CN209551756U - A kind of combined multi-functional robot gripper - Google Patents
A kind of combined multi-functional robot gripper Download PDFInfo
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- CN209551756U CN209551756U CN201920053067.XU CN201920053067U CN209551756U CN 209551756 U CN209551756 U CN 209551756U CN 201920053067 U CN201920053067 U CN 201920053067U CN 209551756 U CN209551756 U CN 209551756U
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Abstract
The utility model discloses a kind of combined multi-functional robot grippers, including infrastructure component, driving assembly, five part of internal joint component, clip claw assembly and vacuum chuck component.Wherein, infrastructure component includes shell and mounting base；Driving assembly includes the first cylinder and the second cylinder；The setting of internal joint component is in the enclosure interior and is in mirror symmetry, including fixing joint, the first joint and second joint；Clip claw assembly setting is in the hull outside and is in mirror symmetry, including first connecting rod, second connecting rod, third connecting rod and bionical thumb；Vacuum chuck component slippage is arranged in second cylinder side.The utility model relates to a kind of combined multi-functional robot grippers, industrial vacuum suction nozzle and two fingers fixture are combined, different grasp modes can be selected according to different materials, without the fixture more renewed halfway, to greatly improve the efficiency of goods sorting, fund and temporal cost are reduced.
Description
Technical field
The utility model relates to a kind of manipulators, and in particular to a kind of combined multi-functional robot gripper.
Background technique
As robot applies more and more extensive in logistics sorting industry, market and enterprise are to robot clamp handgrip
Function and efficiency requirements it is higher and higher, since the article for asking for sorting in logistic industry is ever-changing, and at present many machines
People's handgrip fixture is specially designed just for the article of special respective type, along with replacement robot front end fixture handgrip is
The process of a relative complex time-consuming, this is the bottleneck place of efficiency for logistics sorting industry, therefore in the market for energy
The fixture handgrip for adapting to crawl multiple types article is craved for very much.Logistics sorts the most commonly used two kinds of fixture handgrips difference of industry
For industrial vacuum suction nozzle and two fingers fixture, wherein for industrial vacuum suction nozzle mainly for lighter in weight, shape is more complex, volume compared with
Small article；And two fingers fixture is mainly for heavier-weight, regular shape, the biggish article of volume.
In the prior art if to do logistics sorting using both fixtures simultaneously, it is necessary to temporarily switch fixture, or
Using Liang Tai robot, installs fixture is operated respectively, expends higher time and fund cost.
Utility model content
Purpose of utility model: providing a kind of combined multi-functional robot gripper, by industrial vacuum suction nozzle and two fingers fixture phase
In conjunction with solving the above problem of the existing technology.
Technical solution: a kind of combined multi-functional robot gripper, including infrastructure component, driving assembly, internal joint component,
Five part of clip claw assembly and vacuum chuck component.
Wherein, infrastructure component including shell and is fixed on the mounting bases of the shell two sides；
Driving assembly including being fixed on first cylinder of described enclosure interior one end, and is fixed on the hull outside
Second cylinder of side；
Internal joint component, for a pair, setting is in the enclosure interior and is in mirror symmetry；Internal joint component includes
The first joint being connect with the piston rod rotation of first cylinder, the second joint being connect with first articulation, with
And the fixing joint being connect with the second joint pin；
Clip claw assembly, for a pair, setting is in the hull outside and is in mirror symmetry；Clip claw assembly includes and described
The first connecting rod in one joint and second joint rotation connection, the second connecting rod being rotatablely connected with one end of the fixing joint, with
The third connecting rod of the first connecting rod and second connecting rod rotation connection, and it is fixed on the bionical thumb of the third connecting rod end
Refer to；
Vacuum chuck component is slidably arranged in the piston rod side of second cylinder.
In a further embodiment, one end of first cylinder is equipped with support frame, and support frame as described above is Y shape, institute
Two branches ends for stating second connecting rod and support frame as described above are rotatablely connected.
