CN108818583A - A kind of multi-function robot gripper - Google Patents

Abstract

A kind of industrial robot end executive device, including chassis, it is furnished with mechanical arm on the chassis, the power source of the mechanical arm is provided by pneumatic cylinder, the power passes through compression disc spring, it connection branch and several hinged is transmitted, mechanical arm is set to complete to grab conjunction movement on chassis, installation manipulator refers to claw on the mechanical arm, crawl product is carried out by mechanical arm, the mechanical finger claw is made of finger tip frame sensor and half-moon-shaped interior concave block, affiliated mechanical finger claw has Self-centering Action can be to a variety of different shapes, sized products are grabbed.

Description

A multifunctional robotic gripper

technical field

The invention relates to a multi-functional robot gripper, in particular to accomplish the precise grasping of relatively heavy products.

Background technique

Industrial robots are often used to replace humans in harsh environments such as dangerous, harmful, toxic, low temperature and high heat, extending and expanding the functions of human hands and feet. The end effector is one of the key components of the industrial robot. Its main function is to clamp the workpiece or tool, and complete the specified instructions according to the action. The clamping and loosening of the end effector are controlled by the system to issue commands. The end effector is a device that directly performs work, and it has a great influence on expanding the working function, application range and improving work efficiency of the manipulator.

A well-designed end-effector of an industrial robot can greatly improve the efficiency and reliability of the system, and provide certain compensation for the error of the robot, bringing added value to the automated assembly system of the industrial robot. The existing pneumatic actuators have disadvantages such as easy air leakage, small grasping load, and low positioning accuracy, which have a great impact on work efficiency.

Contents of the invention

The problem to be solved by the present invention is to provide a design of a multifunctional robot gripper, which can not only improve the efficiency of industrial production, but also allow the end effector of an industrial robot to grasp more accurately during work, and the power-off protection function makes it possible to Work more safely and reliably.

The technical solution of the present invention to solve the problem is: a multifunctional robot gripper, comprising a chassis, the chassis is equipped with a mechanical arm, and the mechanical arms are divided into three groups and arranged uniformly in a circle. The arm is composed of several hinged supports and hand clamps. The end of the hand clamp is used to clamp the clamping part of the workpiece. The clamping surface of the clamping part in contact with the clamped workpiece has the ability to clamp different shapes. Half-moon-shaped concave clamping surface of the workpiece.

Disc springs are installed on the underframe for mechanical arm reset, and disc springs are installed in the disc spring sleeves successively by nine disc springs, and the top layer is equipped with disc spring gaskets and adjusting bolts.

The lower end of the disc spring is equipped with a coaxial drive cylinder, and the two ends of the cylinder are fixed on the chassis with a cylinder frame.

A flange connected to the industrial robot is installed at the lowermost end of the chassis.

A pressure sensor is installed on the clamping part to detect the force exerted on the workpiece being clamped.

The end effector of an industrial robot of the present invention uses a parallel structure of quadrilateral connecting rods in the transmission structure, which increases the rigidity of the fingers, ensures constant clamping force and centering during the movement of the fingers. With the structural device of the present invention, according to the shape and size of the product and the requirements of the material, hardness and surface properties of the clamping part, since the fingertip part is designed with a half-moon V-shaped surface and made of engineering plastics with a certain amount of elasticity, Improving the flexibility of the robot's end effector and expanding its scope of use will help improve its versatility and improve production efficiency.

The present invention has following characteristics:

The invention improves the flexibility of the hand and expands its application range;

It is conducive to improving its versatility and multi-functionality, thereby improving production efficiency and reducing costs;

With self-centering function, it is beneficial to improve the machining accuracy.

Description of drawings

Fig. 1 is a structural schematic diagram of a mechanical arm of an industrial robot end effector according to the present invention;

Fig. 2 is a schematic diagram of an assembly structure of an industrial robot end effector according to the present invention.

1: Hand clamp 1

3: Hand clamp 3

5: Chassis

7: Cylinder

9: cylinder frame

102: L1

104:L3

106:L5

108:L7

110: Base

2: Hand clamp 2

4: connecting branch

6: disc spring

8: Flange

101: Finger Jig

103:L2

105:L4

107:L6

109:L8

Detailed ways

An industrial robot end effector of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

The invention relates to an end effector of an industrial robot, which adopts the design of a three-grab self-centering structure, and three hand grippers interact to form an end operation part. The connection between the hand clamp and the chassis is fixed by bolts. Whether the end effector can accurately clamp the product and deliver the product to the designated position depends not only on the positioning accuracy of the end effector, but also on the magnitude of the clamping error and the installation positioning accuracy. With the structural device of the present invention, according to the shape and size of the product and the requirements of the material, hardness and surface properties of the clamping part, the fingertip part is designed with a half-moon-shaped V-shaped groove surface and made of engineering plastics with a certain amount of elasticity. , Improving the flexibility of the robot end effector and expanding its use range will help improve its versatility and improve production efficiency.

