CN214455011U - Tail end claw - Google Patents

Tail end claw Download PDF

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Publication number
CN214455011U
CN214455011U CN202120175272.0U CN202120175272U CN214455011U CN 214455011 U CN214455011 U CN 214455011U CN 202120175272 U CN202120175272 U CN 202120175272U CN 214455011 U CN214455011 U CN 214455011U
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China
Prior art keywords
workpiece
magnetic
connecting rod
grabbing
gripper
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CN202120175272.0U
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Chinese (zh)
Inventor
高磊
徐宝
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Shangzhi Technology Shenzhen Co ltd
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Shangzhi Technology Shenzhen Co ltd
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Priority to CN202120175272.0U priority Critical patent/CN214455011U/en
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Abstract

The utility model relates to a terminal hand claw, include: the connecting rod group and a paw subassembly of interconnect, the connecting rod group is including fixed connection's head rod and second connecting rod, the axial extension line of head rod with the second connecting rod is the contained angle setting, the head rod is used for connecting outside machine arm so that when snatching the machine arm is located the material frame outside, the second connecting rod with the paw subassembly is connected and axial parallel arrangement, and when snatching the paw subassembly with wait to snatch the perpendicular setting of work piece. This end is held in hand can effectively avoid the robotic arm to interfere with the material frame, can increase the arm exhibition angle scope of robotic arm simultaneously.

Description

Tail end claw
Technical Field
The utility model relates to a system for snatch part from material frame especially relates to a terminal hand claw.
Background
In the industrial manufacturing field, the traditional feeding and discharging system is realized based on an automatic tool or a manual mode, a workpiece is heavy, the labor intensity of manual operation is high, and corresponding recruitment is difficult. With the popularization of industrial 3D cameras and the rising of 3D vision algorithms, the 3D vision-based unordered sorting and feeding system is expected to realize intellectualization of the past manual or automatic mode and industrial upgrading of the automatic feeding and feeding system.
The 3D vision guide is used for grabbing parts, grabbing parts from a material frame stack, grabbing parts from a stacking chain and grabbing parts from an EHB conveying system, and the positioning is accurate, so that the high-efficiency automation rate is realized. The workpiece is most complicated to grab from the stacking material frame, particularly the deep material frame, the workpiece in the material frame is usually in a scattered and disordered state, the position of the workpiece is not only required to be positioned when the part material frame is grabbed, but also the position of the workpiece is required to be judged, and in addition, the problems that the types of the workpieces are various, the sizes of the workpieces are different and the like are required to be faced.
The complexity faced by the unordered sorting puts more and higher demands on the robot, and the following problems are mainly faced at present: in the current disordered sorting, a tail end of a robot is designed to be a long straight rod, a grabbing strategy is that the tail end is perpendicular to the surface of a workpiece to be sucked, as shown in fig. 1, the posture of the robot is directly related to the angle theta of the straight rod (the included angle between the straight rod and the material frame in the Z-axis direction), and in a deep material frame grabbing scene, if the angle theta of the straight rod is larger than 30 degrees, the robot is prone to problems of insufficient arm spread, interference with the material frame and the like. As shown in fig. 2, when the workpiece is inclined by 30 °, the angle of the straight rod reaches 30 °, and if the inclination angle of the workpiece is increased, the angle of the straight rod is increased, which may cause the problems of insufficient unfolding of the robot arm, easy interference with the material frame, and the like. The grabbing strategy and the hand grabbing design can only grab the workpiece with the inclination angle within +/-30 degrees.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a terminal hand claw can increase the arm exhibition angle scope of robotic arm, can effectively avoid robotic arm and material frame to interfere simultaneously.
An end gripper comprising: the utility model provides a material frame is outside, the axial extension line of head rod with the second connecting rod is the contained angle setting, the head rod is used for connecting outside machine arm so that when snatching the machine arm is located the material frame outside, the second connecting rod with the paw subassembly is connected and axial parallel arrangement to the arm exhibition angle scope that supplies the increase machine arm, and when snatching the paw subassembly with wait to snatch the perpendicular setting of work piece.
