CN209835004U

CN209835004U - Multifunctional gripper

Info

Publication number: CN209835004U
Application number: CN201920390640.6U
Authority: CN
Inventors: 卢志魁; 王世学; 苏燕
Original assignee: Maybach Robot (kunshan) Co Ltd
Current assignee: Maybach Robot (kunshan) Co Ltd
Priority date: 2019-03-26
Filing date: 2019-03-26
Publication date: 2019-12-24
Anticipated expiration: 2029-03-26

Abstract

The application relates to a multi-functional tongs, include: the rotating claws are arranged on two sides of the frame through a first rotating shaft; the first driving piece is used for driving the rotating claw to rotate; the second driving piece is arranged on the rotating claw and is provided with a telescopic driving rod; the sucking disc is fixed at one end of the driving rod; a fixing splint fixed on the lower surface of the frame; the movable clamping plate is arranged on the opposite side of the fixed clamping plate, and the upper end of the movable clamping plate is fixed on the sliding block; and the third driving piece is used for driving the movable clamping plate to move. The utility model has a plurality of driving pieces, can realize automation with higher intelligent level by matching with related control circuits and pneumatic elements, has automatic claws, suckers and clamping plates, the claws are convenient for grabbing pallets, the suckers are convenient for sucking the partition boards, the clamping plates can grab cartons, and the functions are comprehensive; the bottom supporting hook claw can effectively prevent the carton from slipping in the grabbing process, and the reliability is high; the inductive element with the object to be grabbed can guarantee that the object can be grabbed in place and clamped in place.

Description

Multifunctional gripper

Technical Field

The application belongs to the technical field of air conditioning equipment transports, especially relates to a multi-functional tongs.

Background

The air conditioner comprises an evaporator and a condenser, wherein the evaporator needs to be cut by a cutting machine, then is taken down and is stacked on a floor board or a turnover vehicle in order; the condenser needs to be dried by a drying furnace, and then the condenser is off-line and stacked. At present, most production lines of factories are manually operated to work, and because the production lines have fast beats and the self weights of the two devices are heavier, the post workers have high working strength and work tediously. At present, a robot is introduced to automatically take off the two air conditioners in a production line, but the robot gripper introduced at present is difficult to adapt to various specifications due to various types of the two air conditioners and large size and specification difference, so that the adaptability is small and the universality is poor; the field robot gripper is complicated to change types and cannot meet the requirements. For example, the chinese utility model with publication number CN 106002970B-intelligent transfer fixture, the clamping jaw assembly of which includes a plurality of grippers and an anti-slip rubber pad, the anti-slip effect only depends on the rubber pad, the object gripped is easy to slip, it is not reliable enough, and the degree of intelligence is not high.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the multifunctional gripper aims at solving the defects of the hollow adjustable gripper in the prior art, and therefore the multifunctional gripper is provided.

The utility model provides a technical scheme that its technical problem adopted is: a multi-functional grip, comprising:

the manipulator main shaft is used for connecting an external machine;

the substrate is fixed at one end of the manipulator main shaft;

a frame fixed to a lower surface of the substrate;

the rotating claws are arranged on two sides of the frame through a first rotating shaft;

the first driving piece is used for driving the rotating claw to rotate;

the second driving piece is arranged on the rotating claw and is provided with a telescopic driving rod;

the sucking disc is fixed at one end of the driving rod;

the guide rail is fixed on the lower surface of the frame, and a sliding block is arranged on the guide rail;

a fixing clamp plate fixed on the lower surface of the frame;

the movable clamping plate is arranged on the opposite side of the fixed clamping plate, and the upper end of the movable clamping plate is fixed on the sliding block;

and the third driving piece is used for driving the movable clamping plate to move.

Preferably, the utility model discloses a multi-functional tongs, movable clamp plate's lateral wall lower limb department is equipped with holds in the palm end hook, hold in the palm end hook and can rotate, still be equipped with on movable clamp plate's the lateral wall and be used for the drive hold in the palm end hook pivoted fourth drive piece.

