End multifunctional gripper for industrial collaborative robots

Abstract

The utility model discloses an end multifunctional clamp for industrial collaborative robot, including fixed establishment, cylinder, first clamping jaw and second clamping jaw, the fixed establishment is used for with the action execution end of mechanical arm connection, the cylinder is located on the fixed establishment, and the cylinder is connected with first clamping jaw and second clamping jaw, and the cylinder is used for driving first clamping jaw and second clamping jaw to move to each other or apart, first clamping jaw and second clamping jaw form bottle body clamping area and bottle cap clamping area between, at least one of suction tube slot, bottle opening groove, sharp blade stab mouth, pull hook is equipped on the first clamping jaw, and the rest is equipped on second clamping jaw, this scheme compact structure, need not external power, can be quickly loaded in the end of collaborative robot.

Description

Technical Field

[0001] This utility model relates to the technical field of clamps, and in particular to a multi-functional end effector clamp for industrial collaborative robots. Background Technology

[0002] Nowadays, industrial collaborative robots are widely used in industrial production scenarios such as food, beverage, and pharmaceutical, which involve small batches and multiple varieties. These scenarios place requirements on the end effectors of collaborative robots, such as "multi-functionality" and safe human-robot collaboration.

[0003] The main defects of currently available end effectors are as follows: 1. Limited functionality, only capable of gripping or single cap opening action. When faced with various packaging forms such as screw caps, pull rings, aluminum foil, and beer bottle caps, the clamps need to be changed frequently, resulting in long downtime. 2. The clamping surface is a flat plane or a simple V-groove, which can easily cause slippage or deformation when clamping beverage bottles with large diameter differences, soft bodies, or wet surfaces. 3. The opening mechanism is often independent of the gripper, requiring an additional actuator beyond the sixth axis, which increases the robot's load, complicates the trajectory, and raises costs.

[0004] In summary, existing technologies have not yet integrated multiple functions such as bottle and can gripping, handling, opening and dispensing on the same modular gripper, nor have they solved the technical pain point of "one-time clamping and completion of the whole process" for small batches of multi-variety beverage bottles and cans. Therefore, it is necessary to provide a multi-functional gripper that is compact, requires no external power, and can be quickly loaded onto the end effector of a collaborative robot. Utility Model Content

[0005] The purpose of this invention is to provide a multi-functional end effector for industrial collaborative robots, which is compact in structure, requires no external power, and can be quickly loaded onto the end effector of the collaborative robot.

[0006] To address the aforementioned technical problems, this utility model provides a multi-functional end effector for industrial collaborative robots, comprising a fixing mechanism, a cylinder, a first gripper, and a second gripper. The fixing mechanism is used to connect to the motion execution end of a robotic arm. The cylinder is mounted on the fixing mechanism and connected to the first gripper and the second gripper. The cylinder is used to drive the first gripper and the second gripper to move towards or away from each other. A bottle body gripping area and a bottle cap gripping area are formed between the first gripper and the second gripper. The first gripper is provided with at least one of the following: a straw slot, a bottle opening groove, a sharp blade piercing, and a pull hook, while the others are provided on the second gripper.

[0007] In one embodiment, the fixing mechanism is provided with a bottle opener sleeve, a bottle cap sleeve, and an end sleeve; the bottle opener sleeve is used to fix a press-type bottle opener; the inner peripheral wall of the bottle cap sleeve is provided with multiple vertical grooves, and the bottle cap sleeve is used to fit with a bottle cap; the end sleeve is used to fit with the end of the robotic arm.

[0008] In one embodiment, the cylinder is detachably connected to the first gripper; the cylinder is detachably connected to the second gripper.

[0009] In one embodiment, the cylinder has two oppositely arranged mounting plates, and the cylinder is used to drive the two mounting plates to move towards each other or away from each other; both mounting plates are provided with mounting holes; the first gripper is provided with a first gripper mounting hole, and a bolt is used to connect and fix the first gripper mounting hole to the mounting hole on the plate; the second gripper is provided with a second gripper mounting hole, and a bolt is used to connect and fix the second gripper mounting hole to the mounting hole on the plate.

[0010] In one embodiment, the surface of the first gripper facing the second gripper is provided with a first bottle-clamping arc groove; the surface of the second gripper facing the first gripper is provided with a second bottle-clamping arc groove; the first bottle-clamping arc groove and the second bottle-clamping arc groove form the bottle-holding area.

[0011] In one embodiment, the first gripper has a first cap-clamping arc groove on the surface of its claw tip facing the second gripper; the second gripper has a second cap-clamping arc groove on the surface of its claw tip facing the first gripper; the first cap-clamping arc groove and the second cap-clamping arc groove form the bottle cap clamping area, and both the surface of the first cap-clamping arc groove and the second cap-clamping arc groove are provided with multiple vertical lines.

