CN217394966U

CN217394966U - Robot gripper flexible joint and robot gripper

Info

Publication number: CN217394966U
Application number: CN202220742717.3U
Authority: CN
Inventors: 翁竞
Original assignee: Sichuan Tairui Petrochemical Co ltd
Current assignee: Sichuan Tairui Petrochemical Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-09-09
Anticipated expiration: 2032-03-31

Abstract

The utility model provides a robot tongs flexible joint and robot tongs relates to robot tongs accessory field. The robot gripper flexible joint comprises a first connecting piece, a second connecting piece and a flexible connecting piece, wherein the first connecting piece is used for being connected with a robot, the second connecting piece is used for being connected with the gripper, the flexible connecting piece is arranged between the first connecting piece and the second connecting piece, the flexible connecting piece comprises a mounting plate and an adjusting plate, the mounting plate is fixedly connected with the first connecting piece, one end of the adjusting plate is rotatably connected with the mounting plate, and the other end of the adjusting plate is rotatably connected with the second connecting piece. The robot gripper can contact the bag, freely deflect and place on the bag, and well contact with the upper curved surface of the bag, so that the problem that the gripper grips the bag in an empty state is solved.

Description

Robot gripper flexible joint and robot gripper

Technical Field

The utility model relates to a robot tongs accessory field particularly, relates to a robot tongs flexible joint and robot tongs.

Background

Industrial robot grippers are usually attached to the wrist of the robot, which allows the industrial robot to perform a specific task. This means that industrial robot grippers are usually custom designed and manufactured for each different operation. End effectors come in two broad categories, clamps and tools. Industrial robot grippers are an important component in robot assembly.

The existing gripper is directly arranged on a flange plate of a robot, and the gripper and the robot are rigidly connected. In the process of grabbing a bag by the robot unstacking gripper, due to the fact that the bag stacking shape and the posture are deviated and the bag grabbing calculation position of the vision system has certain probability, downward deviation can occur, the robot gripper collides with the bag, and the robot has overload faults.

In view of this, the present application is specifically made.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot tongs flexible joint and robot tongs, it can freely deflect and place on the bag package at robot tongs contact bag package, contacts well with bag package curved surface, prevents the empty problem of grabbing bag package of tongs.

The embodiment of the utility model is realized like this:

in a first aspect, the utility model provides a robot tongs flexible joint, its including be used for with the robot be connected first connecting piece, be used for with the tongs be connected the second connecting piece and set up in first connecting piece with flexible connection between the second connecting piece, flexible connection includes mounting panel and regulating plate, the mounting panel with first connecting piece fixed connection, the one end of regulating plate with the mounting panel rotates to be connected, the other end of regulating plate with the second connecting piece rotates to be connected.

In an alternative embodiment, the mounting plate comprises a first mounting plate and a second mounting plate which are detachably connected, the first mounting plate is fixedly connected with the first connecting piece, and the second mounting plate is rotatably connected with the adjusting plate.

In an optional embodiment, the first mounting plate and the first connecting piece are connected through a vertically arranged support plate, one end of the support plate is fixedly connected with the first connecting piece, and the other end of the support plate is connected with the first mounting plate.

In an optional embodiment, the two support plates are arranged oppositely, one end of the first mounting plate is hinged to one of the support plates, the other end of the first mounting plate is connected with the other support plate in a clamping mode, and the second mounting plate is located above the first mounting plate.

In an alternative embodiment, a plurality of support springs are disposed between the first mounting plate and the second connector.

In an optional embodiment, the second connecting piece is provided with a mounting hole for mounting the supporting spring, and one end of the supporting spring, which is far away from the first mounting plate, is embedded in the mounting hole.

In an alternative embodiment, a reinforcing plate is disposed between the two support plates, the reinforcing plate being disposed parallel to the first mounting plate.

In an alternative embodiment, bolt holes are provided on both the first and second connectors.

In an alternative embodiment, the first connecting member and the second connecting member are both flanges.

In a second aspect, the present invention provides a robot gripper, comprising a robot, a gripper and a flexible joint as in any of the previous embodiments, wherein the robot is connected to the first connecting member, and the gripper is connected to the second connecting member.

The embodiment of the utility model provides a beneficial effect is:

the utility model provides a robot tongs flexible joint realizes connecting robot and tongs through first connecting piece and second connecting piece, and the flexible connection of robot and tongs can be realized to the flexible connection spare that sets up between first connecting piece and the second connecting piece, the setting of regulating plate can make the tongs rotate on horizontal direction and vertical direction for the robot, thereby effectively avoid because bag package pile-up shape and gesture deviation, and when some probability can appear down deviation in the packet calculation position is grabbed to the vision system, the emergence of the condition such as robot tongs bumps with the bag package, adopt the robot tongs flexible joint that this application provided can make the robot tongs place on the bag package by free deflection when contacting the bag package, it contacts well with the bag package curved surface. Prevent to grab the problem of bag package because of tongs claw is empty, the robot can not receive ascending reaction force simultaneously, leads to the trouble, solves the condition that can the claw normally snatch under the condition that the deviation appears, snatchs the effect better.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 is a schematic perspective view of a flexible joint of a robot gripper according to an embodiment of the present invention;

fig. 2 is a side view of a robot gripper flexible joint provided by an embodiment of the present invention;

fig. 3 is a front view of a robot gripper flexible joint according to an embodiment of the present invention.