In a further embodiment, between the piston rod and the first joint of first cylinder, the first joint and second
Between joint, between the first joint and first connecting rod, between fixing joint and second connecting rod and third connecting rod and first connecting rod
And pin is respectively equipped between second connecting rod.
In a further embodiment, the inside of the bionical thumb is equipped with anti-slip layer on one side, and the anti-slip layer is 2 millimeters
Thick silica gel plate, it is equidistant on the silica gel plate to be equipped with several grooves.
In a further embodiment, the inner surface of the bionical thumb is equipped with pressure positioned at the side of the anti-slip layer
Quick resistance.
In a further embodiment, the vacuum chuck component includes extension type vacuum slot and vacuum tracheae,
The vacuum tracheae be three, be separately positioned on the extension type vacuum slot side and second cylinder two
End.
The utility model has the advantages that the utility model relates to a kind of combined multi-functional robot gripper, combine industrial vacuum suction nozzle and
Both fixtures are cleverly integrated into a kind of multi-functional handgrip by two fingers fixture, can be selected according to different materials different
Grasp mode, to be adapted to the article of crawl more multiple types；In logistics sort process, fixture can grab a greater variety of
Article, without the fixture more renewed halfway, to greatly improve the efficiency of goods sorting, reduce fund and it is temporal at
This.By Bionic Design, the two fingers joint of manpower is simulated, enables the manipulator to make the movement of similar manpower, possesses more
High flexibility ratio；In a further embodiment, by the way that anti-slip layer is arranged in the inside of bionical thumb, so that the manipulator has
Good non-skid property, crawl is reliable, stablizes.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the internal joint component of the utility model and the structural schematic diagram of clip claw assembly.
Fig. 3 is the structural schematic diagram of the utility model anti-slip layer.
Each appended drawing reference in figure are as follows: mounting base 1, shell 2, second connecting rod 3, third connecting rod 4, bionical thumb 5, first connecting rod
6, anti-slip layer 7, silica gel plate 701, groove 702, the first joint 8, second joint 9, fixing joint 10, piston rod 11, support frame 12,
First cylinder 13, varistor 14, vacuum chuck component 15, extension type vacuum slot 1501, vacuum tracheae 1502, the second gas
Cylinder 16.
Specific embodiment
In the following description, a large amount of concrete details are given more thoroughly to manage in order to provide to the utility model
Solution.It is, however, obvious to a person skilled in the art that the utility model may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with the utility model, for more well known in the art
Technical characteristic is not described.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figure 1, specific internal structure is as shown in Figures 2 and 3, the utility model relates to a kind of combined multi-functional machines
Device people's handgrip, hereinafter referred to as " device ", the device by infrastructure component, driving assembly, internal joint component, clip claw assembly, with
And five part of vacuum chuck component composition.Wherein, infrastructure component includes shell 2, and the two sides of the shell 2 are fixed with mounting base 1；
Driving assembly, including the first cylinder 13 and the second cylinder 16, first cylinder 13 is fixed on the inside of the shell 2, described
Second cylinder 16 is fixed on the hull outside side；Internal joint component is arranged inside the shell 2 for a pair and is in
Mirror symmetry, including the first joint 8, second joint 9 and fixing joint 10, first joint 8 and first cylinder 13
Piston rod 11 be rotatablely connected, the second joint 9 is rotatablely connected with first joint 8, the second joint 9 with it is described solid
Determine one end rotation connection in joint 10；Clip claw assembly is arranged outside the shell 2 for a pair and is in mirror symmetry, including
First connecting rod 6, second connecting rod 3, third connecting rod 4 and bionical thumb 5, the first connecting rod 6 are closed with first joint 8 and second
9 rotation connection of section, the second connecting rod 3 and the other end of the fixing joint 10 are rotatablely connected, the third connecting rod 4 with it is described
First connecting rod 6 and second connecting rod 3 are rotatablely connected, and the bionical thumb 5 is fixed on the end of the third connecting rod 4；Vacuum chuck
Component 15 is slidably arranged in the piston rod side of second cylinder.
