CN212578633U

CN212578633U - Integrated robot paw

Info

Publication number: CN212578633U
Application number: CN202021113310.1U
Authority: CN
Inventors: 贺虎
Original assignee: Dongguan Zhongtian Automation Technology Co ltd
Current assignee: Dongguan Zhongtian Automation Technology Co ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-02-23
Anticipated expiration: 2030-06-16

Abstract

The utility model relates to an automation equipment technical field, more specifically say, it relates to an integral type robot hand, include six arms and the hand claw drive mechanism who is used for snatching the work piece, hand claw drive mechanism swing joint in six arms, six arms include the base, rotate to connect in the support arm of base and rotate and connect in the arm of picking up of support arm, the support arm vertical connect in the base, the support arm with it is used for supporting the first rotating assembly who picks up the vertical wobbling of arm to pick up to be equipped with between the arm to pick up, pick up the arm with be equipped with between the hand claw drive mechanism and be used for supporting the vertical swing second rotating assembly of hand claw drive mechanism, first rotating assembly second rotating assembly and the base all is equipped with drive assembly. The utility model has the advantages of reduce the manufacturing cost of production line, saved the latency of dodging each robot paw, improved production efficiency.

Description

Integrated robot paw

Technical Field

The utility model relates to an automation equipment technical field, more specifically say, it relates to an integral type robot gripper.

Background

A robot gripper is a robot component that can perform a function similar to a human hand. A robot gripper is a part used for holding a workpiece or a tool, and is one of important actuators. A traditional robot hand claw for snatching the work piece can grab preset position with the work piece on the production line, does not need artifical transport and places, can improve work efficiency and accuracy.

The general robot paw mainly has the functions of a transfer robot paw and a stacking robot paw, the transfer robot paw is used for transferring workpieces from one station to another station, and the stacking robot paw mainly stacks a plurality of workpieces on a fixed station in order, so that the requirements of the production industry are met. However, in most production lines, manual operation is replaced by the transfer robot paw and the stacking robot paw synchronously, and further automatic production lines are achieved.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the not enough of above-mentioned prior art, the utility model aims at providing an integral type robot paw has the manufacturing cost who reduces the production line, has saved the latency of dodging each robot paw, has improved production efficiency's advantage.

The above technical purpose of the present invention can be achieved by the following technical solutions: an integrated robot paw comprises six mechanical arms and a paw transmission mechanism used for grabbing workpieces, wherein the paw transmission mechanism is movably connected with the six mechanical arms, each six mechanical arm comprises a base, a supporting arm rotationally connected with the base and a picking arm rotationally connected with the supporting arm, the supporting arm is vertically connected with the base, a first rotating assembly used for supporting the picking arm to vertically swing is arranged between the supporting arm and the picking arm, a second rotating assembly used for supporting the paw transmission mechanism to vertically swing is arranged between the picking arm and the paw transmission mechanism, and driving assemblies are arranged on the first rotating unit assembly, the second rotating unit assembly and the base;

the gripper transmission mechanism comprises a mounting plate connected with the second rotating unit assembly, a sucker assembly which is connected with the mounting plate in a sliding mode and used for sucking workpieces, and a clamping assembly used for clamping a plurality of workpieces, wherein the clamping assembly is connected on the mounting plate in a sliding mode, the mounting plate is provided with a first driving piece for driving the sucker assembly to be far away from or close to, and the mounting plate is provided with a second driving piece for driving the clamping assembly to clamp and release;

the driving assembly is electrically connected with the control unit.

Preferably, the first rotating unit assembly includes a first rotating shaft having one side rotatably coupled to the support arm and a second rotating shaft having the other side rotatably coupled to the pick arm.

Preferably, the sucker assembly comprises a plurality of suckers and a sliding plate connected to the mounting plate in a sliding manner, the suckers are uniformly distributed on the sliding plate, and the sliding plate is connected with the first driving piece.

Preferably, the sliding plate is provided with a sliding groove for the suction cup to approach and depart from along the geometric center of the sliding plate.

Preferably, the mounting plate is provided with a linkage mechanism for driving the sucker to slide along the sliding groove.

Preferably, the link gear is including the spout of locating the mounting panel and the connecting rod of being connected with the sucking disc, connecting rod sliding connection in the spout, the mounting panel is equipped with the drive the connecting rod is followed the gliding third driving piece of spout.

