CN210678745U - Robot tongs that stabilize and snatch - Google Patents

Abstract

The utility model provides a stable grasping robot gripper, which is characterized in that: a suction and holding device and a clamping device are included; the clamping device includes a connecting seat, a frame body and a clamping plate; the connecting seat and the suction device The holding devices are connected by a floating module; the frame bodies are slidably connected to both sides of the connection seat along the width direction of the connection seat; the frame bodies on both sides are connected by a lateral drive module, so that the frame bodies on both sides can move toward each other or face away from each other. The two side frame bodies and the connecting base are connected with centering modules for limiting the synchronous and reverse movement of the two side frame bodies relative to the connecting base; The robot gripper can stably grab the item, avoid the item being damaged due to falling during the moving process, avoid damage due to local excessive force, and has high operation accuracy.

Description

A Robotic Gripper with Steady Grasping

technical field

The utility model relates to the technical field of robot grippers, in particular to a robot gripper that can be grasped stably.

Background technique

With the advancement of science and technology and the popularization of automation technology, more and more companies use robotic equipment to replace manual processes for product processing, packaging and handling.

The existing robot grippers generally use suction cups to vacuum up the items, or use the gripping method to grip the items, so as to realize the transmission and movement of production materials. However, for large and heavy items, a single suction method or gripping method may not be able to effectively fix the item and move it for a certain distance. The items may fall during the moving process, or the item may be damaged due to local excessive force. damage. In addition, fragile or deformable items are easily broken or deformed because a large suction or clamping force cannot be applied locally, so a single suction method or clamping method cannot achieve an ideal grasping effect.

Therefore, it is necessary to design a robot gripper that can grasp stably, avoid damage caused by falling objects during movement, and avoid damage caused by local excessive force.

Utility model content

The purpose of the utility model is to overcome the shortcomings and deficiencies of the prior art, and to provide a robot gripper with high operation precision, which can grasp firmly, avoid damages caused by falling objects during the moving process, and avoid damages caused by local excessive force.

In order to achieve the above purpose, the utility model is realized by the following technical solutions: a stable grasping robot gripper, which is characterized in that: it includes a suction and holding device and a clamping device; the clamping device includes a connecting seat, a frame body The connecting seat and the holding device are connected by a floating module; the frame bodies are slidably connected to both sides of the connecting seat along the width direction of the connecting seat; the frame bodies on both sides are connected by a lateral drive module, In order to realize the relative movement or backward movement of the two sides of the frame body; between the two sides of the frame body and the connecting seat, a centering module is connected to limit the synchronous and reverse movement of the two sides of the frame body relative to the connecting seat; the clamping plates are driven by lifting and lowering respectively. The module is connected with the frame bodies on both sides.

The robot gripper of the utility model can simultaneously apply two fixing methods of suction and gripping to the article, firmly grasp the article, and prevent the article from falling and damage during the moving process; applying force to the article from multiple angles can avoid partial excessive force and damage. damaged, it helps to maintain the integrity and aesthetics of the product. Its working principle is: first, the robot gripper moves to the top of the item; the holding device sucks the fixed item by suction; then the lifting and driving modules on both sides of the clamping device move the clamping plates on both sides down respectively, and the lateral driving module moves the two sides. The side frame body moves toward each other along the width direction of the connecting seat, and drives the clamping plates on both sides to be clamped on both sides of the article to strengthen and fix the article, and the clamping effect is good.

Since there may be a positional deviation between the center line of the article and the center line of the connecting seat after the suction device sucks the article, in the process of gradually clamping the clamping plate, the floating module can realize the position adjustment between the suction device and the connecting seat. Under the condition that the relative positions between the suction and holding devices remain unchanged, the center line of the article is aligned with the center line of the connecting seat, so as to avoid the clamping process affecting the operation of the suction and holding device. In the process that the lateral drive module drives the two sides of the frame to move toward each other, the centering module limits the two sides of the frame to move in the opposite direction relative to the connection seat, so that the frame is always symmetrically arranged on both sides of the connection seat, which is convenient for the frame to reset. Conducive to the balance of the two sides of the frame body, is conducive to prolonging the service life and further improving the operation accuracy. After moving the article to the designated position, the lateral drive module of the clamping device moves the two sides of the frame back to drive the clamping plate to release the article, the lift drive module lifts the clamping plate, and the suction device releases the article at the same time.