[0012] In one embodiment, the straw slot is provided on the outer wall of the claw tip of the first gripper, and the bottle opening groove is provided on the outer wall of the claw arm of the first gripper.

[0013] In one embodiment, the second gripper has a sharp cutting edge on the outer wall of its claw tip and a hook on the outer wall of its claw arm.

[0014] In one embodiment, both the first gripper and the second gripper are integrally formed parts.

[0015] In one embodiment, both the first gripper and the second gripper are grippers made of glass fiber reinforced resin.

[0016] The beneficial effects of this utility model are as follows: In application, the fixing mechanism is used to connect with the action execution end of the robotic arm, so the robotic arm can drive the end-effector to perform various movements. Moreover, since a bottle body clamping area and a bottle cap clamping area are formed between the first gripper and the second gripper, and the first gripper is provided with at least one of the following: straw slot, bottle opening groove, sharp blade piercing, and pull hook, while the others are provided on the second gripper, this solution can achieve various operations such as bottle body clamping, bottle cap clamping, bottle cap tightening and loosening, straw insertion and removal, beer bottle cap opening, aluminum foil piercing, and can opening when used in conjunction with the robotic arm, without the need to set a power mechanism on the end-effector. This effectively solves a number of technical problems existing in the prior art. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram provided by an embodiment of the present utility model; Figure 2 yes Figure 1 A schematic diagram of the fixed mechanism structure; Figure 3 yes Figure 1 A schematic diagram of the cylinder structure; Figure 4 yes Figure 1 A schematic diagram of the first gripper structure; Figure 5 yes Figure 1 A schematic diagram of the second gripper structure.

[0019] The attached figures are labeled as follows: 100. Fixing mechanism; 110. Bottle opener sleeve; 120. Bottle cap sleeve; 130. End sleeve; 200, Cylinder; 210, Mounting plate; 220, Mounting hole on the plate; 300, First gripper; 310, Mounting hole on the first gripper; 320, First bottle-clamping arc groove; 330, First cap-clamping arc groove; 400, Second gripper; 410, Mounting hole on the second gripper; 420, Second bottle-clamping arc groove; 430, Second cap-clamping arc groove; 500. Bottle clamping area; 600. Bottle cap clamping area; 710. Straw slot; 720. Bottle opening groove; 730. Sharp blade piercing; 740. Pull hook. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments.

[0021] This utility model provides a multi-functional end effector for industrial collaborative robots, such as... Figure 1 As shown, it includes a fixing mechanism 100, a cylinder 200, a first gripper 300, and a second gripper 400.

[0022] Regarding the aforementioned fixing mechanism 100, as Figure 1 and Figure 2 As shown, in this embodiment, the fixing mechanism 100 is configured to connect with the action execution end of the robotic arm; wherein, in order to increase the functionality of the fixing mechanism 100, this embodiment also provides a bottle opener sleeve 110, a bottle cap sleeve 120 and an end sleeve 130 on the fixing mechanism 100.

[0023] The bottle opener sleeve 110 is a cylindrical cavity structure. When in use, the bottle opener sleeve 110 can be fitted over the press-type bottle opener, so that the bottle opener sleeve 110 can be used to fix the press-type bottle opener, so that the bottle opening operation can be realized under the control of the robotic arm.

[0024] The bottle cap sleeve 120 is a cylindrical cavity structure, and the inner circumferential wall of the bottle cap sleeve 120 is provided with multiple vertical grooves. In application, the bottle cap sleeve 120 can be used to fit over the bottle cap, so that the bottle cap sleeve 120 can be used to engage with the bottle cap, so that the bottle cap can be tightened or loosened under the control of the robotic arm. Moreover, the vertical grooves are matched with the vertical grooves of the bottle cap, which further increases the friction between the bottle cap sleeve 120 and the bottle cap.

[0025] The end sleeve 130 is a cylindrical cavity structure. In application, the end sleeve 130 can be sleeved on the end of the robotic arm, so that the end sleeve 130 can be used to connect with the end of the robotic arm to achieve connection and fixation between the end multi-functional gripper and the robotic arm.

[0026] Regarding the cylinder 200, as Figure 1 As shown, in this embodiment, the cylinder 200 is mounted on the fixed mechanism 100. The cylinder 200 is connected to a first gripper 300 and a second gripper 400. The cylinder 200 is used to drive the first gripper 300 and the second gripper 400 to move toward each other or away from each other.

