CN213471230U

CN213471230U - Robot gripper for disc parts

Info

Publication number: CN213471230U
Application number: CN202022622297.9U
Authority: CN
Inventors: 周晓华; 尹健; 钟金龙; 曹亦盛; 陈泳睿
Original assignee: China South Industries Group Automation Research Institute
Current assignee: China South Industries Group Automation Research Institute
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-06-18
Anticipated expiration: 2030-11-13

Abstract

The utility model provides a robot gripper for disc parts, which comprises a gripper base and a gripper body arranged on the gripper base, wherein the gripper body comprises a support plate, a compression part and a push plate; the supporting plate is uniformly distributed with a plurality of fingers, the push plate is connected with the supporting plate through a compression part, the compression part comprises a telescopic rod and a compression spring, the compression spring is sleeved on the telescopic rod, the push plate is located in a clamping space of the fingers, and the push plate can move along the length direction of the fingers. By adopting the scheme, stable clamping of the disc parts with different thicknesses can be realized, and the workload of teaching the point position of the robot can be reduced when the disc parts with different thicknesses are loaded and unloaded on the same station, and thrust is generated on the part under the condition that the fitting precision requirement of the part positioning surface and the corresponding clamping surface is higher, so that the high-precision taking and placing positioning of the part is realized.

Description

Robot gripper for disc parts

Technical Field

The utility model relates to an industrial production makes technical field, concretely relates to robot tongs of dish type part.

Background

In recent years, the intelligent manufacturing concept is widely popularized in the domestic production industry, industrial robots are increasingly applied to the production and manufacturing field, and novel production modes such as automatic carrying, unattended operation and automatic identification are continuously developed. With the popularization of industrial robots in production and application, the diversity of processing and carrying objects and the high requirements on workpiece forming quality, the structural design of a robot end executing mechanism is increasingly complex, and the requirements on repeated grabbing and positioning accuracy are continuously improved. At present, for disc parts, a plurality of robot grippers adopt a three-claw or two-claw cylinder to install a corresponding finger gripper to directly grip a workpiece. The gripper can be compatible with disc parts in a certain range of diameters and thickness sizes, but when the robot utilizes the gripper to feed and unload materials, the positioning process of the parts lacks flexibility, and particularly under the condition that the requirement on the fitting precision of the part positioning surface and the corresponding clamping surface is high, the high-precision picking and placing positioning is not easy to realize due to the rigid clamping of the gripper.

Further optimizing the structural design of the robot gripper undoubtedly has important significance on the assembly process and high-precision positioning of the robot gripper.

SUMMERY OF THE UTILITY MODEL

For solving the above-mentioned structural design who provides further optimization robot tongs, undoubtedly have the problem of significance to the assembly process and the high accuracy location of robot tongs, the utility model provides a dish type part's robot tongs adopts this scheme, can realize the stable centre gripping to different thickness dish type parts, and reducible different thickness dish type part when unloading on same station, the work load of robot position demonstration under the higher condition of part locating surface and corresponding clamping face laminating required precision, produces thrust to the part, realizes that the part high accuracy is got and is put the location.

The utility model adopts the technical proposal that: the robot gripper for the disc parts comprises a gripper base and a gripper body arranged on the gripper base, wherein the gripper body comprises a supporting plate, a compression part and a push plate;

the supporting plate is uniformly distributed with a plurality of fingers, the push plate is connected with the supporting plate through a compression part, the compression part comprises a telescopic rod and a compression spring, the compression spring is sleeved on the telescopic rod, the push plate is located in a clamping space of the fingers, and the push plate can move along the length direction of the fingers.

When the scheme is operated, the plurality of fingers are uniformly distributed on the periphery of the supporting plate, the supporting plate is used for supporting a compression part and a push plate, the compression part comprises a telescopic rod and a compression spring, the compression spring is sleeved on the telescopic rod, the push plate is connected with the supporting plate through the compression part, when the push plate is extruded inwards, the telescopic rod is contracted, the compression spring is contracted along with the telescopic rod, the push plate is arranged in a clamping space of the plurality of fingers, the push plate can move along the length direction of the fingers under the action of the compression part, when the plurality of fingers start to clamp disc parts, the disc parts are contacted with the push plate, at the moment, the disc parts start to gradually compress the push plate, so that the push plate is contracted inwards, and stable clamping of the disc parts with different thicknesses is realized; when the finger claws are required to attach the disc parts to the clamping surface, the finger claws are loosened, and the push plate generates thrust to the disc parts under the action of the compression spring, so that the disc parts can be closely attached to the clamping surface, and high-precision positioning is realized.

