CN204607036U - A kind of assimilating type handgrip of robot - Google Patents

Abstract

The utility model provides a suction gripper of a robot, which is connected with the movable end of the robot; the gripper includes a connection plate connected with the movable end of the robot, a suction unit and an X-axis suction unit moving along the length direction of the connection plate; The suction unit is fixedly connected to the connecting plate; both the X-axis suction unit and the suction unit are provided with a Y-axis movable suction device. The suction-type gripper of the robot of the utility model has strong versatility, and the distance between the suction units can be adjusted according to the size of the workpiece. The matching problem of the hand and the workpiece can improve the scope of application of the gripper and reduce the production cost. The suction gripper of the robot of the utility model has strong operational flexibility, and the gripper can suck one or more workpieces at a time according to the demand, thereby improving its practicability, gripping efficiency and production efficiency.

Description

A suction gripper for a robot

technical field

The utility model relates to the technical field of intelligent application of industrial robots, in particular to a suction gripper for a robot.

Background technique

With the improvement of enterprise processing and production automation, the application range of palletizing robots is becoming wider and wider, and the demand for robot grippers used in palletizing robots is also increasing. Most of the existing robot grippers are rigid grippers. Although the rigid gripper can realize the function of grabbing the workpiece, it is easy to damage the outer surface of the workpiece, especially the fragile workpieces with block structures such as glass plates.

In a variety of robot grippers, the suction gripper is widely used in various palletizing robots because the suction unit can effectively grasp workpieces with block structures such as glass and avoid damage to the workpiece. middle. However, the position of the suction unit in the traditional suction gripper is fixed, so the versatility is poor, and it cannot be adjusted according to the size of the workpiece. In this case, it is usually classified according to the shape and size of the workpiece, and a certain number of different Specification grippers to solve the problem of matching grippers and workpieces. However, this production method reduces the versatility of the robot gripper to a certain extent and narrows the scope of application of the robot gripper, thus leading to an increase in manufacturing costs.

At the same time, the traditional suction gripper can only grab one workpiece at a time, which greatly reduces the production efficiency. Moreover, due to insufficient grasping strength of the existing suction gripper, when the speed of the robot is too fast or the weight of the workpiece is too heavy during use, it is easy to cause the phenomenon of the workpiece falling, which has certain potential safety hazards and also causes damage to the enterprise. loss.

Utility model content

The purpose of this utility model is to overcome the shortcomings and deficiencies in the prior art, and provide a suction gripper for a robot. The suction gripper has strong versatility, and the distance between the suction units can be adjusted according to the size of the workpiece, and is suitable for different specifications. The workpiece can be firmly grasped during the rapid movement of the robot, thereby effectively solving the matching problem between the gripper and the workpiece, improving the scope of application of the gripper and reducing production costs. Another purpose of the utility model is to provide a suction gripper with flexible operation, which can suck one or more workpieces at a time according to the demand, thereby improving its practicability and gripping efficiency.

In order to achieve the above object, the utility model is realized through the following technical scheme: a suction gripper of a robot, which is connected with the movable end of the robot; An X-axis suction unit that moves along the length direction of the plate; the suction unit is fixedly connected to the connecting plate; both the X-axis suction unit and the suction unit are provided with a Y-axis movable suction device.

In the above scheme, the suction gripper of the utility model is provided with an X-axis suction unit that moves along the length direction of the connecting plate, and both the X-axis suction unit and the suction unit are equipped with a Y-axis movable suction device. These structures make the gripper The hand can adjust the distance between the suction unit and the X-axis suction unit according to the size of the workpiece, and can adjust the distance between the X-axis suction unit and the suction device in the suction unit. Therefore, the gripper is suitable for workpieces of different specifications, thus effectively solving the problem of The matching problem between the gripper and the workpiece improves the scope of application of the gripper and reduces production costs. At the same time, the suction gripper can grasp the workpiece stably during the rapid movement of the robot through the suction of the X-axis suction unit and the suction unit. In the process of use, the speed of the robot is too fast or the weight of the workpiece is too large. At the same time, it is not easy to cause the workpiece to drop, thereby improving the safety of production.

Specifically, the suction unit includes a bracket one, a driving device one, a fixed suction device one and a Y-axis movable suction device one; the fixed suction device one is fixed on the bracket one and is located on both sides of the connecting plate; the driving Device one is connected with Y-axis movable suction device one.

