CN214446394U

CN214446394U - Multi-functional assembly mechanical gripper based on six robots

Info

Publication number: CN214446394U
Application number: CN202120625279.8U
Authority: CN
Inventors: 包佳伟; 黄玉林; 范振; 陈乃建; 张来伟; 董春超; 李亚辉
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-10-22
Anticipated expiration: 2031-03-29

Abstract

The utility model discloses a multi-functional assembly mechanical gripper based on six robots, press from both sides and get hand claw, sucking disc hand claw, electromagnetic chuck hand claw and take the slim cylinder of guide arm including six robots. The mechanical gripper is connected with the tail end of the six-axis robot through the upper end of the top plate, and a thin cylinder with a guide rod of the mechanical gripper is fixed in the center of the lower end of the top plate; the utility model discloses the electromagnetic force that produces through the pressure differential that takes the inside and outside motion of the mechanical gripper that the slim cylinder of guide arm drove both sides, sucking disc, the inside coil circular telegram of electromagnetic chuck has reached its assembly to metal or non-metal part and the purpose of snatching respectively.

Description

Multi-functional assembly mechanical gripper based on six robots

Technical Field

The utility model relates to an industrial robot technical field belongs to a six robots and multifunctional mechanical gripper and combines together the device of assembling and snatching different appearance, metal or non-metal part.

Background

Mechanical gripper is often used for the centre gripping and the transport of article, but the function of every kind of gripper is comparatively single, does not have pertinence to the clamp of different appearance, different material parts is got, can not satisfy different work requirements, leads to its work unstable, and work efficiency is lower. And different types of mechanical claws are inconvenient to replace.

Disclosure of Invention

For the efficiency of improving the assembly of different parts and snatching, increase the function of mechanical gripper, the utility model provides a multi-functional assembly mechanical gripper based on six robots.

A multifunctional assembly mechanical paw based on a six-axis robot comprises the six-axis robot, a clamping paw, a sucker paw, an electromagnetic sucker paw and a thin cylinder with a guide rod; the mechanical paw is connected with the tail end of the six-axis robot through the upper end of the top plate, a thin cylinder with a guide rod of the mechanical paw is fixed in the center of the lower end of the top plate, and the sucker paw and the electromagnetic sucker paw are fixed on two sides of the top plate and form an angle of 45 degrees with the clamping paw; the utility model discloses the electromagnetic force that produces through the pressure differential that takes the inside and outside motion of the mechanical gripper that the slim cylinder of guide arm drove both sides, sucking disc, the inside coil circular telegram of electromagnetic chuck has reached its assembly to metal or non-metal part and the purpose of snatching respectively.

The mechanical paw is characterized in that the top plate is provided with a plurality of through holes for being connected and installed at the tail end of the six-axis robot through screws, and through holes and grooves for installing the clamping paw connecting shaft for connecting the clamping paw are formed in the two sides of the mechanical paw; the clamping paw is arranged under the top plate through a clamping paw connecting shaft, and the thin cylinder with the guide rod drives the clamping paws on the two sides to move in an opening and closing mode by taking the thin cylinder with the guide rod as power, so that the purpose of assembling and clamping irregular parts on the surface is achieved; the sucker paw and the electromagnetic sucker paw are respectively arranged on two sides of the top plate and form a 45-degree angle with the clamping paw, and a sucker of the sucker paw is connected with a vacuum generator, so that pressure difference is generated inside and outside the sucker, and the sucker paw and the electromagnetic sucker paw are used for parts with flat surfaces; the electromagnetic chuck paw realizes the assembly of metal parts through electromagnetic force generated by electrifying the internal coil. The switching work of the three paws is realized according to the rotation of the six-axis robot.

The mechanical paw is characterized in that the whole mechanical paw consists of three paws with different functions, namely a clamping paw, a sucker paw and an electromagnetic sucker paw. The sucker paw and the electromagnetic sucker paw are respectively fixed on two sides of the clamping paw; the clamping paw is driven to perform opening and closing movement by a thin cylinder with a guide rod, and clamping work is realized through the guide rod; the sucker on the side arm of the sucker paw is connected with a vacuum generator, and the work is completed by the adsorption of the part; the electromagnetic chuck paw completes work through electromagnetic force generated by electrifying the internal coil.

The utility model provides a multi-functional assembly mechanical gripper device based on six robots, its multi-functional mechanical gripper is whole to be installed in six robots of end and realize the purpose of transport along with six robots motions, and six robots are more nimble, can rotate and linear motion; the multifunctional electric power tool is simple and compact in overall structure, multiple in functions, convenient to switch, beneficial to maintenance and repair and applicable to different working requirements.

Drawings

Fig. 1 is a schematic overall structure diagram of a six-axis robot-based multifunctional assembly gripper.

Fig. 2 is a structural schematic diagram of a multifunctional assembly mechanical gripper based on a six-axis robot.

Fig. 3 is a schematic front view of a multifunctional assembly manipulator claw based on a six-axis robot.

In the figure: the robot comprises a six-axis robot base 1, a six-axis robot 2, a multifunctional assembly mechanical paw 3, a six-axis robot tail end 4, a mechanical paw 5 (a clamping paw 5a, a sucker paw 5b and an electromagnetic sucker paw 5 c), a mechanical paw middle shaft 6, a connecting rod 7, an air cylinder tail end 8, a clamping paw connecting shaft 9, a thin air cylinder 10 with a guide rod, a top plate 11, an air cylinder tail end bearing 12, a vacuum generator 13, an electromagnetic sucker 14 and a sucker 15.