Further optimize, the compression part still includes the guide cylinder, the backup pad is all worn out with compression spring to the telescopic link and the guide cylinder is connected, the part that the telescopic link compression spring passed the backup pad all inserts inside the guide cylinder, the guide cylinder opening part is connected with the backup pad.

When this scheme specifically operated, set up the guide cylinder in the backup pad for another side of compression part, the guide cylinder opening part is connected with the backup pad, and compression part one end and push pedal are connected, and inside the backup pad was worn out and the guide cylinder was inserted to the other end, the guide cylinder was used for fixed compression part this moment, made it can not take place to deflect.

Further optimization, the size of the end part of the telescopic rod inserted into the guide cylinder part is larger than the size of the other end of the telescopic rod, the size of the end part of the telescopic rod is larger than the size of the opening of the guide cylinder, the size of the end part of the telescopic rod is matched with the size of the inner diameter of the guide cylinder, and the telescopic rod can slide in the guide cylinder along the length direction of the guide cylinder.

When this scheme specifically functions, the tip size that the telescopic link inserted the guide cylinder part is greater than the size of guide cylinder opening part, makes the telescopic link when the inside slip of guide cylinder, can not the roll-off guide cylinder, and compression spring inserts the tip of guide cylinder and is located the great tip of telescopic link size, makes compression spring obtain the support.

Further optimize, for making the push pedal atress even, set up to: the compression part is a plurality of.

Further optimize, the tongs body still includes cylinder adapter flange, cylinder and fixed post, the cylinder passes through cylinder adapter flange and tongs frame connection, the cylinder is used for controlling the operation of finger claw, the backup pad is through a plurality of fixed posts and cylinder adapter flange connection.

When this scheme specifically functions, a plurality of finger claws all are connected with the cylinder, are driven by the cylinder and snatch the part, and the cylinder passes through cylinder adapter flange and tongs frame connection, is fixed on the tongs frame, and the backup pad periphery is provided with a plurality of fixed lining posts, and the backup pad is through a plurality of fixed lining posts and cylinder adapter flange's peripheral threaded connection, and a plurality of fixed lining posts set up around the cylinder, and the cylinder is located the centre gripping space of a plurality of fixed lining posts this moment.

Further optimizing, for matching disk parts, setting as follows: the cylinder adopts an electric energy or hydraulic three-jaw cylinder.

Further optimize, snatch a plurality of parts simultaneously for guaranteeing, improve work efficiency, set up to: the tongs body is a plurality of, and a plurality of tongs body is all installed on the tongs frame.

The utility model discloses following beneficial effect has:

this scheme provides a robot tongs of dish type part, adopts this scheme, can realize the stable centre gripping to different thickness dish type parts, and reducible different thickness dish type parts when unloading on same station, the work load of robot point location teaching under the higher condition of part locating surface and corresponding clamping face laminating precision requirement, produces thrust to the part, realizes that the part high accuracy is got and is put the location.

Drawings

Fig. 1 is a schematic structural diagram of a robot gripper for disc parts according to the present invention;

fig. 2 is a partial schematic view of the robot gripper for disc parts according to the present invention.

The reference numbers in the figures are: the device comprises a gripper base 1, a cylinder adapter flange 2, a cylinder 3, a fixed lining column 4, a support plate 5, a finger claw 6, a guide cylinder 7, an expansion rod 8, a compression spring 9 and a push plate 10.

Detailed Description

The present invention will be described in further detail with reference to examples.

Example (b): as shown in fig. 1 to 2, the robot gripper for disc parts comprises a gripper base 1 and a gripper body mounted on the gripper base 1, wherein the gripper body comprises a support plate 5, a compression part and a push plate 10;

the periphery of the supporting plate 5 is uniformly provided with a plurality of fingers 6, the push plate 10 is connected with the supporting plate 5 through a compression part, the compression part comprises an expansion rod 8 and a compression spring 9, the compression spring 9 is sleeved on the expansion rod 8, the push plate 10 is positioned in a clamping space of the fingers 6, and the push plate 10 can move along the length direction of the fingers 6.

In the embodiment, a plurality of fingers 6 are uniformly distributed on the periphery of a support plate 5, the support plate 5 is used for supporting a compression part and a push plate 10, wherein the compression part comprises an expansion link 8 and a compression spring 9, the compression spring 9 is sleeved on the expansion link 8, the push plate 10 is connected with the support plate 5 through the compression part, when the push plate 10 extrudes inwards, the expansion link 8 contracts, the compression spring 9 contracts along with the expansion link 8, the push plate 10 is arranged in a clamping space of the plurality of fingers 6 and can move along the length direction of the fingers 6 under the action of the compression part, when the plurality of fingers 6 start to clamp disc parts, the disc parts are contacted with the push plate 10, and at the moment, the disc parts start to gradually compress the push plate 10, so that the push plate 10 contracts inwards, and stable clamping of the disc parts with different thicknesses is realized; when the finger claws 6 are required to attach the disc parts to the clamping surface, the finger claws 6 are loosened, and the push plate 10 generates thrust to the disc parts under the action of the compression spring 9, so that the disc parts can be closely attached to the clamping surface, and high-precision positioning is realized.