The driving device one is fixed on the bracket one and is located on one side of the fixed suction device one; the Y-axis movable suction device one slides along the width direction of the connecting plate on the driving device one through the slider. In the suction unit, the Y-axis movable suction device on both sides can adjust the distance between it and the fixed suction device 1 through the slider 1 according to the size of the workpiece; if it is necessary to pick up multiple small-sized workpieces at the same time, it can also be adjusted two times larger. The distance between the grippers makes the Y-axis movable suction device one and the fixed suction device one grasp the workpiece respectively. The gripper can be operated flexibly, which can effectively improve its practicability and grasping efficiency.

The X-axis suction unit includes a bracket 2 moving along the length direction of the connecting plate, a driving device 2, a fixed suction device 2, a Y-axis movable suction device 2 and a driving mechanism; the fixed suction device 2 is fixed on the bracket 2 and is located at Both sides of the connecting plate; the driving device 2 is connected to the Y-axis movable suction device 2; the driving mechanism is connected to the bracket 2, and the driving device 2, the fixed suction device 2 and the Y-axis movable suction device 2 move with the bracket 2.

The X-axis suction unit also includes a sliding device composed of a slide rail and a slider 2, the slide rail is arranged at the bottom of the connecting plate, and the slider 2 is connected to the bracket 2; the bracket 2 slides with the slide rail through the slider 2 Realize sliding along the length direction of the connecting plate.

The driving device 2 is fixed on the bracket 2 and is located on one side of the fixed suction device 2; the Y-axis movable suction device 2 slides on the driving device 2 along the width direction of the connecting plate through the slider 3. The X-axis suction unit of the utility model can realize the adjustment of the X-Y two-dimensional direction, thereby expanding the range of activities of the Y-axis movable suction device 2, so that the suction gripper is suitable for grabbing workpieces of any shape or irregular shapes. The gripper has strong versatility and practicability. At the same time, since the X-axis suction unit can move along the length of the connecting plate to adjust the distance between it and the suction unit, multiple suction positions can be increased accordingly, and multiple small-sized workpieces can be picked up at the same time, thereby effectively improving the practicability of the gripper and capture efficiency.

The fixed suction device 1 and the fixed suction device 2 both include a suction cup 1 and a fixing frame connected to the bracket 1 and the bracket 2 respectively, the suction cup 1 is pierced with a spring, and the spring is located between the suction cup 1 and the end surface of the fixing bracket; The Y-axis movable suction device 1 and the Y-axis movable suction device 2 both include a suction cup 2 and a movable frame connected with the slider 1 and the slider 3 respectively; the suction cup 2 is threaded with a spring, and the spring is located between the suction cup 2 and Between the end faces of the movable frame;

The end face of the fixed frame is provided with a through hole, and the first suction cup is arranged in the through hole to be adjustablely connected with the fixed frame; the end face of the movable frame is provided with a through hole, and the second suction cup is arranged in the through hole and is adjustablely connected with the movable frame. The spring of the utility model can protect the first suction cup and the second suction cup, and when the first suction cup and the second suction cup contact the workpiece, the spring can play a certain buffering effect. The first suction cup is arranged in the through hole, which can realize the fine adjustment of the position between the first suction cup and the fixed frame; the second suction cup is arranged in the through hole, which can realize the fine adjustment of the position between the second suction cup and the movable frame. The contact area between the suction cup 1 and the suction cup 2 and the workpiece can improve the stability of the gripper.

The connecting plate is provided with a limit piece 1 for limiting the movement of the X-axis suction unit; the suction unit is provided with a limit piece 2 for limiting the movement of the X-axis suction unit; The limit part of the inner sliding is composed. The design of the first limiting part and the second limiting part of the utility model can limit the moving range of the X-axis suction unit, and ensure that the X-axis suction unit moves within an effective range.

A measuring ruler is arranged on the connecting plate, and the measuring ruler is arranged on one side of the limit piece, and the length of the measuring ruler is equal to the length of the groove. During the movement of the X-axis suction unit, the X-axis suction unit can push the limit part to slide in the groove. The design of the limit part facilitates the movement distance to be read in the measuring ruler, which can improve the accuracy and accuracy of the movement of the X-axis suction unit. Accuracy makes the position of the gripper and the workpiece more accurate, thereby improving the stability and reliability of the gripper.