As shown in Fig. 1-Fig. 2, an industrial robot end effector of the present invention includes a device for connecting to the upper end of the flange 8 of the industrial robot and is fixed by four columns and the chassis 5, and the columns can be used for adjustment and chassis 5 5, the cylinder 7 is fixed on the underframe 5 by the cylinder frame 9, and the position of the cylinder 7 is adjusted by bolts. A disc spring 6 is installed above the cylinder 7, and the bottom frame 5 protrudes from the table to fix the upward movement of the disc spring 6. The disc spring 6 is composed of a disc spring sleeve, 9 disc springs, gaskets and adjusting bolts. The adjusting bolts are connected to the Support 4 cooperates to adjust the pre-tightening force of the disc spring, and the connecting support 4 passes through the disc spring 6 and leaves a certain distance between the cylinder 7 as an adjustment space. The connecting support 4 is connected with the hand clamps 1, 2, 3 through bolts. The connecting branch 4 is specifically connected with the L7 108 on the hand gripper 1, and the connection mode of the hand grippers 2 and 3 is consistent with the connection mode of the hand gripper 1 and will not be described below.

The base 110 is fixed on the chassis 5 by bolts, L7 108 is connected with L8 109, L8 109 is connected with the base 110, L6 107, L5 106, L6 107 is connected with L4 105, L3 104, L5 106 It is connected with L3 104 and L2 103 , L2 103 is connected with L1 102 , and the finger clamp 101 is connected with L2 103 and L5 106 .

The L6 107 is fixedly connected to the L8 109, and the L2 103 is fixedly connected to the L3 104. The two sets of fixed connections are coordinated to adjust the size of the clamping range of the workpiece to expand its application range.

The clamping part of the finger clamp 101 is made of engineering plastics with a certain amount of elasticity to form a half-moon-shaped V-shaped groove surface. A pressure sensor is installed on the finger clamp 101 to detect the clamping force on the clamped workpiece under working conditions.

As shown in FIG. 1 , the hand gripping fixtures 1 , 2 , 3 are installed on the chassis 5 and distributed uniformly in a circle at an angle of 120°.

As shown in Figure 1, the flange plate 8 is fixed to the industrial robot to drive the end effector to move, the cylinder 7 is fixed on the chassis 5 through the cylinder frame 9, and the connecting branch 4 passes through the connecting branch 4 through the disc spring 6 and the cylinder There is a certain distance between the 7 rooms for adjustment space. Cylinder 7 gets gas to push connecting branch 4, and connecting branch 4 pushes L7 108 to move upwards, and compresses disc spring 6 by bolt. L7 108 pushes the finger clamp 101 to move outward through L1 102-L8 109 to realize the opening of the gripper. When the designated position is reached, the cylinder 7 deflates to make the disc spring 6 drive the connecting branch 4 to move so that the finger clamp 101 is closed, and the pressure sensor on the finger clamp 101 detects the clamping force on the clamped workpiece under the working state. The clamping part of the finger clamp 101 is a half-moon-shaped V-groove surface that self-adjusts to contact with the workpiece to be clamped.

Claims (3)

1. in a kind of industrial robot end executive device, which is characterized in that grab fixture 1 including hand, hand grabs fixture 2, hand grabs folder Tool 3, connection branch 4, chassis 5, disc spring 6, cylinder 7, ring flange 8, cylinder frame 9, finger fixture 101, L1 102, L2 103, L3 104,L4 105,L5 106,L6 107,L7 108,L8 109,110:It is hinged that pedestal and corresponding hand grab fixture 2,3.

2. a kind of industrial robot end executive device according to claim 1, it is characterized in that：The clamping of finger fixture 101 Part is the contact of the self-adjusting of semilune V-shaped groove surface and clamped workpiece, realizes certain self-regulated center, it is desirable that material has one Determine plasticity and intensity, 101 material selection of finger fixture is double-deck, and rubber is selected in contact workpiece side, and the other side is protected with highstrenghtpiston Demonstrate,prove good working order.

3. a kind of industrial robot end executive device according to claim 1, it is characterized in that：Connection branch 4 pass through disc spring 6 with There are certain distances to be used as adjustment space between cylinder 7, and L6 107 is fixedly connected with L8 109, L2 103 and the fixed company of L3 104 It connects, two groups are fixedly connected with the size that cooperation adjustment changes fixture clamping workpiece range.