In this embodiment, a guide cylinder 7 is disposed on the other side surface of the support plate 5 opposite to the compression component, the opening of the guide cylinder 7 is connected with the support plate 5, one end of the compression component is connected with the push plate 10, the other end of the compression component penetrates through the support plate 5 and is inserted into the guide cylinder 7, and the guide cylinder 7 fixes the compression component so that the compression component does not deflect.

In this embodiment, the size of the end of the telescopic rod 8 inserted into the guide cylinder 7 is larger than the size of the opening of the guide cylinder 7, so that the telescopic rod 8 cannot slide out of the guide cylinder 7 when sliding inside the guide cylinder 7, and the end of the compression spring 9 inserted into the guide cylinder 7 is located at the end of the telescopic rod 8 with a larger size, so that the compression spring 9 is supported.

In this embodiment, in order to make the push plate 10 uniformly stressed, the arrangement is as follows: the compression part is a plurality of.

In this embodiment, a plurality of fingers 6 all are connected with cylinder 3, are driven by cylinder 3 and snatch the part, and cylinder 3 passes through cylinder adapter flange 2 and connects with tongs frame 1, is fixed on tongs frame 1, and backup pad 5 periphery is provided with a plurality of fixed posts 4, and backup pad 5 is through the peripheral threaded connection of a plurality of fixed posts 4 and cylinder adapter flange 2, and a plurality of fixed posts 4 set up around cylinder 3, and cylinder 3 was located the centre gripping space of a plurality of fixed posts 4 this moment.

In this embodiment, for matching disk parts, the settings are: the cylinder 3 adopts an electric energy or hydraulic three-jaw cylinder 3.

In this embodiment, for guaranteeing to snatch a plurality of parts simultaneously, improve work efficiency, set up to: the tongs body is a plurality of, and a plurality of tongs body is all installed on tongs frame 1.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The robot gripper for the disc parts comprises a gripper base (1) and a gripper body arranged on the gripper base (1), and is characterized in that the gripper body comprises a supporting plate (5), a compression part and a push plate (10);

the supporting plate is characterized in that a plurality of finger claws (6) are evenly distributed on the periphery of the supporting plate (5), the push plate (10) is connected with the supporting plate (5) through a compression part, the compression part comprises a telescopic rod (8) and a compression spring (9), the compression spring (9) is sleeved on the telescopic rod (8), the push plate (10) is located in clamping spaces of the finger claws (6), and the push plate (10) can move in the length direction of the finger claws (6).

2. The robotic gripper for disc like parts as claimed in claim 1, characterized in that said compression means further comprises a guide cylinder (7), said telescopic rod (8) and said compression spring (9) both penetrate through the support plate (5) and are connected to the guide cylinder (7), the portion of said telescopic rod (8) where the compression spring (9) penetrates through the support plate (5) is inserted inside the guide cylinder (7), and the opening of said guide cylinder (7) is connected to the support plate (5).

3. Robot gripper for disc parts according to claim 2, characterized in that the dimension of the end of the part of said telescopic rod (8) inserted into said guide cylinder (7) is greater than the dimension of the other end of the telescopic rod (8), the dimension of the end of said telescopic rod (8) is greater than the dimension of the opening of said guide cylinder (7), the dimension of the end of said telescopic rod (8) matches the dimension of the internal diameter of said guide cylinder (7), said telescopic rod (8) being able to slide inside said guide cylinder (7) along the length of said guide cylinder (7).

4. A robotic gripper for disc like parts as claimed in claim 3 wherein said compression member is plural.

5. The robotic gripper of a disc-like part according to claim 1, characterized in that the gripper body further comprises a cylinder adapter flange (2), a cylinder (3) and fixed spacers (4), the cylinder (3) is connected with the gripper base (1) through the cylinder adapter flange (2), the cylinder (3) is used for controlling the operation of the fingers (6), and the support plate (5) is connected with the cylinder adapter flange (2) through a plurality of fixed spacers (4).

6. Robot gripper for disc-like parts, according to claim 5, characterised in that said cylinders (3) are electric or hydraulic three-jaw cylinders.

7. A robotic gripper for disc like parts according to claim 5, characterised in that said gripper body is plural and is mounted on a gripper base (1).