CN210361352U

CN210361352U - Robot gripper

Info

Publication number: CN210361352U
Application number: CN201921121234.6U
Authority: CN
Inventors: 吴舜超; 戴燚; 赵烈
Original assignee: Eliten Robot Technology Changzhou Co ltd
Current assignee: Eliten Robot Technology Changzhou Co ltd
Priority date: 2019-07-17
Filing date: 2019-07-17
Publication date: 2020-04-21
Anticipated expiration: 2029-07-17

Abstract

The utility model relates to the technical field of intelligent machinery, in particular to a robot gripper, which comprises a flange, wherein a cylinder fixing seat is connected to the flange, and a grabbing component I and a grabbing component II are respectively connected to two sides of the cylinder fixing seat; the grabbing component I comprises a three-finger pneumatic claw I and a finger claw component I arranged on the three-finger pneumatic claw I, and the grabbing component II comprises a three-finger pneumatic claw II and a finger claw component II arranged on the three-finger pneumatic claw II; the outer wall of the three-finger pneumatic claw II is connected with at least two groups of spring guide rod seats, the spring guide rod seats are connected with spring guide rods, springs are mounted on the spring guide rods, and the top ends of the spring guide rods are connected with pressing plates. The gripper of the utility model can complete the assembly and disassembly of the workpiece, improves the production efficiency, and greatly reduces the danger compared with manual operation; the spring and the pressing plate are used for pressing the workpiece, so that the finger claw assembly can conveniently grab the workpiece, and the efficiency is improved.

Description

Robot gripper

Technical Field

The utility model relates to an intelligent machine technical field, in particular to robot tongs.

Background

The loading and unloading of workpieces on the machining production lines of most factories in China are still finished manually, the labor intensity is high, the production efficiency is low, certain dangerousness is realized, and the development trend of production automation cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model provides a people's frock unload work piece inefficiency and have certain dangerous problem among the correlation technique, provided a robot tongs, can replace the artifical loading and unloading of accomplishing the work piece, efficiency improves and dangerous reduction.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme: the robot gripper comprises a flange, wherein an air cylinder fixing seat is connected to the flange, and a grabbing component I and a grabbing component II are respectively connected to two sides of the air cylinder fixing seat; the grabbing component I comprises a three-finger pneumatic claw I and a finger claw component I arranged on the three-finger pneumatic claw I, and the grabbing component II comprises a three-finger pneumatic claw II and a finger claw component II arranged on the three-finger pneumatic claw II; the outer wall of the three-finger pneumatic claw II is connected with at least two groups of spring guide rod seats, the spring guide rod seats are connected with spring guide rods, springs are mounted on the spring guide rods, and the top ends of the spring guide rods are connected with pressing plates.

As the preferred scheme, the cylinder fixing base is prismoid, mounting hole I has been seted up to cylinder fixing base top surface, the left and right sides face of cylinder fixing base is fixed with three and indicates gas claw II and three and indicate gas claw I respectively.

Preferably, the finger component I and the finger component II respectively comprise 3 fingers, each finger comprises a vertically arranged mounting seat and a vertical part, the mounting seats are cuboid, and the mounting seats are provided with 2 round mounting holes II; the vertical portion is triangular prism shape, vertical portion cross section is the isosceles triangle that the apex angle is 120, be connected with bellying on the face that vertical portion apex angle is right, 3 the mount pad of finger claw becomes 120 contained angles.

Preferably, the end of the mounting seat, which is not connected with the vertical part, is provided with 2 chamfers.

Preferably, chamfers are arranged at two bottom corners of the triangle of the vertical part along the vertical direction.

As preferred scheme, the bellying cross section is isosceles trapezoid, the bellying is flushed with vertical portion top end, the bellying bottom is one fifth of vertical portion height apart from the height of mount pad.

As the preferred scheme, 3 groups of spring guide rod seats are arranged on the outer wall of the three-finger pneumatic claw II at equal intervals.