Preferably, the axial extension line of the first connecting rod and the second connecting rod form an included angle of 30 degrees.
Preferably, the gripper assembly comprises a buffer unit for buffering pressure in the grabbing direction of the grabbed workpiece and a workpiece grabbing unit for grabbing the workpiece, the workpiece grabbing unit and the workpiece to be grabbed are arranged perpendicularly when the workpiece is grabbed, one end of the buffer unit is connected with the workpiece grabbing unit, the other end of the buffer unit is fixedly connected with the second connecting rod, and the buffer unit and the second connecting rod and the workpiece grabbing unit are arranged in parallel in the axial direction.
Preferably, the work piece snatchs the unit and includes terminal magnetic adsorption piece and magnetic conduction piece, buffer unit, terminal magnetic adsorption piece and magnetic conduction piece connect gradually, buffer unit's buffering end with terminal magnetic adsorption piece fixed connection, the magnetic conduction piece is located the end of snatching of terminal magnetic adsorption piece is for magnetic conduction piece magnetic adsorption wait to snatch the work piece.
Preferably, the buffer unit comprises a bearing gasket, a plurality of buffer guide rods uniformly and fixedly arranged on the bearing gasket, and connecting gaskets sleeved on the plurality of buffer guide rods, first elastic pieces are sleeved on the guide rods between the bearing gasket and the connecting gaskets to buffer the pressure between the bearing gasket and the connecting gaskets, second elastic pieces are sleeved on the guide rods above the connecting gaskets, and a limiting piece for limiting the second elastic pieces is arranged at the top end of each guide rod; the bottom surface of the bearing gasket is fixedly connected with the tail end magnetic adsorption piece, and the second connecting rod is fixedly connected with the upper surface of the connecting gasket.
Preferably, the terminal magnetic adsorption piece is a pneumatic magnet, the upper surface of the pneumatic magnet is fixedly connected with the bottom surface of the bearing gasket, and the lower surface of the pneumatic magnet is connected with the magnetic conduction block.
Preferably, the magnetic conduction block is a block-shaped body, the magnetic conduction block is provided with a first end face and a second end face which are oppositely arranged, the area of the first end face is larger than that of the second end face, the first end face is arranged in a volume reducing mode towards the direction of the second end face, the first end face is connected with the pneumatic magnet, and the second end face is used for adsorbing the workpiece to be grabbed.
Preferably, the number of the magnetic conduction blocks is two, the top surfaces of the two magnetic conduction blocks are attached to the front end face of the pneumatic magnet, the two magnetic conduction blocks are arranged in parallel and at intervals, and a grabbing space for grabbing the workpiece to be grabbed is formed between the two magnetic conduction blocks.
Preferably, the outer side walls of the two magnetic conduction blocks are provided with magnetic separation sheets, the adsorption end face formed between the two magnetic conduction blocks is arranged corresponding to the radian of the grabbing part of the workpiece to be grabbed, and the workpiece to be grabbed is a cylindrical bar.
Preferably, the robot further comprises a three-dimensional force sensor and a connecting flange, wherein the three-dimensional force sensor is used for weighing the weight of the currently grabbed workpiece, the three-dimensional force sensor is arranged between the first connecting rod and the connecting flange, and the connecting flange is used for connecting an external robot arm.
[ PROBLEMS ] the present invention
The utility model provides a terminal hand claw is connected with outside machine arm through first connecting rod to the machine arm is located the material frame outside when makeeing, can effectively avoid the machine arm to interfere with the material frame. And the axial extension line of the first connecting rod and the second connecting rod form an included angle, so that the arm spread angle range of the robot arm can be enlarged. Specifically speaking, the gesture of robot and straight-bar angle theta are the straight-bar and expect the contained angle of frame Z axle direction, and in the scene is snatched to dark material frame, if straight-bar angle theta is greater than 30, the robot easily takes place the arm exhibition not enough, and this application is through changing current straight-bar structure, also set up to the axial extension line of head rod with the second connecting rod is the contained angle setting, has also increased the scope value of angle theta, realizes increasing the arm exhibition angle scope of robot arm from this.