Preferably, the clamping assembly comprises two clamping pieces and a sliding rail, the two clamping pieces are arranged oppositely, the sliding rail is arranged on the mounting plate, the two clamping pieces are arranged along the sliding rail, the two clamping pieces are far away from each other and close to each other to slide, and the transmission mechanism is arranged between the two clamping pieces.

Preferably, the transmission mechanism comprises a connecting rod hinged on the mounting plate and push rods symmetrically arranged and hinged at two ends of the connecting rod, one end of each push rod, far away from the connecting rod, is hinged on the clamping piece, and the push rods are hinged on the second driving piece.

To sum up, the utility model discloses beneficial effect who has:

1. the control unit is used for controlling the driving assembly, and under the driving of the driving assembly, the supporting arm is firstly vertically connected with the supporting arm of the base to rotate for 360 degrees; then the driving component arranged on the first rotating component drives the picking arm to swing along the length direction of the supporting arm, and then the driving component arranged on the second rotating component drives the paw transmission mechanism to grab and stack the workpiece under the control of the control unit;

2. the suction disc assembly arranged on the mounting plate is utilized, under the control of the control unit, the first driving piece drives the suction disc assembly to suck and place the workpiece, and the workpiece is transferred from one station to another station under the auxiliary action of the six-axis mechanical arm, so that the requirements of the production industry are met;

3. under the control of the control unit, the clamping assembly arranged on the mounting plate is utilized, a plurality of workpieces located on the station are stacked, the sucker assembly is cooperatively used, under the auxiliary action of the six-axis mechanical arm, the sucking disc assembly can transfer a plurality of workpieces under the control of the control unit, then the workpieces are stacked, and therefore synchronous operation of grabbing and stacking of the robot paw is achieved, the robot paw and the stacking robot paw are enabled to be synchronously synchronized with the robot paw, the production cost of a production line is reduced, waiting time for avoiding each robot paw is saved, and the production efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of a robot gripper according to the present embodiment;

fig. 2 is a schematic structural view of the gripper transmission mechanism 6 of the present embodiment;

fig. 3 is a schematic structural view of the transmission mechanism 6 of the present embodiment;

FIG. 4 is a schematic structural diagram of the chuck assembly of the present embodiment;

FIG. 5 is a schematic structural view of the holder of the present embodiment;

fig. 6 is a schematic diagram of the circuit connection structure of the present embodiment.

Reference numerals: 1. a six-axis robot arm 1; 11. a base 11; 12. a support arm 12; 13. a pick-up arm 13; 14. a first rotating assembly 14; 15. a second rotating assembly 15; 2. the transmission mechanism 6 and the paw transmission mechanism 62; 21. a mounting plate 21; 22. a chuck assembly 22; 221. a suction cup 221; 222. a slide plate 222; 23. a clamping assembly 23; 231. a clamp 231; 24. a first driving member 24; 25. a second driving member 25; 3. a control unit 3; 4. a slide groove 4; 6. A transmission mechanism 6; 61. a connecting rod 61; 62. a push rod 62; 7. a sliding post 7; 8. a drive assembly 8.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

An integrated robot gripper, see fig. 1 to 6, comprises a six-axis robot arm 1 and a transmission 6 for gripping a workpiece, a gripper transmission 62, the transmission mechanism 6 and the paw transmission mechanism 62 are movably connected to the six-axis mechanical arm 1, the six-axis mechanical arm 1 comprises a base 11, a supporting arm 12 rotatably connected to the base 11, and a picking arm 13 rotatably connected to the supporting arm 12, the supporting arm 12 is vertically connected to the base 11, a first rotating assembly 14 for supporting the picking arm 13 to vertically swing is arranged between the supporting arm 12 and the picking arm 13, a second rotating component 15 for supporting the transmission mechanism 6 and vertically swinging the paw transmission mechanism 62 is arranged between the picking arm 13 and the transmission mechanism 6 and the paw transmission mechanism 62, the first rotating assembly 14, the second rotating assembly 15 and the base 11 are all provided with a driving assembly 8;

the transmission mechanism 6 and the paw transmission mechanism 62 comprise a mounting plate 21 rotatably connected to the second rotating assembly 15, a suction cup 221 assembly 22 slidably connected to the mounting plate 21 and used for sucking a workpiece, and a clamping assembly 23 used for clamping a plurality of workpieces, wherein the clamping assembly 23 is slidably connected to the mounting plate 21, the mounting plate 21 is provided with a first driving piece 24 for driving the suction cup 221 assembly 22 to move away from and close to, and the mounting plate 21 is provided with a second driving piece 25 for driving the clamping assembly 23 to clamp and release;

the device further comprises a control unit 3, and the driving assembly 8, the first driving member 24 and the second driving member 25 are electrically connected to the control unit 3 respectively.