According to the preferable scheme, the pressing plate is annular, 3 threaded holes matched with threads at the upper end of the spring guide rod are formed in the position, corresponding to the spring guide rod, of the pressing plate, and the finger claw assembly II is located in an inner hole of the pressing plate.

Compared with the prior art, the beneficial effects of the utility model are that: the gripper of the utility model can complete the assembly and disassembly of the workpiece, improves the production efficiency, and greatly reduces the danger compared with manual operation; the spring and the pressing plate are used for pressing the workpiece, so that the finger claw assembly can conveniently grab the workpiece, and the efficiency is improved.

Drawings

Fig. 1 is a schematic structural view of the whole of the present invention;

FIG. 2 is a schematic view of the finger of the present invention;

fig. 3 is a schematic structural diagram of the pressing plate of the present invention.

In the figure:

1. flange, 2, cylinder fixing base, 201, mounting hole I, 3, three indicate gas claw I, 4, three indicate gas claw II, 5, spring guide rod seat, 6, spring guide rod, 7, spring, 8, clamp plate, 9, indicate the claw, 901, mount pad, 902, vertical portion, 903, mounting hole II, 904, bellying.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1 to 3, a robot gripper comprises a flange 1, wherein the flange 1 is used for being connected with a robot; the flange 1 is connected with the cylinder fixing seat 2 of prismoid shape, and mounting hole I201 has been seted up to 2 top surfaces of cylinder fixing seat, and mounting hole I201 is the screw hole, can be fixed in cylinder fixing seat 2 on flange 1 with the screw, and the left and right sides face of cylinder fixing seat 2 is fixed with three and indicates gas claw II 4 and three and indicate gas claw I3 respectively, and the model is MHS3-20D-M9B three of SMC indicates gas claw.

A finger claw assembly I is mounted on the three-finger pneumatic claw I3 and comprises 3 finger claws 9, each finger claw 9 comprises a vertically arranged rectangular installation seat 901 and a triangular prism-shaped

vertical part

902, 2 chamfers are arranged at one end, not connected with the vertical part 902, of the

installation seat

901, 2 round installation holes II 903 are formed in the installation seat 901, the installation holes II 903 are threaded holes, and the installation seats 901 of the 3 finger claws 9 form an included angle of 120 degrees and are fixed on the three-finger pneumatic claw 4 through screws; the cross section of the vertical part 902 is an isosceles triangle with an apex angle of 120 degrees, and chamfers are arranged at two base angles of the triangle of the vertical part 902 along the vertical direction; a convex part 904 is connected on the surface opposite to the vertex angle of one end vertical part 902 with 120-degree vertex angles of the 3 fingers; the cross section of the convex part 904 is in an isosceles trapezoid shape, the convex part 904 is flush with the top end of the vertical part 902, and the height from the bottom end of the convex part 904 to the mounting seat 901 is one fifth of the height of the vertical part 902; three indicate gas claw I3 drives vertical portion 902 and opens and shuts the action of accomplishing snatching, centre gripping, putting down the work piece, and vertical portion 902 can increase three indicate the stroke of gas claw I3.

Install finger claw subassembly II on three fingers gas claw II 4, finger claw subassembly II is the same with the structure of finger claw subassembly I, three fingers gas claw II 4 outer walls equidistant connection have 3 spring guide rod seats 5, be connected with spring guide rod 6 on the spring

guide rod seat

5, 6 upper ends of spring guide rod are equipped with the screw thread, install spring 7 on the

spring guide rod

6, 6 top threaded connection of spring guide rod have

annular clamp plate

8, 3 and 6 upper end screw thread assorted screw holes of spring guide rod are seted up to the position that corresponds with spring guide rod 6 on the clamp plate 8, be used for with 6 threaded connection of spring guide rod, finger claw subassembly II is located the hole of clamp plate 8.