The robot gripper of the utility model adopts a lateral driving module, a lifting driving module, a centering module and a floating module to cooperate with each other, and has high operation precision and long service life.

Preferably, the centering module comprises a gear rotatably arranged on the connecting seat and two racks respectively connected with the frame bodies on both sides; the two racks are meshed on both sides of the gear in parallel; the two teeth The racks are respectively provided with auxiliary positioning pieces on the side away from the gears, and the auxiliary positioning pieces are fitted with the racks to keep the racks in mesh with the gears. When the racks on both sides move toward each other or back, the rack drives the gears to rotate, and the gears constrain the two racks to move in the opposite direction synchronously, so that the displacements of the racks on both sides relative to the connection seat are precisely synchronized in reverse. , to further improve the operation accuracy.

Preferably, the frame bodies on both sides are slidably connected to the two sides of the connecting seat through the first guide rail and the first sliding block, respectively.

Preferably, the lateral drive module includes at least one cylinder 1; the cylinder barrel of the cylinder 1 is hinged with one side frame body, and the telescopic rod of the cylinder 1 is hinged with the other side frame body. The extension of the telescopic rod of the cylinder 1 can make the two sides of the frame body move backward, and the shortening of the telescopic rod of the cylinder 1 can make the two sides of the frame body move toward each other.

Preferably, the lift driving module is the second cylinder; the cylinder of the second cylinder is connected to the frame body through the cylinder base, and the telescopic rod of the second cylinder is connected to the clamping plate; the frame body and the clamping plate are also connected with a lift guide assembly. The expansion and contraction of the telescopic rod of the second cylinder can realize the descending and ascending of the clamping plate.

Preferably, the lifting guide assembly includes a second guide rail, a second sliding block and a guide connecting plate connected with the clamping plate; the guide connecting plate is slidably connected to the frame body through the second guide rail and the second sliding block.

Preferably, the floating module includes at least one suction-holding mounting plate arranged on the suction-holding device; each suction-holding mounting plate is provided with at least one floating structure; the floating structure comprises linear bearings, a guide post slidably inserted into the linear bearing, a guide post seat arranged below the connecting seat and connected with both ends of the guide post, and an elastic element sleeved on both ends of the guide post; the elastic element abuts against the guide post seat between linear bearings. The position between the linear bearing and the guide post seat on both sides can be adjusted by compressing one end of the elastic element. Since the linear bearing is connected with the holding device through the holding mounting plate, and the guide post seat is connected with the connecting seat, the holding device and the connection can be realized. Position adjustment between seats.

Preferably, at least two installation grooves are provided on the top of the suction device, and the suction installation plate is provided with installation holes corresponding to the positions of the installation grooves; Hold the fixing between the mounting plate and the holding device. The advantage of this design is that it is convenient to replace, maintain and repair the holding device; it is also convenient to replace the holding device according to the size of the object to be grasped, so that the holding device matches the size of the object to be grasped.

Preferably, the suction and holding device is set in one of the following ways:

1. The suction and holding device includes a set of suction cup modules; the suction cup module is connected with a vacuum device;

2. The suction-holding device includes more than two groups of suction cup modules arranged side by side, and each group of suction cup modules is respectively connected with the vacuuming device through a switch device.

The second method can realize group control of the suction cup modules, and control the state of each suction cup module by controlling the on-off of the switching device, so as to realize the grasping of single or multiple items.

Preferably, the inner side of the clamping plate is provided with a high-density soft material layer. The high-density soft material layer is a material layer with certain flexibility or elasticity, such as high-density sponge, which can prevent scratching or pinching the article when the clamping plate clamps the article.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1. The robot gripper of the present utility model can simultaneously apply two fixing methods of sucking and gripping to the article, firmly grasping the article, and preventing the article from falling and being damaged during the moving process; applying force to the article from multiple angles can avoid local excessive stress It is conducive to maintaining the integrity and aesthetics of the product;

2. The robot gripper of the utility model has high operation precision and long service life;

3. The robot gripper of the present utility model is convenient for the replacement and remodeling of the suction and holding device, facilitates maintenance and repair, and can improve the versatility; the suction cup module group control can be realized to realize the grasping of single or multiple items;

4. The robot gripper of the utility model can prevent the object from being scratched or pinched when the object is clamped by the clamping plate.