Preferably, one end of first cylinder 13 is equipped with support frame 12, support frame as described above 12 is Y shape, described the
Two branches ends of two connecting rods 3 and support frame as described above 12 are rotatablely connected.
Preferably, between the piston rod 11 of first cylinder 13 and the first joint 8, the first joint 8 and second joint 9
Between, between second joint 9 and fixing joint 10, between the first joint 8 and first connecting rod 6, fixing joint 10 and second connecting rod 3
Between and third connecting rod 4 and first connecting rod 6 and second connecting rod 3 between be respectively equipped with pin.
Preferably, the inside of the bionical thumb 5 is equipped with anti-slip layer 7 on one side, the anti-slip layer 7 is the silicon of 2 millimeters thicks
Offset plate 701, it is equidistant on the silica gel plate 701 to be equipped with several grooves 702, for anti-skidding.
Preferably, the inner surface of the bionical thumb 5, is equipped with varistor 14 positioned at the side of the anti-slip layer 7,
For perceiving current clamping force, varistor 14, which receives pressure, can make to prevent change dramatically, be worked as according to current prevention judgement
Preceding clamping force.
Preferably, the vacuum chuck component 15 includes extension type vacuum slot 1501 and vacuum tracheae 1502,
The vacuum tracheae 1502 is three, is separately positioned on the side and described second of the extension type vacuum slot 1501
The both ends of cylinder 16, vacuum tracheae 1502 are used to provide gas source for the second cylinder 16 and be 1501 air-breathing of extension type vacuum slot
Or exhaust.
The utility model is integrated with industrial vacuum suction nozzle and two fingers fixture simultaneously, can be selected according to different materials different
Grasp mode.
When the material shapes of required crawl rule and larger volume, is realized and grabbed by two fingers holder part.Two fingers folder
The specific course of work in tool part is as follows: when gripper needs to grab material, the piston rod 11 of the first cylinder 13 to contract,
To drive the first joint 8 to rotate clockwise；First joint 8 rotates clockwise to drive second joint 9 along fixing joint
10 one end rotates clockwise；The first connecting rod 6 being rotatablely connected with second joint 9 is driven to rotate clockwise in turn；Simultaneously with the
The third connecting rod 4 of one connecting rod 6 rotation connection rotates clockwise, to drive second be rotatablely connected with one end of third connecting rod 4
Connecting rod 3 also rotates clockwise；Since the internal joint component and clip claw assembly are all in mirror symmetry, the axis of mirror symmetry
The piston rod 11 of line and the first cylinder 13 is conllinear, therefore internal joint component and clamping jaw along 11 both sides of piston rod of the first cylinder 13
Component movement is synchronous, contrary, final to realize after the piston rod 11 of the first cylinder 13 is shunk, and completes gripper closure, in fact
The movement of the crawl of existing material.The end of the third connecting rod 4 is fixed with bionical thumb 5, when the bionical thumb 5 touches object
After material, the varistor 14 positioned at the inner surface of bionical thumb 5 receives pressure, when the resistance value of varistor 14 reaches predetermined number
Output signal after value, feeds back to control circuit, thus control the first cylinder 13 shutdown.It is unlikely to while clamping material at this time
Pressing materials damage.
When gripper needs to unclamp material, the piston rod 11 of the first cylinder 13 is protruding, to drive the first joint 8
It rotates counterclockwise；First joint 8 rotates counterclockwise that second joint 9 is driven to turn counterclockwise along one end of fixing joint 10
It is dynamic；The first connecting rod 6 being rotatablely connected with second joint 9 is driven to rotate counterclockwise in turn；It is rotatablely connected simultaneously with first connecting rod 6
Third connecting rod 4 rotates counterclockwise, and turns counterclockwise so that the second connecting rod 3 being rotatablely connected with one end of third connecting rod 4 be driven also to do
It is dynamic；Since the internal joint component and clip claw assembly are all in mirror symmetry, the central axes of mirror symmetry and the first cylinder 13
Piston rod 11 is conllinear, therefore the internal joint component along 11 both sides of piston rod of the first cylinder 13 moves synchronous, side with clip claw assembly
To on the contrary, final realize the movement of completion gripper release after the stretching of piston rod 11 of the first cylinder 13.