The working principle of the application is as follows: when grabbing the blank, the robot drives the tongs and moves to the material loading district, the robot drives and snatchs subassembly II, push down the blank with clamp plate 8 earlier, reuse snatchs three finger gas claw II 4 of subassembly II and drives finger claw subassembly II that 3 finger claws 9 are constituteed and snatch the clamp tightly, the robot drives the tongs and moves to machine tool anchor clamps department, put the work piece into the anchor clamps, and three finger gas claw II 4 unclamp finger claw subassembly II, clamp plate 8 promotes the work piece and the machine tool anchor clamps laminating, machine tool anchor clamps lock, the robot drives the tongs and leaves the machine tool machining region, the machine tool is accomplished the processing, the robot drives the tongs and moves to machine tool anchor clamps department, the robot drives three finger gas claw I3 work, three finger gas claw I3 drive finger claw subassembly I that 3 finger claws 9 are constituteed takies the work piece away.

The three-finger pneumatic claw completes the specific working process and principle of clamping, retracting and the like, belongs to the prior art, and is not described in detail herein.

The above is the preferred embodiment of the present invention, and the technical personnel in the field of the present invention can also change and modify the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.

Claims

1. The utility model provides a robot tongs, includes flange (1), its characterized in that: the flange (1) is connected with an air cylinder fixing seat (2), and two sides of the air cylinder fixing seat (2) are respectively connected with a grabbing component I and a grabbing component II; the grabbing component I comprises a three-finger pneumatic claw I (3) and a finger claw component I arranged on the three-finger pneumatic claw I (3), and the grabbing component II comprises a three-finger pneumatic claw II (4) and a finger claw component II arranged on the three-finger pneumatic claw II (4); the three-finger pneumatic claw is characterized in that the outer wall of the three-finger pneumatic claw II (4) is connected with at least two groups of spring guide rod seats (5), the spring guide rod seats (5) are connected with spring guide rods (6), springs (7) are installed on the spring guide rods (6), and the top ends of the spring guide rods (6) are connected with pressing plates (8).

2. The robotic gripper of claim 1, wherein: the cylinder fixing seat (2) is in a prismoid shape, a mounting hole I (201) is formed in the top surface of the cylinder fixing seat (2), and three-finger gas claws II (4) and three-finger gas claws I (3) are fixed to the left side surface and the right side surface of the cylinder fixing seat (2) respectively.

3. The robotic gripper of claim 1, wherein: the finger component I and the finger component II respectively comprise 3 fingers (9), each finger (9) comprises a vertically arranged mounting seat (901) and a vertical part (902), the mounting seat (901) is cuboid, and 2 circular mounting holes II (903) are formed in the mounting seat (901); the vertical part (902) is a triangular prism, the cross section of the vertical part (902) is an isosceles triangle with a vertex angle of 120 degrees, and a convex part (904) is connected to the surface opposite to the vertex angle of the vertical part (902); the installation seats (901) of the 3 fingers (9) form an included angle of 120 degrees.

4. The robotic gripper of claim 3, wherein: and 2 chamfers are arranged at one end, which is not connected with the vertical part (902), of the mounting seat (901).

5. The robotic gripper of claim 3, wherein: and chamfers are arranged at two bottom corners of the triangle of the vertical part (902) along the vertical direction.

6. The robotic gripper of claim 3, wherein: the cross section of the boss (904) is isosceles trapezoid, the boss (904) is flush with the top end of the vertical part (902), and the distance from the bottom end of the boss (904) to the mounting seat (901) is one fifth of the height of the vertical part (902).

7. The robotic gripper of claim 1, wherein: the spring guide rod seats (5) are provided with 3 groups and are distributed on the outer wall of the three-finger pneumatic claw II (4) at equal intervals.

8. The robotic gripper of claim 1, wherein: the pressing plate (8) is in a ring shape, 3 threaded holes matched with threads on the upper end of the spring guide rod (6) are formed in the position, corresponding to the spring guide rod (6), of the pressing plate (8), and the finger claw assembly II is located in an inner hole of the pressing plate (8).