) are respectively mounted on the panels of the corresponding needle clamp table (3) and the main clamp table (1) by mounting blocks (31).

6. A robotic gripper according to claim 1, characterized in that: The suction cup assembly includes multiple suction cups (21). A lifting frame (10) is mounted on the left side of the main clamping table (1). A lifting cylinder (2) is fixedly installed upside down on the lifting frame (10). A suction cup frame (20) is fixed to the telescopic end of the lifting cylinder (2). Multiple suction cups (21) are mounted on the suction cup frame (20) by a downward pressure spring (22).

7. A robotic gripper according to claim 1, characterized in that: The positioning protection assembly includes multiple positioning protection rods (4) set on the right side of the main fixture table (1), and the positioning protection rods (4) are vertically installed on the side of the main fixture table (1) by means of mounting blocks (31).

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