The connecting plate is provided with a vacuum generator for cooperating with the X-axis suction unit and the suction unit; the bottom of the connecting plate is provided with reinforcing ribs. The setting of reinforcing ribs can effectively improve the structural strength of the connecting plate. When the speed of the robot is too fast or the weight of the workpiece is too heavy during use, it is not easy to cause the phenomenon of the workpiece falling, which further improves the safety of production.

The working principle of the suction gripper of the robot of the utility model is as follows: the adjustment of the X-Y two-dimensional direction can be realized according to the size of the workpiece, and the distance between the X-axis suction unit and the suction unit can be adjusted accordingly, and the fixed suction device and The Y-axis can move the spacing of the suction device to quickly and stably suck the workpiece. If the size of the workpiece is small, the workpiece can be sucked by adjusting the distance between the movable suction device and the fixed suction device of the Y-axis to maintain the stability of the robot during the handling and movement of small-sized workpieces; The axis suction unit is used to adjust the distance between it and the suction unit, and the distance between the Y-axis movable suction device and the fixed suction device is used to suck the workpiece, so as to maintain the stability of the robot during the handling and movement of large-sized workpieces. During the adjustment process, if necessary, the position of suction cup 1 on the fixed frame and the position of suction cup 2 on the movable frame can be fine-tuned accordingly to realize the accurate adjustment of the position of the gripper and the workpiece, thereby further improving the stability and reliability of the gripper. At the same time, the gripper of the utility model can adjust the distance between the suction cups according to the demand, and can simultaneously pick up multiple workpieces at one time, thereby improving its practicability, grabbing efficiency and production efficiency.

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

1. The suction-type gripper of the robot of the utility model has strong versatility, and the distance between the suction units can be adjusted according to the size of the workpiece. Solve the matching problem of the gripper and the workpiece, improve the applicable range of the gripper and reduce the production cost.

2. The suction-type gripper of the robot of the present invention has strong operational flexibility, and the gripper can absorb one or more workpieces at a time according to the demand, thereby improving its practicability, gripping efficiency and production efficiency.

Description of drawings

Fig. 1 is the structural representation of the suction type gripper of the utility model robot;

Fig. 2 is a schematic diagram of the bottom surface structure of the suction gripper of the robot of the present invention;

Among them, 1 is the connecting plate, 2 is the bracket 1, 3 is the driving device 1, 4 is the slider 1, 5 is the bracket 2, 6 is the driving device 2, 7 is the driving mechanism, 8 is the slider 3, 9 is the slide rail 10 is slider two, 11 is suction cup one, 12 is a fixed frame, 13 is a spring, 14 is a suction cup two, 15 is a movable frame, 16 is a limit piece two, 17 is a groove, 18 is a limit part, and 19 is a Measuring ruler, 20 are vacuum generators, and 21 are reinforcing ribs.

Detailed ways

The utility model is described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Example

As shown in Figures 1 and 2, the suction gripper of the robot of the present invention is connected to the movable end of the robot, which includes a connecting plate 1 connected to the movable end of the robot, a suction unit, and an X-axis suction moving along the length direction of the connecting plate 1. unit, the suction unit is fixedly connected to the connecting plate 1 on the X-axis.

Wherein, the suction unit includes a bracket 2, a driving device 3, a fixed suction device 1 and a Y-axis movable suction device 1, the fixed suction device 1 is fixed on the bracket 2 and is located on both sides of the connecting plate 1, and the driving device 1 3 and The Y-axis movable suction device 1 is connected, the driving device 3 is fixed on the bracket 2 and is located on one side of the fixed suction device 1, and the Y-axis movable suction device 1 passes through the slider 4 along the connecting plate 1 on the driving device 1 3 Swipe widthwise.