Preferably, the utility model discloses a multi-functional tongs, movable clamp plate's lateral wall is equipped with the degree of clamp inductor.

Preferably, the utility model discloses a multi-functional tongs, the lower surface of frame is still installed and is used for the response and treats the position sensor who snatchs the object distance.

Preferably, the rotating claw of the multifunctional gripper of the present invention comprises two first rotating shafts and two claw pieces, the two first rotating shafts are installed on two sides of the frame, and two claw pieces are fixed at two ends of each first rotating shaft; and each claw piece is provided with the second driving piece.

Preferably, the utility model discloses a multi-functional tongs, be fixed with the connecting rod in the first pivot, the connecting rod with first pivot is perpendicular, first driving piece is the cylinder, including cylinder body and telescopic link, the one end of cylinder body articulates the upper surface of base plate, the one end of telescopic link with the connecting rod is articulated.

Preferably, the utility model discloses a multi-functional tongs, the second driving piece of two claw piece installations of frame one side is inboard, and the second driving piece of two claw piece installations of opposite side is outside.

Preferably, the utility model discloses a multi-functional tongs, hold in the palm the end hook pass through the hinge with the lateral wall of activity splint is connected.

Preferably, the utility model discloses a multi-functional tongs, the third driving piece passes through the mounting bracket to be fixed the lower surface of frame.

Preferably, the utility model discloses a multi-functional tongs, the position sensor includes that one is fixed fifth driving piece and inductive head on the frame, the inductive head is installed on the actuating lever of fifth driving piece.

Preferably, the utility model discloses a multi-functional tongs, first driving piece, second driving piece, third driving piece, fourth driving piece, fifth driving piece are the cylinder.

The utility model has the advantages that: the automatic pallet loading machine is provided with a plurality of driving pieces, can realize automation with higher intelligent level by matching with related control circuits and pneumatic elements, and is provided with automatic clamping jaws, sucking discs and clamping plates, wherein the clamping jaws are convenient for grabbing a pallet, the sucking discs are convenient for sucking a partition plate, and the clamping plates can grab a carton, so that the functions are comprehensive; the bottom supporting hook claw can effectively prevent the carton from slipping in the grabbing process, and the reliability is high; the inductive element with the object to be grabbed can guarantee that the object can be grabbed in place and clamped in place.

Drawings

The technical solution of the present application is further explained below with reference to the drawings and the embodiments.

FIG. 1 is a schematic view of the overall structure of the multi-functional hand grip of the embodiment of the present application;

FIG. 2 is a schematic view of a lower surface structure of a multi-functional gripper substrate according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a movable clamp plate according to an embodiment of the present application;

FIG. 4 is a schematic view of a rotating jaw configuration according to an embodiment of the present application;

fig. 5 is a schematic view illustrating an operating state of the grabbing pallet according to the embodiment of the present application;

fig. 6 is a schematic view of the working state of the grabbing carton of the embodiment of the application.

The reference numbers in the figures are:

1 mechanical arm spindle

2 base plate

3 frame

4 rotating claw

5 first driving member

6 second driving member

7 suction cup

8 third driving member

9 guide rail

11 hold in palm end hook

12 fourth drive

31 position sensor

41 claw piece

42 first shaft

51 cylinder

52 telescopic rod

61 drive rod

91 sliding block

101 fixed splint

102 movable splint

311 fifth driving member

312 inductive head

421 connecting rod

1021 clamping degree sensor

A pallet

And B, paper boxes.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. Examples

The present embodiment provides a multi-functional grip, as shown in fig. 1-2, comprising:

the manipulator main shaft 1 is used for connecting an external machine;

the substrate 2 is fixed at one end of the manipulator main shaft 1;

a frame 3 fixed to a lower surface of the substrate 2;

rotating claws 4 mounted on both sides of the frame 3 through a first rotating shaft 42;

the first driving piece 5 is used for driving the rotating claw 4 to rotate;

a second driving member 6 attached to the rotating claw 4 and having a driving rod 61 capable of extending and contracting;

a suction cup 7 fixed to one end of the driving rod 61;

the guide rail 9 is fixed on the lower surface of the frame 3, and a sliding block 91 is arranged on the guide rail 9;

a fixing clamp plate 101 fixed to a lower surface of the frame 3;

a movable clamp plate 102 disposed at the opposite side of the fixed clamp plate 101, wherein the upper end of the movable clamp plate 102 is fixed to the slide block 91;

and the third driving piece 8 is used for driving the movable clamping plate 102 to move.