[0027] Therefore, by controlling the relative movement of the first gripper 300 and the second gripper 400 by the cylinder 200, the corresponding clamping operation can be achieved, and by controlling the relative movement of the first gripper 300 and the second gripper 400, the clamping operation can be released.

[0028] In this embodiment, the cylinder 200 is detachably connected to the first gripper 300 and to the second gripper 400. This not only facilitates the installation, replacement and maintenance of the first gripper 300 and the second gripper 400, but also makes it easier to replace grippers of different sizes, shapes and functions in the future to meet more usage needs.

[0029] The detachable installation of the first gripper 300 and the second gripper 400 can be achieved in various ways, such as common bolt connection, bolt and nut connection, snap-fit ​​connection, and slide groove connection, all of which are optional implementation methods.

[0030] In this embodiment, however, the following is adopted: Figure 1 ,as well as Figures 3 to 5 The detachable connection shown is provided in this case. The cylinder 200 has two oppositely arranged mounting plates 210. The cylinder 200 is used to drive the two mounting plates 210 to move towards each other or away from each other. Both mounting plates 210 are provided with mounting holes 220. The first gripper 300 is provided with a first gripper mounting hole 310. The first gripper mounting hole 310 and the mounting hole 220 are connected and fixed by bolts. The second gripper 400 is provided with a second gripper mounting hole 410. The second gripper mounting hole 410 and the mounting hole 220 are connected and fixed by bolts.

[0031] After adopting the above setting method, by passing the bolt through the mounting hole 310 on the first claw and the mounting hole 220 on the plate, the first claw 300 can be connected and fixed to one of the mounting plates 210. By loosening the bolt, the first claw 300 can be removed from the mounting plate 210. The installation and removal method of the second claw 400 is the same as that of the first claw 300, so it will not be described again.

[0032] It should be noted that, in order to achieve bolted connection and fixation between the first jaw 300 and the mounting plate 210, at least one of the mounting hole 310 on the first jaw and the mounting hole 220 on the plate can be a threaded hole, thereby achieving installation by tightening the bolt into the threaded hole. Alternatively, both the mounting hole 310 on the first jaw and the mounting hole 220 on the plate can be through holes, and after the bolt passes through the mounting hole 310 on the first jaw and the mounting hole 220 on the plate, it can be connected and fixed with a nut.

[0033] Similarly, the bolted connection between the second gripper 400 and the mounting plate 210 can also be achieved using the above-mentioned method, so it will not be described further here.

[0034] Regarding the first gripper 300 and the second gripper 400, as follows: Figure 1 As shown, in this embodiment, a bottle body clamping area 500 and a bottle cap clamping area 600 are formed between the first gripper 300 and the second gripper 400.

[0035] To form a bottle-holding area of ​​500, such as Figure 1 , Figure 4 and Figure 5 As shown, in this embodiment, a first bottle-clamping arc groove 320 is provided on the surface of the first gripper 300 facing the second gripper 400, and a second bottle-clamping arc groove 420 is provided on the surface of the second gripper 400 facing the first gripper 300, so that the first bottle-clamping arc groove 320 and the second bottle-clamping arc groove 420 form a bottle body clamping area 500.

[0036] Therefore, once the first gripper 300 and the second gripper 400 move toward each other, the first bottle-clamping arc groove 320 and the second bottle-clamping arc groove 420 can be used to clamp the opposite sides of the bottle body, thereby achieving the clamping of the bottle body.

[0037] Furthermore, it is also possible to attach removable anti-slip elastic pads to the surfaces of the first bottle-clamping arc groove 320 and the second bottle-clamping arc groove 420, providing elastic interference to adapt to the working requirements of collaborative robots.

[0038] In order to form the bottle cap clamping area 600, such as Figure 1 , Figure 4 and Figure 5 As shown, in this embodiment, a first cap-clamping arc groove 330 is provided on the claw tip surface of the first gripper 300 facing the second gripper 400, and a second cap-clamping arc groove 430 is provided on the claw tip surface of the second gripper 400 facing the first gripper 300. The first cap-clamping arc groove 330 and the second cap-clamping arc groove 430 form a bottle cap clamping area 600. The surfaces of the first cap-clamping arc groove 330 and the second cap-clamping arc groove 430 are provided with multiple vertical lines. The vertical lines are matched with the vertical lines of the bottle cap, thereby increasing the friction between the cap-clamping arc groove and the bottle cap.

[0039] Therefore, once the first gripper 300 and the second gripper 400 move toward each other, the first cap arc groove 330 and the second cap arc groove 430 can be used to clamp the opposite sides of the bottle cap, thereby achieving the clamping of the bottle cap. At this time, the corresponding movement operation of the robotic arm can be used to loosen and tighten the bottle cap.