The X-axis suction unit of the present utility model includes a bracket 2 5 moving along the length direction of the connecting plate 1, a driving device 6, a fixed suction device 2, a Y-axis movable suction device 2 and a driving mechanism 7; wherein, the fixed suction device 2 is fixed On the bracket two 5 and located on both sides of the connecting plate 1, the driving device two 6 is connected to the Y-axis movable suction device two, the driving mechanism 7 is connected to the bracket two 5, the driving device two 6, the fixed suction device two and the Y-axis are movable The suction device two moves with the support two 5 . The driving device 2 6 is fixed on the bracket 2 5 and is located on one side of the fixed suction device 2, and the Y-axis movable suction device 2 slides along the width direction of the connecting plate 1 on the driving device 2 6 through the slider 3 8 . The X-axis suction unit of the gripper also includes a sliding device composed of a slide rail 9 and a slider 2 10, the slide rail is arranged at the bottom of the connecting plate 1, the slider 2 10 is connected with the bracket 2 5, and the bracket 2 5 passes through the slider The second 10 slides with the slide rail 9 to slide along the length direction of the connecting plate 1. The X-axis suction unit of the utility model can realize the adjustment of the X-Y two-dimensional direction, thereby expanding the range of activities of the Y-axis movable suction device 2, so that the suction gripper is suitable for grabbing workpieces of any shape or irregular shapes. The gripper has strong versatility and practicability. At the same time, since the X-axis suction unit can move along the length of the connecting plate 1 to adjust the distance between it and the suction unit, multiple suction positions can be increased accordingly, and multiple small-sized workpieces can be picked up at the same time, thereby effectively improving the practicality of the gripper. performance and crawling efficiency.

The fixed suction device 1 and the fixed suction device 2 of the present utility model all comprise a suction cup 11 and a fixing frame 12 connected to the bracket 2 and the bracket 2 5 respectively, wherein the suction cup 11 is pierced with a spring 13, and the spring 13 is positioned on the suction cup. Between one 11 and the end face of the fixed frame 12. The Y-axis movable suction device 1 and the Y-axis movable suction device 2 both include a suction cup 2 14 and a movable frame 15 connected to the slider 1 4 and the slider 3 8 respectively, wherein the suction cup 2 14 is pierced with a spring 13, Spring 13 is positioned between sucker two 14 and movable frame 15 end faces. The spring 13 of the utility model can play the effect of protecting the first sucker 11 and the second sucker 14, and when the first sucker 11 and the second sucker 14 contact the workpiece, the spring 13 can play a certain buffering effect. In order to enable the gripper to realize the fine-tuning function, the end surface of the fixed frame 12 is provided with a through hole, the suction cup 11 is arranged in the through hole to be adjustable and connected with the fixed frame 12, the end surface of the movable frame 15 is provided with a through hole, and the suction cup 2 14 is arranged on the through hole. The hole is regulatedly connected with the movable frame 15.

In order to limit the range of movement of the X-axis suction unit, the connecting plate 1 is provided with a limit piece 1 for limiting the movement of the X-axis suction unit, and the suction unit is provided with a limit piece 2 16 for limiting the movement of the X-axis suction unit, wherein, The first stopper is composed of a slot 17 and a stopper 18 sliding in the slot 17, so as to ensure that the X-axis suction unit moves within an effective range. Simultaneously, connecting plate 1 is provided with measuring ruler 19, and measuring ruler 19 is arranged on one side of limit member, and the length of measuring ruler 19 is equal to the length of groove 17. During the movement of the X-axis suction unit, the X-axis suction unit can push the stopper 18 to slide in the groove 17. The design of the stopper 18 facilitates the movement distance to be read in the measuring ruler 19, which can improve the movement of the X-axis suction unit. The accuracy and precision of the gripper make the position of the gripper and the workpiece more precise, thereby improving the stability and reliability of the gripper.

The connecting plate 1 of the present invention is provided with a vacuum generator 20 for cooperating with the X-axis suction unit and the suction unit. In order to improve the structural strength of the connecting plate 1, the bottom of the connecting plate 1 is provided with reinforcing ribs 21. When the speed of the robot is too fast or the weight of the workpiece is too heavy during use, it is not easy to cause the phenomenon of the workpiece falling, which further improves production. security.