Description of drawings

Fig. 1 is one of the structural representations of the robot gripper of the present invention;

Fig. 2 is the second structural schematic diagram of the robot gripper of the present invention;

3 is a schematic structural diagram of a gripping device in a robot gripper of the present invention;

Fig. 4 is the enlarged view of A part in Fig. 3;

5 is a schematic structural diagram of a suction-holding device and a floating module in a robot gripper of the present invention;

Among them, 1 is the holding device, 1.1 is the installation slot, 2 is the connecting seat, 3 is the frame, 4 is the lateral drive module, 4.1 is the cylinder one, 4.2 is the guide rail one, 4.3 is the slider one, and 5 is the lift drive module , 6 is clamping plate, 6.1 is high-density soft material layer, 7 is centering module, 7.1 is gear, 7.2 is rack, 7.3 is auxiliary positioning piece, 8 is lifting guide assembly, 8.1 is guide connecting plate, 8.2 is Guide rail 2, 8.3 is the slider 2, 9 is the floating structure, 9.1 is the holding mounting plate, 9.2 is the linear bearing, 9.3 is the guide post seat, 9.4 is the elastic element, and 9.5 is the mounting hole.

Detailed ways

The present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in FIG. 1 to FIG. 5 , a robot gripper for stably grasping in this embodiment includes a sucking and holding device 1 and a clamping device. The clamping device includes a connecting base 2 , a frame body 3 and a clamping plate 6 . The frame bodies 3 on both sides are slidably connected to both sides of the connecting seat 2 along the width direction of the connecting seat 2 through the guide rail one 4.2 and the sliding block one 4.3 respectively.

The frame bodies 3 on both sides are connected by the transverse drive module 4 . Specifically, the lateral drive module 4 includes at least one cylinder one 4.1; in this embodiment, there are two cylinder one 4.1. The cylinder barrel of the cylinder one 4.1 is hinged with the frame body 3 on one side, and the telescopic rod of the cylinder one 4.1 is hinged with the frame body 3 on the other side. The extension of the telescopic rod of the cylinder one 4.1 can make the two sides of the frame body 3 move back, and the shortening of the telescopic rod of the cylinder one 4.1 can make the two sides of the frame body 3 move toward each other. In practical applications, the lateral drive module can also use other existing drive modules, such as an oil cylinder, a sliding table, a nut-screw mechanism, and the like.

A centering module 7 is connected between the two side frame bodies 3 and the connecting base 2 for limiting the synchronous and reverse movement of the two side frame bodies 3 relative to the connecting base 2 . The centering module 7 includes a gear 7.1 rotatably arranged on the connecting seat 2 and two racks 7.2 respectively connected to the two sides of the frame body 3; The root rack 7.2 is respectively provided with auxiliary positioning members 7.3 on the side away from the gear 7.1, and the auxiliary positioning members 7.3 are fitted with the rack 7.2 to keep the rack 7.2 in mesh with the gear 7.1. When the racks 3 on both sides move toward each other or move back, the rack 7.2 drives the gear 7.1 to rotate, and the gear 7.1 constrains the two racks 7.2 to move in the opposite direction synchronously, so that the racks 3 on both sides are relative to the connecting seat. The displacement of 2 is precisely synchronized in reverse, which further improves the operation accuracy.

The clamping plates 6 are respectively connected with the frame bodies 3 on both sides through the lifting and lowering drive modules 5 . The lift driving module 5 is the second cylinder; the cylinder tube of the second cylinder is connected with the frame body 3 through the cylinder seat, and the telescopic rod of the second cylinder is connected with the clamping plate 6 . The expansion and contraction of the telescopic rod of the cylinder 2 can realize the descending and ascending of the clamping plate 6 . A lifting guide assembly 8 is also connected between the frame body 3 and the clamping plate 6; the lifting guide assembly 8 includes a guide rail 2 8.2, a slider 2 8.3 and a guide connecting plate 8.1 connected with the clamping plate 6; the guide connecting plate 8.1 passes through the guide rail. The second 8.2 and the second sliding block 8.3 are slidably connected with the frame body 3 . In practical applications, the lift drive module can also use other existing drive modules, such as oil cylinders, sliding tables, nut-screw mechanisms, and so on.