When the weight of material of required crawl is lighter, shape is more complex, when small volume, is grabbed by the realization of industrial vacuum suction nozzle
It takes.The course of work of industrial vacuum nozzle portion is as follows: as shown in Figure 1, vacuum used in extension type vacuum slot 1501
Tracheae 1502 is exported along the pipeline of handgrip internal reservation, in this way can be to avoid the winding of external connection pipe.It is controlled by the second cylinder 16
Vacuum chuck component 15 processed extends and retracts, when the second cylinder 16 drives extension type vacuum slot 1501 and is crawled article
After contact, vacuum tracheae 1502 starts to be evacuated outward, until parital vacuum is realized in extension type vacuum slot 1501, thus according to
It is firmly picked up by the pressure of external atmosphere pressure and is crawled article；When needing to unclamp article, vacuum tracheae 1502 starts inwardly
Exhaust, until 1501 inside of extension type vacuum slot is balanced with external atmosphere pressure, article Automatic-falling.
Modern logistics sorting requires same robot and fixture that can accomplish fast and stable for different type article
Crawl, therefore, the utility model relates to a kind of combined multi-functional robot gripper, the article for regular shape is using double
Refer to fixture to grab, and for irregular items, or it is deposited in the article in body feed tank corner, since two fingers fixture can not grab
In this case article (side wall that two fingers fixture can touch body feed tank), then grabbed using telescopic vacuum slot.
Flexibly switch between industrial vacuum suction nozzle and two fingers fixture, relative to traditional robot fixture, either in operational efficiency, peace
There is obviously advantage in terms of dress efficiency and cost.
As described above, although the utility model has been indicated and described referring to specific preferred embodiment, it must not
It is construed to the limitation to the utility model itself.In the spirit and scope for not departing from the utility model that appended claims define
Under the premise of, it can be made a variety of changes in the form and details.
Claims (6)
1. a kind of combined multi-functional robot gripper, it is characterized in that including:
Infrastructure component including shell and is fixed on the mounting bases of the shell two sides；
Driving assembly including being fixed on first cylinder of described enclosure interior one end, and is fixed on the hull outside side
The second cylinder；
Internal joint component, for a pair, setting is in the enclosure interior and is in mirror symmetry；Including with first cylinder
Piston rod rotation connection the first joint, the second joint being connect with first articulation, and with the second joint
The fixing joint of pin connection；
Clip claw assembly, for a pair, setting is in the hull outside and is in mirror symmetry；Including with first joint and second
The first connecting rod of articulation connection, the second connecting rod being rotatablely connected with one end of the fixing joint, with the first connecting rod
The third connecting rod being rotatablely connected with second connecting rod, and it is fixed on the bionical thumb of the third connecting rod end；
Vacuum chuck component is slidably arranged in the piston rod side of second cylinder.
2. a kind of combined multi-functional robot gripper according to claim 1, it is characterised in that: the one of first cylinder
End is equipped with support frame, and support frame as described above is Y shape, and two branches ends of the second connecting rod and support frame as described above, which rotate, to be connected
It connects.
3. a kind of combined multi-functional robot gripper according to claim 1 or 2, it is characterised in that: first cylinder
Piston rod and the first joint between, between the first joint and second joint, between the first joint and first connecting rod, fixing joint
Pin is equipped between second connecting rod and between third connecting rod and first connecting rod and second connecting rod.