Icon: 100-robot gripper flexible joints; 110-a first connector; 111-bolt holes; 120-a second connector; 121-mounting holes; 130-a flexible connection; 131-a mounting plate; 132-an adjusting plate; 133-a first mounting plate; 134-a second mounting plate; 135-a support plate; 136-a support spring; 137-reinforcing plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1, 2 and 3, the present embodiment provides a robot gripper flexible joint 100, which includes a first connecting member 110, a second connecting member 120 and a flexible connecting member 130.

The first connecting piece 110 is used for being connected with the robot, the second connecting piece 120 is used for being connected with the hand grab, and the flexible connecting piece 130 is arranged between the first connecting piece 110 and the second connecting piece 120.

In this application, all be provided with bolt hole 111 on first connecting piece 110 and the second connecting piece 120, through the cooperation of bolt hole 111 and bolt, realize being connected to robot and tongs with first connecting piece 110 and second connecting piece 120 respectively. Specifically, since the flanges are disposed on the robot and the gripper, in the prior art, the robot and the gripper are also directly connected through the flanges, and therefore, the first connecting member 110 and the second connecting member 120 are both flanges in the present application.

The flexible connecting member 130 includes a mounting plate 131 and an adjusting plate 132, the mounting plate 131 is fixedly connected to the first connecting member 110, one end of the adjusting plate 132 is rotatably connected to the mounting plate 131, and the other end of the adjusting plate 132 is rotatably connected to the second connecting member 120. Through the setting of regulating plate 132 in this application for can realize flexonics between robot and the tongs, the rotation connection in this application is realized through articulated, and regulating plate 132 can take place for mounting panel 131 and second connecting piece 120 about deflecting, the circumstances such as upper and lower displacement, the contact condition of matching tongs and bag package that can be better, thereby prevents that the empty condition of grabbing the bag package from appearing.

Further, in order to facilitate the installation of the robot gripper flexible joint 100, in the present application, the mounting plate 131 includes a first mounting plate 133 and a second mounting plate 134 that are detachably connected, the first mounting plate 133 is fixedly connected to the first connecting member 110, and the second mounting plate 134 is rotatably connected to the adjusting plate 132. By the detachable connection of the first mounting plate 133 and the second mounting plate 134, the first mounting plate 133 and the first connecting member 110 can be connected with the robot first, the second mounting plate 134 and the adjusting plate 132 are connected with the gripper first, and after the connection is completed, the first mounting plate 133 and the second mounting plate 134 are mounted, so that the flexible connection of the gripper and the robot is realized.

There are various ways to removably couple the first mounting plate 133 and the second mounting plate 134, including, but not limited to, bolting, snapping, etc. the first mounting plate 133 and the second mounting plate 134. A typical but non-limiting example is shown in the present application, and specifically, the first mounting plate 133 and the first connecting member 110 are connected by a vertically arranged support plate 135, one end of the support plate 135 is fixedly connected to the first connecting member 110, and the other end is connected to the first mounting plate 133. The supporting plates 135 are disposed in two opposite directions, and the supporting plates 135 form a frame structure, so that the first mounting plate 133 is conveniently installed between the two supporting plates 135. Specifically, one end of the first mounting plate 133 is hinged to one of the support plates 135, the other end of the first mounting plate 133 is clamped to the other support plate 135, and the second mounting plate 134 is located above the first mounting plate 133. That is, when the mounting is performed, the first mounting plate 133 can rotate relative to the support plates 135 by opening the locking position of the first mounting plate 133, and then the second mounting plate 134 is disposed between the two support plates 135, and then the first mounting plate 133 is connected to the locking position of the support plates 135, so that the second mounting plate 134 is disposed above the first mounting plate 133.

Further, in the present application, a plurality of support springs 136 are disposed between the first mounting plate 133 and the second connecting member 120, and the support springs 136 are disposed to avoid an excessive deformation range between the first mounting plate 133 and the second mounting plate 134, so that the overall support effect of the robot gripper flexible joint 100 is stronger. Specifically, the second connecting member 120 is provided with a mounting hole 121 for mounting the supporting spring 136, and one end of the supporting spring 136 far away from the first mounting plate 133 is embedded in the mounting hole 121. When installing first mounting panel 133 and second mounting panel 134, the supporting spring 136 that sets up on first mounting panel 133 rotates along with the rotation of first mounting panel 133, through embedding supporting spring 136 in mounting hole 121 in this application, realizes fixing supporting spring 136 to make supporting spring 136 better support and adjust the distance between second connecting piece 120 and first mounting panel 133.

It should also be noted that, in order to further enhance the supporting force and stability of the supporting plates 135, the reinforcing plate 137 is disposed between the two supporting plates 135, the reinforcing plate 137 is disposed in parallel with the first mounting plate 133, and the gap between the two supporting plates 135 is stably supported by the disposition of the reinforcing plate 137.