Drawings
FIG. 1 is a schematic view of a long straight bar vertical grabbing structure in the prior art;
FIG. 2 is a schematic structural view of a long straight rod vertically grabbing an inclined workpiece in the prior art;
fig. 3 is a schematic structural diagram of an embodiment of a terminal gripper with changeable gripping angles according to the present invention;
fig. 4 is an exploded view of an embodiment of a terminal gripper with changeable gripping angles according to the present invention;
FIG. 5(a) is a schematic structural diagram of workpiece grabbing at an inclination angle of 0 ° using the tail end of the gripper shown in FIG. 3 in a middle grabbing posture of a positive cylinder;
FIG. 5(b) is a schematic structural diagram of workpiece grabbing at an inclination angle of 30 ° using the tail end of the gripper shown in FIG. 3 in a forward cylinder middle grabbing posture;
FIG. 5(c) is a schematic structural diagram of workpiece grabbing at an inclination angle of 60 ° using the tail end of the gripper shown in FIG. 3 in a forward cylindrical surface middle grabbing posture;
FIG. 6(a) is a schematic structural diagram of workpiece grabbing at an inclination angle of 0 ° using the tail end of the gripper shown in FIG. 3 in a reverse cylindrical intermediate grabbing posture;
FIG. 6(b) is a schematic structural diagram of workpiece grabbing at an inclination angle of 30 ° using the tail end of the gripper shown in FIG. 3 in a reverse cylindrical intermediate grabbing posture;
FIG. 6(c) is a schematic structural view of grabbing a workpiece with an inclination angle of 60 ° using the distal end of the gripper shown in FIG. 3 in a reverse cylindrical intermediate grabbing attitude;
FIG. 7(a) is a schematic structural view of workpiece gripping with an inclination angle of 60 ° using the distal end of the gripper shown in FIG. 3 in a middle gripping attitude of the front end surface;
FIG. 7(b) is a schematic structural diagram of workpiece grabbing at an inclination angle of 75 ° using the tail end of the gripper shown in FIG. 3 in a forward cylindrical surface middle grabbing posture;
FIG. 7(c) is a schematic structural diagram of workpiece grabbing at an inclination angle of 90 ° using the tail end of the gripper shown in FIG. 3 in a forward cylindrical surface middle grabbing posture;
FIG. 8(a) is a schematic view showing a configuration for gripping a workpiece with an inclination of 60 ° in a middle gripping posture of an opposite end surface using the distal end of the gripper shown in FIG. 3;
FIG. 8(b) is a schematic structural view of workpiece gripping with an inclination angle of 75 ° using the distal end of the gripper shown in FIG. 3 in a reverse cylindrical intermediate gripping attitude;
fig. 8(c) is a schematic structural view of grabbing a workpiece with an inclination angle of 90 ° using the distal end of the gripper shown in fig. 3 in a reverse cylindrical intermediate grabbing posture.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of this application, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit its scope.
The existing movement planning needs to stretch the robot arm into the material frame, the grabbing depends on a robot arm body kinematics model, if the angle theta of the straight rod is larger than 30 degrees, the problems that the robot is not enough in arm extension and interferes with the material frame and the like easily occur, and particularly when the robot is actually applied, the robot is limited by site space factors, and the problems are more obvious.
Referring to fig. 3 and 4, an embodiment of the present invention provides a terminal paw, including: a connecting rod group 10 and a claw subassembly 20 of interconnect, connecting rod group 10 includes fixed connection's head rod 11 and second connecting rod 12, the axial extension line of head rod 11 with second connecting rod 12 is the contained angle setting, head rod 11 is used for connecting outside robot arm so that when snatching the robot arm is located the material frame outside, second connecting rod 12 with claw subassembly 20 is connected and axial parallel arrangement to the arm exhibition angular extent that supplies the increase robot arm, and when snatching claw subassembly 20 sets up with waiting to snatch the work piece is perpendicular. In this embodiment, the length of the first connecting rod 11 is greater than the length of the second connecting rod 12, so as to reduce the length of the second connecting rod 12 and the entire gripper assembly 20 on the axis, and to effectively avoid interference with the material frame during grabbing.