Detailed Description

Fig. 1 shows an overall structure schematic diagram of a multifunctional assembly gripper based on a six-axis robot.

The utility model relates to a multi-functional assembly mechanical gripper based on six robots, its multi-functional assembly mechanical gripper of main part (3) are fixed in six robot end (4) through the screw connection installation by roof (11), rotate through six robots (2) and can realize the switching of different functions.

Fig. 2 shows a schematic structural diagram of a pneumatic gripper of a robot.

The pneumatic mechanical paw mainly comprises a mechanical paw (5 a clamping paw, 5b sucker paw, 5c electromagnetic sucker paw), a connecting rod (7), a cylinder tail end (8), a thin cylinder (10) with a guide rod, a top plate (11) and a cylinder tail end bearing (12); the implementation mode is that a thin cylinder (10) with a guide rod drives a cylinder tail end (8) to reciprocate up and down, and the cylinder tail end (8) pushes a transmission mechanism consisting of a cylinder tail end bearing (12), a connecting rod (7) and the cylinder tail end bearing (12) to drive a clamping paw (5) to move in an opening and closing mode, so that the purposes of assembling and clamping irregular parts on the surface are achieved; the sucker paw (5 b) and the electromagnetic sucker paw (5 c) are respectively arranged on two sides of the top plate (11) and form a 45-degree angle with the clamping paw (5 a), and a sucker of the sucker paw (5 b) is connected with the vacuum generator (13), so that pressure difference is generated inside and outside the sucker (15), and the part with a flat surface is aimed at; the electromagnetic chuck paw (5 c) realizes the assembly of the metal parts through the electromagnetic force generated by electrifying the internal coil; the center of the top plate (11) is provided with a plurality of through holes for being connected and installed at the tail end of the six-axis robot (2) through screws, and grooves and through holes for installing mechanical claws (5) are formed in the two sides of the top plate.

Fig. 3 is a schematic front view of a robot pneumatic gripper.

The thin cylinder (10) with the guide rod is connected and installed at the center of the top plate (11) through a screw, and the top of the guide rod is fixedly connected with the tail end (8) of the cylinder through a screw; the left side and the right side of the cylinder tail end (8) are provided with grooves and through holes for connecting and installing a cylinder tail end bearing (12), the cylinder tail end bearing (12) is connected with the cylinder tail end bearing (12) installed on the mechanical paw connecting piece (5 c) through a connecting rod (7) to form a transmission mechanism, and therefore the opening and closing of the two-side clamping paws (5) are controlled by the vertical reciprocating motion of the thin cylinder (10) with the guide rod. The sucker paw (5 b) and the electromagnetic sucker paw (5 c) are respectively arranged on two sides of the top plate (11), the sucker paw and the clamping paw (5 a) are 45 degrees, a sucker (15) and a vacuum generator (13) are fixed at the upper end of the sucker paw (5 b), and an electromagnetic sucker (14) is fixed at the tail end of the electromagnetic sucker paw (5 c).

The device is integrally installed at the tail end (4) of a six-axis robot through a top plate (11), a thin cylinder (10) with a guide rod reciprocates up and down through a transmission mechanism to indirectly control the opening and closing of mechanical claws (5) on two sides, pressure difference is generated inside and outside a sucker (15), and the electromagnetic sucker claw (5 c) realizes the assembly and the grabbing of different parts through electromagnetic force generated by electrifying an internal coil of an electromagnetic sucker (14).

Claims

1. A multifunctional assembly mechanical paw based on a six-axis robot comprises a six-axis robot (2), a clamping paw (5 a), a sucker paw (5 b), an electromagnetic sucker paw (5 c), a connecting rod (7), an air cylinder tail end (8), a thin air cylinder (10) with a guide rod and a top plate (11), and is characterized in that the top plate (11) is provided with a plurality of through holes for being mounted at the six-axis robot tail end (4) through screw connection, and through holes and grooves are formed in two sides of the top plate for mounting a clamping paw connecting shaft (9) for connecting the clamping paw (5 a); the clamping paw (5 a) is arranged under the top plate (11) through a clamping paw connecting shaft (9), and the clamping paws (5 a) at two sides are driven to move in an opening and closing mode by a thin cylinder (10) with a guide rod serving as power, so that the purpose of assembling and clamping irregular parts on the surface is achieved; the sucker paw (5 b) and the electromagnetic sucker paw (5 c) are respectively arranged on two sides of the top plate (11) and form a 45-degree angle with the clamping paw (5 a), and a sucker (15) of the sucker paw (5 b) is connected with a vacuum generator (13), so that pressure difference is generated inside and outside the sucker (15), and the part with a relatively flat surface is aimed at; the electromagnetic chuck paw (5 c) realizes the assembly of the metal parts through the electromagnetic force generated by electrifying the coil in the electromagnetic chuck (14); the switching work of the three paws is realized according to the rotation of the six-axis robot (2).

2. The six-axis robot-based multifunctional assembled mechanical gripper as claimed in claim 1, characterized in that the whole mechanical gripper consists of three different functional grippers, namely a gripping gripper (5 a), a suction cup gripper (5 b), and an electromagnetic suction cup gripper (5 c); the sucker paw (5 b) and the electromagnetic sucker paw (5 c) are respectively fixed on two sides of the clamping paw (5 a); the clamping paw (5 a) is driven by a thin cylinder (10) with a guide rod to reciprocate up and down, and clamping work is realized through a connecting rod (7); the sucker (15) on the side arm of the sucker claw (5 b) is connected with a vacuum generator (13) and finishes work by adsorbing parts, and the electromagnetic sucker claw (5 c) finishes work by electromagnetic force generated by electrifying an internal coil.