4. a kind of combined multi-functional robot gripper according to claim 1, it is characterised in that: the bionical thumb it is interior
Side is equipped with anti-slip layer on one side, and the anti-slip layer is the silica gel plate of 2 millimeters thicks, equidistant on the silica gel plate to be equipped with several grooves.
5. a kind of combined multi-functional robot gripper according to claim 4, it is characterised in that: the bionical thumb it is interior
Side surface is equipped with varistor positioned at the side of the anti-slip layer.
6. a kind of combined multi-functional robot gripper according to claim 1, it is characterised in that: the vacuum chuck component
Including extension type vacuum slot and vacuum tracheae, the vacuum tracheae is three, and it is true to be separately positioned on the extension type
The side of suction mouth and the both ends of second cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920053067.XU CN209551756U (en) | 2019-01-14 | 2019-01-14 | A kind of combined multi-functional robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920053067.XU CN209551756U (en) | 2019-01-14 | 2019-01-14 | A kind of combined multi-functional robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209551756U true CN209551756U (en) | 2019-10-29 |
Family
ID=68306220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920053067.XU Expired - Fee Related CN209551756U (en) | 2019-01-14 | 2019-01-14 | A kind of combined multi-functional robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209551756U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN112092005A (en) * | 2020-11-19 | 2020-12-18 | 北京博联众睿机器人科技有限公司 | Multifunctional gripping apparatus |
| CN113213050A (en) * | 2021-05-10 | 2021-08-06 | 中国人民解放军空军军医大学 | Large-scale intelligent medicine of hospital is distributed management and supervision system |
| CN114047364A (en) * | 2021-11-15 | 2022-02-15 | 国网四川省电力公司广安供电公司 | Batch verification platform for insulating safety tools |
| CN114192926A (en) * | 2022-01-06 | 2022-03-18 | 深圳市创精锐电子有限公司 | Pin welding device for electronic component production |
| CN114193461A (en) * | 2020-09-17 | 2022-03-18 | 黄佳莹 | Underwater operation manipulator |
| CN114833073A (en) * | 2021-12-24 | 2022-08-02 | 深圳蓝胖子机器智能有限公司 | End effector and letter sorting robot suitable for intelligence commodity circulation parcel letter sorting |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
-
2019
- 2019-01-14 CN CN201920053067.XU patent/CN209551756U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN114193461A (en) * | 2020-09-17 | 2022-03-18 | 黄佳莹 | Underwater operation manipulator |
| CN112092005A (en) * | 2020-11-19 | 2020-12-18 | 北京博联众睿机器人科技有限公司 | Multifunctional gripping apparatus |
| CN112092005B (en) * | 2020-11-19 | 2021-03-12 | 北京博联众睿机器人科技有限公司 | Multifunctional gripping apparatus |
| CN113213050A (en) * | 2021-05-10 | 2021-08-06 | 中国人民解放军空军军医大学 | Large-scale intelligent medicine of hospital is distributed management and supervision system |
| CN114047364A (en) * | 2021-11-15 | 2022-02-15 | 国网四川省电力公司广安供电公司 | Batch verification platform for insulating safety tools |
| CN114047364B (en) * | 2021-11-15 | 2023-09-15 | 国网四川省电力公司广安供电公司 | Batch verification platform for insulating safety tools |
| CN114833073A (en) * | 2021-12-24 | 2022-08-02 | 深圳蓝胖子机器智能有限公司 | End effector and letter sorting robot suitable for intelligence commodity circulation parcel letter sorting |
| CN114192926A (en) * | 2022-01-06 | 2022-03-18 | 深圳市创精锐电子有限公司 | Pin welding device for electronic component production |
| CN114192926B (en) * | 2022-01-06 | 2022-07-26 | 深圳市创精锐电子有限公司 | Pin welding device for electronic element production |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
| CN116331825B (en) * | 2023-04-18 | 2023-12-05 | 广东海洋大学 | Machine-made grabbing device |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191029 Termination date: 20220114 |
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| CF01 | Termination of patent right due to non-payment of annual fee |