The utility model provides a be connected with outside machine arm through first connecting rod 11 to the machine arm is located the material frame outside when makeeing, can effectively avoid the machine arm to interfere with the material frame. And the axial extension line of the first connecting rod 11 and the second connecting rod 12 form an included angle a, so that the arm spread angle range of the robot arm can be enlarged. Specifically speaking, the gesture of robot and straight-bar angle theta are the contained angle of straight-bar and material frame Z axle direction, and in the scene is snatched to dark material frame, if straight-bar angle theta is greater than 30, the robot easily takes place the arm exhibition not enough, and this application sets up to the axial extension line of head rod 11 promptly through changing current straight-bar structure with second connecting rod 12 is contained angle a setting, has also increased the scope value of angle theta, realizes increasing the arm exhibition angle scope of robot arm from this.
When snatching, because head rod 11 and the coaxial setting of robotic arm, claw subassembly 20 and second connecting rod 12 are the contained angle a setting with head rod 11 and robotic arm promptly, cooperate a plurality of postures of snatching and snatch the position, can realize that the wide-angle work piece snatchs, simultaneously, because head rod 11 increases tongs length, when snatching, the grab stretches into the material frame, the robotic arm is outside the material frame, can prevent effectively that robot and material frame from interfering the emergence, and does not rely on the robot arm body kinematics model.
In this embodiment, an axial extension line of the first connecting rod 11 and the second connecting rod 12 form an included angle of 30 degrees. Therefore, the robot can complete grabbing in the posture of +/-30 degrees for the workpiece with the posture of +/-90 degrees.
Following right the utility model discloses under the axial extension line of hand claw subassembly and the condition that the straight-bar is 30 degrees contained angles, carry out the detailed description to a plurality of concrete application details that snatch the gesture:
in this embodiment, the grabbing postures include a grabbing posture in the middle of a forward cylindrical surface, a grabbing posture in the middle of a reverse cylindrical surface, a grabbing posture in the middle of a forward end surface, and a grabbing posture in the middle of a reverse end surface.
And for the workpiece with the workpiece inclination angle smaller than 60 degrees, grabbing the workpiece by using the middle grabbing gesture of the forward cylindrical surface and the middle grabbing gesture of the reverse cylindrical surface, and grabbing the workpiece by using the middle grabbing gesture of the forward end surface and the middle grabbing gesture of the reverse end surface for the workpiece with the workpiece inclination angle larger than 60 degrees.
When the grabbing posture is the middle grabbing posture of the positive cylindrical surface, as shown in fig. 5(a), if the workpiece inclination angle is 0, the angle theta of the straight rod is 30 degrees; as shown in fig. 5(b), if the workpiece inclination angle is 30 °, the straight rod angle θ is 0; as shown in fig. 5(c), if the workpiece tilt angle is 60 °, the straight bar angle θ is-30 °. When the positive perpendicular to work piece cylinder of hand claw subassembly snatched, when 30 terminal design can make work piece inclination increase gradually, straight-bar angle reduces gradually:
when the grabbing posture is the middle grabbing posture of the reverse cylindrical surface, as shown in fig. 6(a), when the inclination angle of the workpiece is 0, the angle theta of the straight rod is-30 degrees; as shown in fig. 6(b), if the workpiece inclination angle is-30 °, the straight rod angle θ is 0 °; as shown in fig. 6(c), if the workpiece inclination angle is-60 °, the straight rod angle θ is 30 °; namely, when the gripper assembly is reversely perpendicular to the cylindrical surface of the workpiece to grab, the 30-degree tail end design can ensure that the angle of the straight rod is gradually increased when the inclination angle of the workpiece is gradually reduced.
When the grabbing posture is the middle grabbing posture of the positive end face, as shown in fig. 7(a), if the workpiece inclination angle is-60 degrees, the angle theta of the straight rod is 0 degrees, as shown in fig. 7(b), and if the workpiece inclination angle is-75 degrees, the angle theta of the straight rod is 15 degrees; as shown in fig. 7(c), if the workpiece tilt angle is-90 °, the straight bar angle θ is 30 °. When the tail end claw is positively perpendicular to the end face of the workpiece to grab, the angle of the straight rod is gradually increased when the inclination angle of the workpiece is gradually reduced due to the tail end design of 30 degrees.
