CN217751468U

CN217751468U - Hand claw for picking robot

Info

Publication number: CN217751468U
Application number: CN202221431068.1U
Authority: CN
Inventors: 姚成; 潘宗熠; 童银兵
Original assignee: Hubei Jiuzhou Yunzhi Technology Co ltd
Current assignee: Hubei Jiuzhou Yunzhi Technology Co ltd
Priority date: 2022-06-09
Filing date: 2022-06-09
Publication date: 2022-11-08
Anticipated expiration: 2032-06-09

Abstract

The utility model relates to a hand claw for picking robot, including mounting panel, two adsorption component, centre gripping subassembly and industry 3D camera, the mounting panel includes installation department, two first extensions and second extension, and two first extensions and second extension distribute and set up in the outside of installation department, and the one end that the installation department was kept away from to two first extensions is provided with adsorption component, and the one end that the installation department was kept away from to the second extension is provided with the centre gripping subassembly, industry 3D camera sets up in the outside of second extension. The utility model discloses a hand claw that selects robot to use adopts multistation three-dimensional design, can snatch a plurality of goods simultaneously, and is provided with the goods that adsorption component and centre gripping subassembly can satisfy different article types and selects the demand, for example accessible adsorption component absorbs box-like goods etc. that the size is moderate, comes the small-size box-like goods etc. that centre gripping adsorption component can't carry out absorption through the centre gripping subassembly, and the flexible operation is selected efficiently.

Description

Hand claw for picking robot

Technical Field

The utility model relates to a select robot technical field, specific say a hand claw that selects robot to use.

Background

At present, product transfer between subsequent process stations of a production line depends on manpower, the product needs to be transferred to a region and sorted manually, and with the continuous rise of labor cost, a robot replaces manpower to do repetitive high-intensity labor, which is an important direction for the research of modern robots;

when replacing the manpower to select through the robot, need replace the staff to accomplish for selecting robot installation hand and select the operation, current hand claw only has single ability of snatching, and does not possess the ability of discerning the goods.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to above not enough, provide a hand claw that selects robot to use.

For solving the technical problem, the utility model adopts the following technical scheme:

a paw for a picking robot comprises a mounting plate, two adsorption components, a clamping component and an industrial 3D camera, wherein the mounting plate comprises a mounting part, two first extension parts and a second extension part, the two first extension parts and the second extension part are distributed on the outer side of the mounting part, the adsorption components are arranged at one ends, far away from the mounting part, of the two first extension parts, the clamping component is arranged at one end, far away from the mounting part, of the second extension part, and the industrial 3D camera is arranged on the outer side of the second extension part;

the adsorption assembly comprises a sucker, an installation rod and a quick-release air pipe connector, the sucker is arranged at the bottom end of the installation rod, the quick-release air pipe connector is arranged at the top end of the installation rod, and an air path pipeline for communicating the sucker with the quick-release air pipe connector is arranged inside the installation rod;

the mounting rod is detachably arranged on the first extending part.

Furthermore, waist-shaped holes are vertically formed in the middle of the first extending portion, the installation rod is arranged in the waist-shaped holes, external threads are formed in the outer side of the middle of the installation rod, nuts are arranged above and below the outer side of the installation rod, which is located on the first extending portion, and the installation rod is fixed on the first extending portion through the nuts.

Further, the outside of second extension can be dismantled and be provided with the camera mounting panel, industry 3D camera can be dismantled and set up on the camera mounting panel.

Further, the centre gripping subassembly includes electronic clamping jaw and two anchor clamps, electronic clamping jaw sets up in the one end that the installation department was kept away from to the lower surface of second extension, and two anchor clamps set up in the bottom of electronic clamping jaw, electronic clamping jaw is used for promoting two anchor clamps and is close to each other or keep away from.

Further, the installation department is the circular slab, first extension and second extension are the rectangular plate, and two first extensions and second extension radially set up in the outside and evenly distributed of installation department.

The utility model adopts the above technical scheme after, compare with prior art, have following advantage:

the gripper for the picking robot adopts a multi-station three-dimensional design, can grab a plurality of goods simultaneously, and is provided with the adsorption component and the clamping component, so that the picking requirements of the goods of different types can be met, for example, box-shaped goods with proper size can be absorbed by the adsorption component, small box-shaped goods which cannot be absorbed by the adsorption component can be clamped by the clamping component, and the like, the operation is flexible, and the picking efficiency is high;

the utility model discloses a be provided with industry 3D camera on the hand claw, select the operation and be, scan the goods of packing box through industry 3D camera, be convenient for get the goods through robot control hand claw and press from both sides and get.

The present invention will be described in detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic perspective view of another angle of the present invention;

fig. 3 is a schematic view of the combined installation with a robot.