The working principle of the suction gripper of the robot of the utility model is as follows: the adjustment of the X-Y two-dimensional direction can be realized according to the size of the workpiece, and the distance between the X-axis suction unit and the suction unit can be adjusted accordingly, and the fixed suction device and The Y-axis can move the spacing of the suction device to quickly and stably suck the workpiece. If the size of the workpiece is small, the workpiece can be sucked by adjusting the distance between the movable suction device and the fixed suction device of the Y-axis to maintain the stability of the robot during the handling and movement of small-sized workpieces; The axis suction unit is used to adjust the distance between it and the suction unit, and the distance between the Y-axis movable suction device and the fixed suction device is used to suck the workpiece, so as to maintain the stability of the robot during the handling and movement of large-sized workpieces. During the adjustment process, if necessary, the position of the suction cup 11 on the fixed frame 12 and the position of the suction cup 2 14 on the movable frame 15 can be fine-tuned accordingly, so as to realize the accurate adjustment of the position of the gripper and the workpiece, thereby further improving the stability and reliability of the gripper sex. At the same time, the gripper of the utility model can adjust the distance between the suction cups according to the demand, and can simultaneously pick up multiple workpieces at one time, thereby improving its practicability, grabbing efficiency and production efficiency.

The above-mentioned embodiment is a preferred implementation mode of the present utility model, but the implementation mode of the present utility model is not limited by the above-mentioned embodiment, 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, and are all included in the protection scope of the present utility model.

Claims (10)

1. an assimilating type handgrip for robot, is connected with robot movable end; It is characterized in that: comprise the connecting panel, suction unit and the X-axis suction unit along the movement of connecting panel length direction that are connected with robot movable end; Described suction unit is fixedly connected with connecting panel; Described X-axis suction unit and suction unit are provided with the removable suction means of Y-axis.

2. the assimilating type handgrip of robot according to claim 1, is characterized in that: described suction unit comprises support one, actuating device one, fixing suction means one and the removable suction means one of Y-axis; Described fixing suction means one to be fixed on support one and to be positioned at connecting panel both sides; Described actuating device one is connected with the removable suction means one of Y-axis.

3. the assimilating type handgrip of robot according to claim 2, is characterized in that: described actuating device one to be fixed on support one and to be positioned at fixing suction means one side; The removable suction means one of described Y-axis is slided along connecting panel Width on actuating device one by slide block one.

4. the assimilating type handgrip of robot according to claim 2, is characterized in that: described X-axis suction unit comprises along the support two of connecting panel length direction movement, actuating device two, fixing suction means two, the removable suction means two of Y-axis and driver train; Described fixing suction means two to be fixed on support two and to be positioned at connecting panel both sides; Described actuating device two is connected with the removable suction means two of Y-axis; Described driver train is connected with support two, and actuating device two, fixing suction means two and the removable suction means two of Y-axis move with support two.

5. the assimilating type handgrip of robot according to claim 4, is characterized in that: described X-axis suction unit also comprises the carriage be made up of slide rail and slide block two, and described slide rail is arranged on bottom connecting panel, and slide block two is connected with support two; Described support two is slided by slide block two and slide rail and realizes sliding along connecting panel length direction.

6. the assimilating type handgrip of robot according to claim 4, is characterized in that: described actuating device two to be fixed on support two and to be positioned at fixing suction means two side; The removable suction means two of described Y-axis is slided along connecting panel Width on actuating device two by slide block three.

7. the assimilating type handgrip of robot according to claim 4, it is characterized in that: described fixing suction means one and fixing suction means two include sucker one and the fixed mount be connected with support one and support two respectively, described sucker one is equipped with spring, and spring is between sucker one and fixed mount end face; The removable suction means of described Y-axis one and the removable suction means two of Y-axis include sucker two and the tressel be connected with slide block one and slide block three respectively; Described sucker two is equipped with spring, and spring is between sucker two and tressel end face;

Described fixed mount end face is provided with through hole, and sucker one is arranged in through hole and is connected with fixed mount is adjustable; Described tressel end face is provided with through hole, and sucker two is arranged in through hole and is connected with tressel is adjustable.

8. the assimilating type handgrip of robot according to claim 1, is characterized in that: described connecting panel is provided with the locating part one for limiting the movement of X-axis suction unit; Described suction unit is provided with the locating part two for limiting the movement of X-axis suction unit; Described locating part one is made up of groove and the limiting section that slides in groove.

9. the assimilating type handgrip of robot according to claim 8, is characterized in that: described connecting panel is provided with measuring scale, described measuring scale is arranged on locating part one side, and the length of measuring scale is equal with the length of groove.

10. the assimilating type handgrip of robot according to claim 1, is characterized in that: described connecting panel is provided with the vacuum generator for coordinating X-axis suction unit and suction unit work; Reinforced rib is provided with bottom described connecting panel.