When the grabbing posture is a reverse end surface middle grabbing posture, the tail end paw is reversely perpendicular to the end surface of the workpiece, and the grabbing point is located in the middle of the end surface of the workpiece. Taking the included angle of the end paw as 30 degrees as an example, as shown in fig. 8(a), when the inclination angle of the workpiece is 60 degrees, the angle θ of the straight rod is 0 degree; as shown in fig. 8(b), when the workpiece inclination angle is 75 °, the straight bar angle θ is-15 °; as shown in fig. 8(c), when the workpiece inclination angle is 90 °, the straight bar angle θ is-30 °; when the tail end claw is reversely perpendicular to the end face of the workpiece to grab, the angle of the straight rod is gradually reduced when the inclination angle of the workpiece is gradually increased due to the tail end design of 30 degrees.
Furthermore, the gripper assembly comprises a buffer unit for buffering pressure in the grabbing direction of the grabbed workpiece and a workpiece grabbing unit for grabbing the workpiece, the workpiece grabbing unit and the workpiece to be grabbed are arranged perpendicularly when the workpiece is grabbed, one end of the buffer unit is connected with the workpiece grabbing unit, the other end of the buffer unit is fixedly connected with the second connecting rod, and the buffer unit and the second connecting rod and the workpiece grabbing unit are arranged in parallel in the axial direction.
Further, the work piece snatchs the unit and includes terminal magnetic adsorption piece and magnetic conduction piece, buffer unit, terminal magnetic adsorption piece and magnetic conduction piece connect gradually, buffer unit's buffering end with terminal magnetic adsorption piece fixed connection, the magnetic conduction piece is located the end of snatching of terminal magnetic adsorption piece is for magnetic conduction piece magnetic adsorption wait to snatch the work piece. The buffer unit 23 is used for buffering when the workpiece is grabbed, so that errors in the Z direction are offset, and the robot collision alarm caused by the fact that the tail end of the gripper directly collides with the workpiece is prevented.
In this embodiment, the workpiece grabbing unit 21 includes terminal magnetic adsorption piece 211 and magnetic conduction block 212, buffer unit 23, terminal magnetic adsorption piece 211 and magnetic conduction block 212 connect gradually, buffer unit 23's buffering end with terminal magnetic adsorption piece 211 fixed connection, magnetic conduction block 212 locates terminal magnetic adsorption piece 211 snatchs the end to supply magnetic conduction block 212 magnetic adsorption wait to snatch the workpiece.
As a preferred embodiment, the buffer unit 23 includes a bearing pad 231, a plurality of buffer guide rods 232 uniformly fixed on the bearing pad 231, and a connection pad 233 sleeved on the plurality of buffer guide rods 232, wherein a first elastic member 234 is sleeved on each guide rod between the bearing pad 231 and the connection pad 233 to buffer the pressure between the bearing pad 231 and the connection pad 233, a second elastic member 235 is sleeved on each guide rod 232 above the connection pad 233, and a limiting member for limiting the second elastic member 235 is disposed at the top end of each guide rod 232. The bottom surface of the bearing pad 231 is fixedly connected to the terminal magnetic attraction member 211, and the bottom of the second connecting rod 12 is fixedly connected to the upper surface of the connecting pad 233. When the workpiece is gripped, the buffer unit 23 is pressed by the buffer unit in the gripping direction of the gripped workpiece, the bearing pad 231 and the end magnetic attraction piece 211 move along the buffer guide rod 232 toward the connection pad 233, at this time, the first elastic piece 234 is compressed, and the second elastic piece 245 applies a reverse elastic force to the connection pad 233 to hold the connection pad 233 at the original position, so as to prevent the connection pad 233 from generating an axial displacement and damage to the structure of the connection rod group 10. In this embodiment, the bearing pad 231 and the connecting pad 233 are rectangular pads, the number of the buffer guide rods 232 is four, the four buffer guide rods 232 are uniformly fixed on four corners of the upper surface of the bearing pad 231 and penetrate through the four corners of the connecting pad 233, the bearing pad 231 and the connecting pad 233 are arranged in parallel, and the first elastic member 234 and the second elastic member 235 are springs.