The inner side of the clamping plate 6 is provided with a high-density soft material layer 6.1. The high-density soft material layer 6.1 is a material layer with a certain flexibility or elasticity, such as high-density sponge, which can prevent the object from being scratched or pinched when the object is clamped by the clamping plate 6 .

The connection base 2 and the holding device 1 are connected through a floating module. The floating module includes at least one suction-holding mounting plate 9.1 arranged on the suction-holding device 1; in this embodiment, there are three suction-holding mounting plates, but in practical applications, the number of suction-holding mounting plates may be one, two, three, or four , five dollars, or even more. Each suction mounting plate 9.1 is provided with at least one floating structure 9; in this embodiment, each suction mounting plate 9.1 is provided with two floating structures 9; The number of floating structures can be one, two, three, four, five, or even more. The floating structure 9 includes a linear bearing 9.2 arranged on the suction and holding mounting plate 9.1, a guide post slidably inserted into the linear bearing 9.2, a guide post seat 9.3 and Elastic elements 9.4 sleeved on both ends of the guide post; the elastic element 9.4 is abutted between the guide post seat 9.3 and the linear bearing 9.2. The position between the linear bearing 9.2 and the guide post bases 9.3 on both sides can be adjusted by compressing one end of the elastic element 9.4. Since the linear bearing 9.2 is connected to the holding device 1 through the suction mounting plate 9.1, and the guide post base 9.3 is connected to the connecting base 2, Therefore, the position adjustment between the suction device 1 and the connection base 2 can be realized.

The top of the suction device 1 is provided with at least two installation grooves 1.1, and the suction installation plate 9.1 is provided with installation holes 9.5 corresponding to the positions of the installation grooves 1.1; Hold the fixing between the mounting plate 9.1 and the holding device 1. The advantage of this design is that it is convenient to replace, maintain and repair the holding device 1 ; it is also convenient to replace the holding device 1 according to the size of the object to be grasped, so that the holding device 1 matches the size of the object to be grasped.

In this embodiment, the sucking device 1 includes more than two groups of sucker modules arranged side by side, and each group of sucker modules is connected to the vacuum device through a switching device respectively; the grouping control of the sucker modules can be realized, and each group of sucker modules can be controlled by controlling the on-off of the switching device. The state of the suction cup module thus enables single or multiple item grasping. In practical applications, the suction and holding device may also include only one set of suction cup modules, and the suction cup modules are connected to the vacuuming device.

The robot gripper of the utility model can simultaneously apply two fixing methods of suction and gripping to the article, firmly grasp the article, and prevent the article from falling and damage during the moving process; applying force to the article from multiple angles can avoid partial excessive force and damage. damaged, it helps to maintain the integrity and aesthetics of the product. Its working principle is: firstly, the robot gripper moves to the top of the item; the holding device 1 sucks the fixed item by suction; then the lifting and driving modules 5 on both sides of the clamping device move the clamping plates 6 on both sides down, and drive horizontally. The module 4 moves the frame bodies 3 on both sides toward each other along the width direction of the connection base 2, and drives the clamping plates 6 on both sides to clamp the two sides of the article respectively to strengthen and fix the article, and the clamping effect is good.

Since there may be a positional deviation between the center line of the article and the center line of the connecting seat 2 after the suction device 1 sucks the article, the floating module can realize the position between the suction device 1 and the connecting seat 2 during the gradual clamping process of the clamping plate 6 Adjustment to align the center line of the article with the center line of the connecting base 2 under the condition that the relative position between the article and the holding device 1 remains unchanged, so as to avoid the clamping process from affecting the operation of the holding device 1 . During the process that the lateral drive module 4 drives the two sides of the frame bodies 3 to move toward each other, the centering module 7 limits the two sides of the frame bodies 3 to move in the opposite direction relative to the connection base 2 , so that the frame bodies 3 are always symmetrically arranged on both sides of the connection base 2 , which is convenient for the reset of the frame body 3 and the balance of the frame bodies 3 on both sides, which is beneficial to prolong the service life and further improve the operation accuracy. After moving the article to the designated position, the lateral drive module 4 of the clamping device moves the two sides of the frame 3 back to drive the clamping plate 6 to release the article, the lift drive module 5 lifts the clamping plate 6, and at the same time the holding device 1 Release the item.