[0040] In addition, to enhance the functionality of the first gripper 300, such as... Figure 4 As shown, in this embodiment, the outer wall of the claw tip of the first gripper 300 is provided with a straw slot 710, and the outer wall of the claw arm of the first gripper 300 is provided with a bottle opening groove 720.

[0041] Therefore, when applying it, the straw slot 710 can be used to load the straw, and the bottle opening groove 720 can be used to open the cap of a beer bottle. The specific operation trajectory can be controlled by a robotic arm.

[0042] Similarly, to enhance the functionality of the second gripper 400, such as... Figure 5 As shown, in this embodiment, the outer wall of the claw tip of the second gripper 400 is provided with a sharp blade 730, and the outer wall of the claw arm of the second gripper 400 is provided with a hook 740.

[0043] Therefore, when applying it, the sharp blade 730 can be used to pierce the aluminum foil seal, and the pull hook 740 can be used to open the can. The specific operation trajectory can be controlled by a robotic arm.

[0044] Of course, the above configuration is not the only one. As long as at least one of the following is provided on the first gripper 300: straw slot 710, bottle opening groove 720, sharp blade piercing 730, and pull hook 740, and the rest are provided on the second gripper 400, similar functions can be achieved.

[0045] It should also be noted that the first gripper 300 and the second gripper 400 in this embodiment are both integrally molded parts. Specifically, the first gripper 300 and the second gripper 400 are both grippers made of glass fiber reinforced resin.

[0046] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications are also considered to be within the protection scope of this utility model.

Claims

1. A multi-functional end effector gripper for industrial collaborative robots, characterized in that, Includes a fixing mechanism, a cylinder, a first gripper, and a second gripper; The fixing mechanism is used to connect to the motion execution end of the robotic arm; The cylinder is mounted on the fixing mechanism. The cylinder is connected to the first gripper and the second gripper. The cylinder is used to drive the first gripper and the second gripper to move toward each other or apart. A bottle body clamping area and a bottle cap clamping area are formed between the first gripper and the second gripper; The first gripper is provided with at least one of the following: straw slot, bottle opening groove, sharp blade piercing, and pull hook, while the others are provided on the second gripper.

2. The end-effector multifunctional clamp according to claim 1, characterized in that, The fixing mechanism is provided with a bottle opener sleeve, a bottle cap sleeve, and an end sleeve; The bottle opener sleeve is used to secure the push-button bottle opener; The inner circumferential wall of the bottle cap sleeve has multiple vertical grooves, and the bottle cap sleeve is used to fit with the bottle cap. The end sleeve is used to engage with the end of the robotic arm.

3. The end-effector multifunctional clamp according to claim 1, characterized in that, The cylinder and the first gripper are detachably connected; The cylinder and the second gripper are detachably connected.

4. The end-effector multifunctional clamp according to claim 3, characterized in that, The cylinder is provided with two oppositely arranged mounting plates, and the cylinder is used to drive the two mounting plates to move towards each other or away from each other; Both mounting plates are provided with on-plate mounting holes; The first gripper is provided with a first gripper mounting hole, and a bolt is used to connect and fix the first gripper mounting hole and the plate mounting hole; The second gripper is provided with a second gripper mounting hole, and a bolt is used to connect and fix the second gripper mounting hole to the mounting hole on the plate.

5. The end-effector multifunctional clamp according to claim 1, characterized in that, The surface of the first gripper facing the second gripper is provided with a first bottle-gripping arc-shaped groove; The second gripper has a second bottle-gripping arc-shaped groove on its surface facing the first gripper; The first bottle-clamping arc groove and the second bottle-clamping arc groove form the bottle-holding area.

6. The end-effector multifunctional clamp according to claim 1, characterized in that, The first gripper has a first clamping cover arc groove on its claw tip surface facing the second gripper; The second gripper has a second clamping cover arc-shaped groove on its claw tip surface facing the first gripper; The first and second cap arc grooves form the cap clamping area, and both the first and second cap arc grooves have multiple vertical lines on their surfaces.

7. The end-effector multifunctional clamp according to claim 1, characterized in that, The straw slot is provided on the outer wall of the claw tip of the first gripper, and the bottle opening groove is provided on the outer wall of the claw arm of the first gripper.

8. The end-effector multifunctional clamp according to claim 1, characterized in that, The second gripper has a sharp cutting edge on the outer wall of its claw tip and a hook on the outer wall of its claw arm.

9. The end-effector multifunctional clamp according to claim 1, characterized in that, Both the first gripper and the second gripper are integrally molded parts.

10. The end-effector multifunctional clamp according to claim 1, characterized in that, Both the first gripper and the second gripper are made of glass fiber reinforced resin.

Images