It can be understood that the terminal magnetic adsorption piece 211 is a pneumatic magnet, the upper surface of the pneumatic magnet is fixedly connected with the bottom surface of the bearing gasket, and the lower surface of the pneumatic magnet is connected with the magnetic conduction block.
In this embodiment, the magnetic conductive block 212 is a block, the magnetic conductive block 212 has a first end surface and a second end surface that are oppositely disposed, the area of the first end surface is larger than that of the second end surface, and the first end surface is disposed in a volume reduction manner toward the second end surface, the first end surface is connected with the pneumatic magnet, and the second end surface is used for adsorbing the workpiece to be grabbed. Compare in prior art, the volume of first terminal surface towards second terminal surface direction of magnetic conduction piece 212 reduces in this application, has reduced the whole volume of tongs in fact, reduces the probability of taking up next door work piece when snatching.
In practical application, the number of the magnetic conduction blocks 212 is two, the top surfaces of the two magnetic conduction blocks 212 are attached to the front end surface of the pneumatic magnet, the two magnetic conduction blocks 212 are arranged in parallel and at intervals, and a grabbing space for grabbing a workpiece to be grabbed is formed between the two magnetic conduction blocks 212. And, the outer side wall of the two magnetic conduction blocks 212 is provided with a magnetic isolation sheet 213 for preventing the magnetic conduction connector 231 from lifting the nearby workpiece during grabbing. The adsorption end face formed between the two magnetic conduction blocks 212 is arranged corresponding to the radian of the grabbing part of the workpiece to be grabbed, so that the workpiece can be prevented from being damaged when the magnetic conduction blocks 212 grab the workpiece. The workpiece 30 to be grasped may be a cylindrical bar.
In addition, the terminal gripper further comprises a three-dimensional force sensor 30 and a connecting flange 40, wherein the three-dimensional force sensor is used for weighing the weight of the current grabbed workpiece, the three-dimensional force sensor is arranged between the first connecting rod 11 and the connecting flange, and the connecting flange 40 is used for connecting an external robot arm. The three-dimensional force sensor 30 can detect the stress condition of the robot in the grabbing process, then the robot can not grab the workpiece, and if the stress condition exceeds the set value of the sensor, the robot gives up grabbing at this time and grabs the next part again. That is, in practical application, the three-dimensional force sensor 30 is in communication connection with an external robot control system, and is used for detecting the stress condition of the robot in the grabbing process. In the grabbing process, the three-dimensional sensor 30 sends a signal to the control system for processing, the control system detects whether the robot can grab the workpiece according to the received signal, and if the signal exceeds a set value of the sensor, the robot gives up grabbing at this time and grabs the next part again; or when the small bar is grabbed, two parts may be adsorbed simultaneously, and after the small bar is weighed by the sensor, if the weight is judged to be two parts, the small bar is discarded and grabbed again.
The utility model discloses during specific application, be connected with outside robot arm via three-dimensional force sensor 30, robot flange 40 in proper order through the straight-bar to the robot arm is located the material frame outside when makeeing, can effectively avoid the robot arm to interfere with the material frame. And the axial extension line of the first connecting rod and the second connecting rod form an included angle, so that the arm spread angle range of the robot arm can be enlarged. Specifically speaking, the robot gesture is the contained angle of straight-bar and material frame Z axle direction with straight-bar angle theta, and in the scene is snatched to dark material frame, if straight-bar angle theta is greater than 30, the robot easily takes place the arm exhibition not enough, this application through the axial extension line of first connecting rod with the second connecting rod is the contained angle setting, has also increased the scope value of angle theta, realizes increasing the arm exhibition angle scope of robot arm from this. When grabbing, the axis of hand claw subassembly with wait to grab the work piece perpendicular setting, can both accomplish through the magnetic conduction body to the work piece of gesture within 90 and snatch with the gesture within the contained angle a.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims (10)

1. An end gripper, comprising: the utility model provides a material frame is outside, the axial extension line of head rod with the second connecting rod is the contained angle setting, the head rod is used for connecting outside machine arm so that when snatching the machine arm is located the material frame outside, the second connecting rod with the paw subassembly is connected and axial parallel arrangement to the arm exhibition angle scope that supplies the increase machine arm, and when snatching the paw subassembly with wait to snatch the perpendicular setting of work piece.