In particular, said first rotating assembly 14 comprises a first rotating shaft rotatably connected on one side to the supporting arm 12 and a second rotating shaft rotatably connected on the other side to the pick-up arm 13.

The utility model utilizes the control unit 3 to control the driving component 8, under the driving of the driving component 8, firstly the supporting arm 12, the supporting arm 12 vertically connected with the base 11 rotates 360 degrees; then the driving component 8 arranged on the first rotating component 14 drives the picking arm 13 to swing along the length direction of the supporting arm 12, and then under the control of the control unit 3, the driving component 8 arranged on the second rotating component 15 drives the transmission mechanism 6 and the paw transmission mechanism 62 to grab and stack the workpieces;

by utilizing the suction cups 221 and the suction cup 221 assemblies 22 arranged on the mounting plate 21, under the control of the control unit 3, the first driving piece 24 drives the suction cups 221 and the suction cup 221 assemblies 22 to suck and place workpieces, and the workpieces are transferred from one station to another station under the auxiliary action of the six-axis mechanical arm 1, so that the requirements of the production industry are met;

under the control of the control unit 3, the clamping assembly 23 arranged on the mounting plate 21 is utilized, a plurality of workpieces located on a station are stacked, the sucking disc 221 and the sucking disc 221 assembly 22 are used in a matched mode, under the auxiliary effect of the six-axis mechanical arm 1, the effect that the plurality of workpieces are transferred by the sucking disc 221 and the sucking disc 221 assembly 22 can be achieved, then the plurality of workpieces are stacked, the robot paw grabbing and stacking synchronous operation is achieved, the transfer robot paw and the stacking robot paw are synchronous to one robot paw, the production cost of a production line is reduced, the waiting time for avoiding each robot paw is saved, and the production efficiency is improved.

Specifically, the suction cup 221 and suction cup 221 assembly 22 includes a plurality of suction cups 221 and a sliding plate 222 slidably connected to the mounting plate 21, the plurality of suction cups 221 are uniformly distributed on the sliding plate 222, and the sliding plate 222 is connected to the first driving member 24.

The first driving element 24 drives the sliding plate 222 to approach and depart from a fixed-point station on the production line, and the suction cups 221 on the sliding plate 222 are abutted with the workpiece, so that the workpiece on the station is picked up.

Specifically, the sliding plate 222 is provided with a sliding groove 4 for the suction cup 221 to approach and depart from along the geometric center of the sliding plate 222.

Through the setting of sliding tray 4, can make sucking disc 221 slide along sliding tray 4, and then make the interval between a plurality of sucking discs 221 can be very convenient increase or reduce to the size of corresponding work piece, conveniently snatch.

Specifically, the mounting plate 21 is provided with a link mechanism for driving the suction cup 221 to slide along the slide groove 4.

The linkage mechanism connects the plurality of suction cups 221 together so that the plurality of suction cups 221 can move in synchronization.

Specifically, the link gear is including the spout of locating mounting panel 21 and the connecting rod 61 of being connected with sucking disc 221, connecting rod 61 sliding connection in the spout, mounting panel 21 is equipped with the drive connecting rod 61 is followed the gliding third driving piece of spout.

The third driving member drives the connecting rod 61 so that the connecting rod 61 slides in the sliding slot of the mounting plate 21, thereby moving the adjacent suction cups 221 away from and toward each other.

Specifically, a transmission mechanism 6 is arranged between the clamping component 23 and the second driving component 25, and the transmission mechanism 6 is arranged on the mounting plate 21.

The transmission mechanism 6 can connect the second driving member 25 with the clamping assembly 23, so that the clamping assembly 23 can be driven by the second driving member 25.

Specifically, the clamping assembly 23 includes two clamping members 231 that are arranged oppositely and a slide rail that is arranged on the mounting plate 21, two clamping members 231 are along the slide rail is from being far away from each other and being close to the slip, and the transmission mechanism 6 is located between the two clamping members 231.