The robot gripper of the utility model adopts the lateral drive module 4, the lift drive module 5, the centering module 7 and the floating module to cooperate with each other, and has high operation precision and long service life.

The robot gripper of the utility model can be applied to the tobacco industry, stacking and unstacking of pieces of cigarettes. The suction and holding device adopts a sponge suction tool, which is aimed at the suction of the carton packaging, and the holding device prevents the object from being dropped due to the high swing of the object during the transportation process. In addition, the robot gripper of the present invention can also be applied to other application occasions.

The above-mentioned embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited by the above-mentioned embodiments, and any other changes, modifications, and substitutions made without departing from the spirit and principle of the present utility model , combination and simplification, all should be equivalent replacement methods, which are all included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a robot tongs that firm snatchs which characterized in that: comprises a holding device and a clamping device; the clamping device comprises a connecting seat, a frame body and a clamping plate; the connecting seat is connected with the sucking device through a floating module; the frame body is respectively connected with the two sides of the connecting seat in a sliding way along the width direction of the connecting seat; the frame bodies on the two sides are connected through the transverse driving module so as to realize the opposite movement or the back movement of the frame bodies on the two sides; a centering module used for limiting the synchronous reverse movement of the two side frame bodies relative to the connecting seat is connected between the two side frame bodies and the connecting seat; the clamping plates are respectively connected with the frame bodies on the two sides through the lifting driving module.

2. The firmly gripped robotic gripper of claim 1, wherein: the centering module comprises a gear which is rotatably arranged on the connecting seat and two racks which are respectively connected with the frame bodies on the two sides; the two racks are respectively meshed on two sides of the gear in parallel; auxiliary positioning pieces are respectively arranged on one sides of the two racks far away from the gear, and the auxiliary positioning pieces are attached to the racks so that the racks can be kept meshed with the gear.

3. The firmly gripped robotic gripper of claim 1, wherein: the frame bodies on the two sides are connected to the two sides of the connecting seat in a sliding mode through the first guide rail and the first sliding block respectively.

4. The firmly gripped robotic gripper of claim 1, wherein: the transverse driving module comprises at least one cylinder I; the cylinder barrel of the first air cylinder is hinged to the frame body on one side, and the telescopic rod of the first air cylinder is hinged to the frame body on the other side.

5. The firmly gripped robotic gripper of claim 1, wherein: the lifting driving module is a cylinder II; the cylinder barrel of the second air cylinder is connected with the frame body through the cylinder seat, and the telescopic rod of the second air cylinder is connected with the clamping plate; still be connected with lift direction subassembly between support body and the grip block.

6. The firmly gripped robotic gripper according to claim 5, wherein: the lifting guide assembly comprises a second guide rail, a second sliding block and a guide connecting plate connected with the clamping plate; the guide connecting plate is connected with the frame body in a sliding mode through a second guide rail and a second sliding block.

7. The firmly gripped robotic gripper of claim 1, wherein: the floating module comprises at least one suction mounting plate arranged on the suction device; each sucking and installing plate is provided with at least one floating structure; the floating structure comprises a linear bearing arranged on the sucking and mounting plate, a guide post slidably inserted in the linear bearing, a guide post seat arranged below the connecting seat and connected with two ends of the guide post, and an elastic element sleeved at two ends of the guide post; the elastic element is arranged between the guide post seat and the linear bearing in an abutting mode.

8. The firmly gripped robotic gripper according to claim 7, wherein: the top of the suction device is provided with at least two mounting grooves, and the suction mounting plate is provided with mounting holes corresponding to the mounting grooves; the fixing between the suction mounting plate and the suction device is realized by arranging connecting pieces in the mounting groove and the mounting hole.

9. Firmly gripped robotic gripper according to any one of claims 1 to 8, characterised in that: the holding device is arranged in one of the following modes:

the suction device comprises a group of sucker modules; the sucker module is connected with a vacuumizing device;

and the sucking device comprises more than two groups of sucker modules arranged side by side, and each group of sucker modules are respectively connected with the vacuumizing device through a switch device.

10. Firmly gripped robotic gripper according to any one of claims 1 to 8, characterised in that: the inner side of the clamping plate is provided with a high-density soft material layer.

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