As shown in fig. 5, when the multifunctional gripper of the embodiment grabs the pallet a, the whole body is driven by the external machine to descend to the position shown in fig. 5, and then the first driving member 5 pushes the rotating claw 4 to rotate, so that the rotating claw 4 grabs both sides of the pallet a.

As shown in fig. 6, when the multifunctional gripper of the present embodiment grips the carton B, the first driving member 5 drives the rotating claw 4 to retract to the horizontal position, the gripper plate grips the carton, and the third driving member 8 drives the movable gripper plate 102 to move inward, thereby gripping the carton B.

In the multifunctional gripper of the embodiment, the suction cup 7 is used in a manner as shown in fig. 1, and the second driving member 6 extends out of the driving rod to extend out of the suction cup 7, so that the suction cup can adsorb the upper surface of the object to be gripped.

Preferably, as shown in fig. 1 to 3, the lower edge of the outer side wall of the movable clamping plate 102 is provided with a bottom supporting claw 11, the bottom supporting claw 11 can rotate, and the outer side wall of the movable clamping plate 102 is further provided with a fourth driving part 12 for driving the bottom supporting claw 11 to rotate. As shown in fig. 6, after the movable clamping plate 102 is tightly attached to one side of the carton B during the process of grabbing the carton B, further, the fourth driving member 12 drives the bottom-supporting claw 11 to rotate, so as to hook at the bottom of the carton B, which can effectively prevent the carton B from slipping.

Preferably, in the multifunctional gripper of the embodiment, the side wall of the movable clamping plate 102 is provided with a clamping degree sensor 1021.

Preferably, in the multi-functional gripper of the present embodiment, as shown in fig. 1, a position sensor 31 for sensing a distance from an object to be gripped is further installed on a lower surface of the frame 3. As shown in fig. 5, after the position sensor 31 detects the position of the pallet a, the control system controls the rotating claw 4 to start grabbing, so as to ensure that the lower surface of the pallet a can be grabbed.

Preferably, as shown in fig. 1 and 4, the rotating claw 4 includes two first rotating shafts 42 and two claw pieces 41, the two first rotating shafts 42 are installed on two sides of the frame 3, and two claw pieces 41 are fixed at two ends of each first rotating shaft 42; the second driving member 6 is mounted on each claw piece 41.

Preferably, as shown in fig. 4 and 6, in the multi-functional gripper of this embodiment, a connecting rod 421 is fixed on the first rotating shaft 42, the connecting rod 421 is perpendicular to the first rotating shaft 42, the first driving member 5 is an air cylinder and includes a cylinder body 51 and an expansion link 52, one end of the cylinder body 51 is hinged to the upper surface of the base plate 2, and one end of the expansion link 52 is hinged to the connecting rod 421. The telescopic rod 52 pushes the connecting rod 421, so that the first rotating shaft 42 can rotate, and the first rotating shaft 42 can obtain a larger moving range.

Preferably, in the multi-functional grip of the present embodiment, as shown in fig. 1, the second driving members 6 mounted on the two claw pieces 41 on one side of the frame 3 face inward, and the second driving members 6 mounted on the two claw pieces 41 on the other side face outward. As shown in fig. 6, the second driving members 6 on both sides and the associated suction cups 7 can be displaced from each other without collision.

Preferably, in the multi-functional grip of the present embodiment, as shown in fig. 3, the bottom-supporting hook 11 is connected to an outer sidewall of the movable clamping plate 102 by a hinge.