Under the effect of drive mechanism 6, two holders 231 are from keeping away from each other and being close to the slip along the slide rail, and then two holders 231 will be located a plurality of work pieces of station and carry out the pile up neatly.

Specifically, the transmission mechanism 6 includes a connecting rod hinged to the mounting plate 21 and push rods 62 symmetrically arranged and hinged to two ends of the connecting rod, one end of the push rod 62 far away from the connecting rod is hinged to the clamping member 231, and the push rod 62 is hinged to the second driving member 25.

The second driving member 25 drives the connecting rod to rotate on the mounting plate 21, so that the push rods 62 hinged to both ends of the connecting rod move away from and towards each other, and the arrangement can synchronously realize that the two clamping members 231 move towards and away from each other through one second driving member 25.

The utility model discloses a first driving piece 24, second driving piece 25 and third driving piece all adopt the cylinder, drive assembly 8 is servo motor.

The above embodiments are merely illustrative of the present invention, and are not intended to limit the present invention, and those skilled in the art can make modifications of the present embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the present invention.

Claims

1. The utility model provides an integral type robot hand claw which characterized by: the manipulator comprises six mechanical arms and a paw transmission mechanism used for grabbing workpieces, wherein the paw transmission mechanism is movably connected with the six mechanical arms, each six mechanical arm comprises a base, a supporting arm rotationally connected with the base and a picking arm rotationally connected with the supporting arm, the supporting arm is vertically connected with the base, a first rotating assembly used for supporting the picking arm to vertically swing is arranged between the supporting arm and the picking arm, a second rotating assembly used for supporting the paw transmission mechanism to vertically swing is arranged between the picking arm and the paw transmission mechanism, and driving assemblies are arranged on the first rotating assembly, the second rotating assembly and the base;

the gripper transmission mechanism comprises a mounting plate which is rotatably connected to the second rotating assembly, a sucker assembly which is connected to the mounting plate in a sliding mode and used for sucking workpieces, and a clamping assembly used for clamping a plurality of workpieces, wherein the clamping assembly is connected to the mounting plate in a sliding mode, the mounting plate is provided with a first driving piece which drives the sucker assembly to move away from or close to, and the mounting plate is provided with a second driving piece which drives the clamping assembly to clamp or release;

the driving assembly, the first driving piece and the second driving piece are respectively and electrically connected to the control unit.

2. The integrated robot gripper of claim 1, wherein: the first rotating assembly comprises a first rotating shaft with one side rotatably connected to the supporting arm and a second rotating shaft with the other side rotatably connected to the picking arm.

3. The integrated robot gripper of claim 2, wherein: the sucking disc subassembly includes a plurality of sucking discs and sliding plate of sliding connection in the mounting panel, and is a plurality of sucking discs evenly distributed in the sliding plate, the sliding plate with first driving piece is connected.

4. The integrated robot gripper of claim 3, wherein: the sliding plate is provided with a sliding groove for the suction disc to approach and depart from along the geometric center of the sliding plate.

5. The integrated robot gripper of claim 4, wherein: the mounting plate is provided with a linkage mechanism for driving the sucker to slide along the sliding groove.

6. The integrated robot gripper of claim 5, wherein: the link gear is including the spout of locating the mounting panel and the connecting rod of being connected with the sucking disc, connecting rod sliding connection in the spout, the mounting panel is equipped with the drive the connecting rod is followed the gliding third driving piece of spout.

7. The integrated robot gripper of claim 6, wherein: and a transmission mechanism is arranged between the clamping assembly and the second driving piece and is arranged on the mounting plate.

8. The integrated robot gripper of claim 7, wherein: the clamping assembly comprises two clamping pieces and a sliding rail, wherein the two clamping pieces are arranged oppositely, the sliding rail is arranged on the mounting plate, the two clamping pieces are arranged along the sliding rail, the sliding rail is mutually far away from and close to the sliding rail, and the transmission mechanism is arranged between the two clamping pieces.

9. The integrated robot gripper of claim 8, wherein: the transmission mechanism comprises a connecting rod hinged to the mounting plate and push rods symmetrically arranged and hinged to two ends of the connecting rod, one end, far away from the connecting rod, of each push rod is hinged to the clamping piece, and the push rods are hinged to the second driving piece.