Furthermore, the present invention also provides a robot gripper, comprising a robot, a gripper and a flexible joint 100 for the robot gripper according to any of the previous embodiments, wherein the robot is connected to the first connecting member 110 and the gripper is connected to the second connecting member 120.

The working principle of the robot gripper is as follows: the robot, the gripper and the robot gripper flexible joint 100 are firstly installed, at this time, the first installation plate 133 and the second installation plate 134 of the robot gripper flexible joint 100 are detached and separated, the robot is connected with the first connection member 110, and two oppositely arranged support plates 135, a reinforcing plate 137 between the two support plates 135 and the first installation plate 133 connected to the bottom of the support plates 135 are fixedly connected below the first connection member 110. The gripper is connected with the second connecting piece 120, two adjusting plates 132 which are oppositely arranged are rotatably connected above the second connecting piece 120, and a second mounting plate 134 is hinged between the two adjusting plates 132. At this time, the robot and the gripper are separated, the first mounting plate 133 is detached from the support plates 135, so that the second mounting plate 134 is located between the two support plates 135, and then the first mounting plate 133 and the support plates 135 are mounted, so that the second mounting plate 134 is disposed on the upper surface of the first mounting plate 133, and the robot, the gripper and the flexible joint 100 of the robot gripper are mounted. After the installation, the robot and the gripper realize flexible connection, and the robot gripper flexible joint 100 provided by the application can enable the robot gripper to provide certain flexible freedom degree relative to a robot tool flange. When the robot gripper catches the bag, due to the fact that the bag stacking shape and the posture deviation and the bag catching calculation position of the vision system have certain probability to generate downward deviation, the robot gripper contacts the bag and can be freely deflected and placed on the bag and well contact with the upper curved surface of the bag when the deviation occurs. The problem of bag package is grabbed because of tongs paw sky, and the robot can not receive ascending reaction force simultaneously, leads to the trouble. The problem of the deviation can be solved and the paw can normally snatch under the condition.

To sum up, robot tongs flexible joint 100 that this application provided realizes connecting robot and tongs through first connecting piece 110 and second connecting piece 120, and the flexible connection of robot and tongs can be realized to flexible connection 130 that sets up between first connecting piece 110 and the second connecting piece 120, the setting of regulating plate 132 can make the tongs rotate at horizontal direction and vertical direction for the robot, thereby effectively avoid because bag pile up shape and gesture deviation, and when certain probability can appear down deviation in vision system bale grabbing calculation position, the emergence of the condition such as robot tongs bumps with the bag package, adopt robot tongs flexible joint 100 that this application provided can make robot tongs contact freely deflect when bag package and place on the bag package curved surface, contact well on the bag package. Prevent to grab the problem of bag package because of tongs claw is empty, the robot can not receive ascending reaction force simultaneously, leads to the trouble, solves the condition that can the claw normally snatch under the condition that the deviation appears, snatchs the effect better.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a robot tongs flexible joint, its characterized in that, its including be used for with the robot be connected first connecting piece, be used for with the second connecting piece that the tongs is connected and set up in first connecting piece with flexible connection between the second connecting piece, flexible connection includes mounting panel and regulating plate, the mounting panel with first connecting piece fixed connection, the one end of regulating plate with the mounting panel rotates to be connected, the other end of regulating plate with the second connecting piece rotates to be connected.

2. A robot gripper flexible joint as claimed in claim 1, wherein the mounting plate comprises a first mounting plate and a second mounting plate which are detachably connected, the first mounting plate being fixedly connected to the first connecting member and the second mounting plate being rotatably connected to the adjustment plate.

3. A robot gripper flexible joint as claimed in claim 2, wherein the first mounting plate and the first connecting member are connected by a vertically disposed support plate, one end of the support plate being fixedly connected to the first connecting member and the other end being connected to the first mounting plate.

4. A flexible joint for a robot gripper as claimed in claim 3, wherein the support plates are two and opposed, one end of the first mounting plate is hinged to one of the support plates, the other end of the first mounting plate is clamped to the other support plate, and the second mounting plate is located above the first mounting plate.

5. A robot hand grip flexible joint as claimed in claim 4, wherein a plurality of support springs are provided between the first mounting plate and the second attachment member.

6. A robot gripper flexible joint as claimed in claim 5, wherein the second connecting member is provided with mounting holes for mounting the supporting springs, and the ends of the supporting springs, which are far away from the first mounting plate, are embedded in the mounting holes.

7. A robot hand grip flexible joint as claimed in claim 4, wherein a reinforcing plate is provided between the two support plates, said reinforcing plate being arranged parallel to the first mounting plate.

8. A robot hand grip flexible joint as claimed in claim 1, wherein bolt holes are provided on both the first and second connectors.

9. A robot hand grip flexible joint as claimed in claim 8, wherein the first and second connectors are both flanges.

10. A robot gripper characterized in that it comprises a robot, a gripper and a robot gripper flexible joint according to any one of claims 1-9, said robot being connected to said first connecting member and said gripper being connected to said second connecting member.