Preferably, in the multi-functional grip of the present embodiment, as shown in fig. 2, the third driving member 8 is fixed to the lower surface of the frame 3 by a mounting bracket.

Preferably, as shown in fig. 5, the position sensor 31 includes a fifth driving member 311 fixed on the frame 3 and a sensing head 312, and the sensing head 312 is mounted on the driving rod of the fifth driving member 311. After the sensing head 312 completes the detection position work, it can be retracted freely, so as to avoid the interference of the operation in the subsequent working steps.

Preferably, in the multi-functional gripper of this embodiment, the first driving element 5, the second driving element 6, the third driving element 8, the fourth driving element 12, and the fifth driving element 311 are all cylinders.

In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. A multifunctional gripper, characterized by comprising: the manipulator main shaft (1) is used for connecting an external machine;

a substrate (2) fixed to one end of the manipulator spindle (1);

a frame (3) fixed to the lower surface of the substrate (2);

the rotating claws (4) are arranged on two sides of the frame (3) through a first rotating shaft (42);

the first driving piece (5) is used for driving the rotating claw (4) to rotate;

a second driving member (6) which is attached to the rotating claw (4) and has a driving rod (61) capable of extending and contracting;

a suction cup (7) fixed to one end of the drive rod (61);

the guide rail (9) is fixed on the lower surface of the frame (3), and a sliding block (91) is arranged on the guide rail (9);

a fixing splint (101) fixed to a lower surface of the frame (3);

the movable clamping plate (102) is arranged on the opposite side of the fixed clamping plate (101), and the upper end of the movable clamping plate (102) is fixed on the sliding block (91);

and the third driving piece (8) is used for driving the movable clamping plate (102) to move.

2. The multi-functional hand grip according to claim 1, characterized in that a bottom-supporting claw (11) is arranged at the lower edge of the outer side wall of the movable clamping plate (102), the bottom-supporting claw (11) can rotate, and a fourth driving piece (12) for driving the bottom-supporting claw (11) to rotate is further arranged on the outer side wall of the movable clamping plate (102).

3. The multi-functional hand grip according to claim 2, characterized in that the side walls of said movable clamp plate (102) are provided with grip sensors (1021).

4. The multi-functional hand grip according to claim 1, characterized in that the lower surface of said frame (3) is further equipped with a position sensor (31) for sensing the distance from the object to be gripped.

5. The multi-functional hand grip according to claim 1, characterized in that said rotating claw (4) comprises a first rotating shaft (42) and two claw pieces (41), said first rotating shaft (42) being mounted on both sides of said frame (3), two claw pieces (41) being fixed on both ends of each first rotating shaft (42); the second driving piece (6) is arranged on each claw piece (41).

6. The multi-functional hand grip according to claim 5, characterized in that a connecting rod (421) is fixed on the first rotating shaft (42), the connecting rod (421) is perpendicular to the first rotating shaft (42), the first driving member (5) is a cylinder, and comprises a cylinder body (51) and an expansion link (52), one end of the cylinder body (51) is hinged on the upper surface of the base plate (2), and one end of the expansion link (52) is hinged with the connecting rod (421).

7. The multi-functional hand grip according to claim 5 or 6, characterized in that the second driving members (6) mounted to the two claw pieces (41) of one side of the frame (3) are directed inwards and the second driving members (6) mounted to the two claw pieces (41) of the other side are directed outwards.

8. The multi-functional hand grip according to claims 2 or 3, characterized in that said bottom-holding fingers (11) are connected to the outer side wall of said mobile clamping plate (102) by means of hinges.

9. The multi-functional hand grip according to any one of claims 1 to 6, characterized in that the third driving member (8) is fixed to the lower surface of the frame (3) by means of a mounting bracket.

10. The multi-functional gripper according to claim 4, characterized in that said position sensor (31) comprises a fifth driving element (311) fixed to said frame (3) and a sensing head (312), said sensing head (312) being mounted on a driving rod of said fifth driving element (311).