2. The end gripper of claim 1, wherein an axial extension of the first connecting rod is disposed at a 30 degree angle to the second connecting rod.
3. The end gripper of claim 1, wherein the gripper assembly comprises a buffer unit for buffering a pressure in a gripping direction of a gripped workpiece and a workpiece gripping unit for gripping the workpiece, the workpiece gripping unit being disposed perpendicular to the workpiece to be gripped when the workpiece is gripped, one end of the buffer unit being connected to the workpiece gripping unit, the other end of the buffer unit being fixedly connected to the second link, the buffer unit being disposed in parallel with an axial direction of the second link and the workpiece gripping unit.
4. The end gripper of claim 3, wherein the workpiece grabbing unit comprises an end magnetic adsorption part and a magnetic conduction block, the buffer unit, the end magnetic adsorption part and the magnetic conduction block are sequentially connected, the buffer end of the buffer unit is fixedly connected with the end magnetic adsorption part, and the magnetic conduction block is arranged at the grabbing end of the end magnetic adsorption part to magnetically adsorb the workpiece to be grabbed by the magnetic conduction block.
5. The end gripper of claim 4, wherein the buffer unit comprises a bearing pad, a plurality of buffer guide rods uniformly fixed on the bearing pad, and connection pads sleeved on the plurality of buffer guide rods, wherein a first elastic member is sleeved on each guide rod between the bearing pad and the connection pad to buffer the pressure between the bearing pad and the connection pad, a second elastic member is sleeved on each guide rod above the connection pad, and a limit member for limiting the second elastic member is arranged at the top end of each guide rod; the bottom surface of the bearing gasket is fixedly connected with the tail end magnetic adsorption piece, and the second connecting rod is fixedly connected with the upper surface of the connecting gasket.
6. The end gripper of claim 5, wherein the end magnetic attraction member is a pneumatic magnet, an upper surface of the pneumatic magnet is fixedly connected to a bottom surface of the bearing pad, and a lower surface of the pneumatic magnet is connected to the magnetic conductive block.
7. The end gripper of claim 6, wherein the magnetic conductive block is a block-shaped body, the magnetic conductive block has a first end surface and a second end surface that are opposite to each other, the area of the first end surface is larger than that of the second end surface, the first end surface is arranged to reduce in volume in a direction toward the second end surface, the first end surface is connected to the pneumatic magnet, and the second end surface is used for adsorbing the workpiece to be gripped.
8. The end gripper of claim 7, wherein the number of the magnetic conductive blocks is two, top surfaces of the two magnetic conductive blocks are attached to a front end surface of the pneumatic magnet, the two magnetic conductive blocks are arranged in parallel and at intervals, and a gripping space for gripping a workpiece to be gripped is formed between the two magnetic conductive blocks.
9. The end gripper as claimed in claim 8, wherein the magnetic shielding plate is disposed on an outer side wall of the two magnetic blocks, and an absorption end surface formed between the two magnetic blocks is disposed corresponding to an arc of a gripping portion of a workpiece to be gripped, which is a cylindrical bar.
10. The end gripper of claim 9, further comprising a three-dimensional force sensor for weighing a currently gripped workpiece, the three-dimensional force sensor being disposed between the first connecting rod and the connecting flange, and a connecting flange for connecting an external robot arm.
CN202120175272.0U 2021-01-22 2021-01-22 Tail end claw Active CN214455011U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120175272.0U CN214455011U (en) 2021-01-22 2021-01-22 Tail end claw

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120175272.0U CN214455011U (en) 2021-01-22 2021-01-22 Tail end claw

Publications (1)

Publication Number Publication Date
CN214455011U true CN214455011U (en) 2021-10-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202120175272.0U Active CN214455011U (en) 2021-01-22 2021-01-22 Tail end claw

Country Status (1)

Country Link
CN (1) CN214455011U (en)

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