In the drawings, the reference numbers indicate the following list of parts:

1. mounting a plate; 11. an installation part; 12. a first extension portion; 121. a waist-shaped hole; 13. a second extension portion; 2. an industrial 3D camera; 21. a camera mounting plate; 31. a suction cup; 32. mounting a rod; 33. a quick-release air pipe joint; 34. a nut; 41. an electric clamping jaw; 42. and (4) clamping.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, 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 orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 and fig. 2, a gripper for a picking robot includes a mounting plate 1, two suction assemblies, a clamping assembly, and an industrial 3D camera 2, where the mounting plate 1 includes a mounting portion 11, two first extension portions 12 and a second extension portion 13, the two first extension portions 12 and the second extension portion 13 are distributed outside the mounting portion 11, the suction assemblies are disposed at ends of the two first extension portions 12 far away from the mounting portion 11, the clamping assembly is disposed at an end of the second extension portion 13 far away from the mounting portion 11, and the industrial 3D camera 2 is disposed outside the second extension portion 13;

the adsorption assembly comprises a suction disc 31, an installation rod 32 and a quick-release air pipe joint 33, the suction disc 31 is arranged at the bottom end of the installation rod 32, the quick-release air pipe joint 33 is arranged at the top end of the installation rod 32, and an air channel pipeline for communicating the suction disc 31 with the quick-release air pipe joint 33 is arranged inside the installation rod 32;

the mounting rod 32 is detachably disposed on the first extension 12.

In one embodiment, a waist-shaped hole 121 is vertically formed in the middle of the first extending portion 12, the mounting rod 32 is disposed in the waist-shaped hole 121, an external thread is formed on the outer side of the middle of the mounting rod 32, nuts 34 are disposed on the outer side of the mounting rod 32 above and below the first extending portion 12, and the mounting rod 32 is fixed on the first extending portion 12 through the nuts 34;

when the position of the adsorption component needs to be adjusted, the nut 34 is unscrewed, then the mounting rod 32 is horizontally moved in the kidney-shaped hole 121 to be adjusted to a proper position, and the nut 34 is screwed again to complete the adjustment; when the relative distance between the suction cup 31 and the mounting plate 1 needs to be adjusted, the nut 34 is unscrewed, the mounting rod 32 is moved up and down in the slotted hole 121 to be adjusted to a proper position, the nut 34 is fixed on the outer side of the mounting rod 32 again, and the mounting rod is fixed on the first extension part 12, so that the adjustment is completed.

As an embodiment, a camera mounting plate 21 is detachably disposed on the outer side of the second extending portion 13, and the industrial 3D camera 2 is detachably disposed on the camera mounting plate 21;

in this embodiment, the camera mounting plate 21 is fixed to the outer side of the second extending portion 13 by bolts, a mounting hole matched with the industrial 3D camera 2 is reserved on the camera mounting plate 21, and the industrial 3D camera is mounted on the camera mounting plate 21 by bolts;

in the present embodiment, the model of the industrial 3D Camera 2 is Camera (OMRON) 20141209.

As an embodiment, the clamping assembly includes an electric clamping jaw 41 and two clamps 42, the electric clamping jaw 41 is disposed at one end of the lower surface of the second extending portion 13 far away from the mounting portion 11, the two clamps 42 are disposed at the bottom of the electric clamping jaw 41, and the electric clamping jaw 41 is used for pushing the two clamps 42 to approach or separate from each other.

In one embodiment, the mounting portion 11 is a circular plate, the first extending portion 12 and the second extending portion 13 are both rectangular plates, and the two first extending portions 12 and the two second extending portions 13 are radially disposed outside the mounting portion 11 and are uniformly distributed.

Specifically, the utility model discloses seted up a plurality of counter bores on the installation department 11 of mounting panel 1 (not drawing in the drawing, specifically set up the counter bore according to the last mounted position of robot arm), the position of counter bore and the reservation installation position one-to-one of robot tip, when using, through the bolt with mounting panel 1 be fixed in the tip of robot, as shown in fig. 1.

The utility model discloses a theory of operation:

when in use, the adsorption component is connected with an air supply pipe through a quick-release air pipe joint 33, and sucks goods through a sucking disc 31;

if the article cannot be adsorbed by the adsorption assembly, the article is clamped by the clamping assembly, and during clamping, the two clamps 42 are pushed by the electric clamping jaws 41 to approach each other so as to clamp the article.

The foregoing is illustrative of the best mode of the invention, and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical teaching of the present invention is also within the protection scope of the present invention.

Claims

1. The gripper for the picking robot is characterized by comprising a mounting plate (1), two adsorption components, a clamping component and an industrial 3D camera (2), wherein the mounting plate (1) comprises a mounting part (11), two first extension parts (12) and a second extension part (13), the two first extension parts (12) and the second extension part (13) are distributed on the outer side of the mounting part (11), the adsorption components are arranged at one ends, far away from the mounting part (11), of the two first extension parts (12), the clamping component is arranged at one end, far away from the mounting part (11), of the second extension part (13), and the industrial 3D camera (2) is arranged on the outer side of the second extension part (13); the adsorption assembly comprises a sucker (31), an installation rod (32) and a quick-release air pipe connector (33), the sucker (31) is arranged at the bottom end of the installation rod (32), the quick-release air pipe connector (33) is arranged at the top end of the installation rod (32), and an air passage pipeline for communicating the sucker (31) with the quick-release air pipe connector (33) is arranged inside the installation rod (32);

the mounting rod (32) is detachably arranged on the first extension part (12).

2. The gripper for the picking robot as claimed in claim 1, wherein a waist-shaped hole (121) is vertically formed in the middle of the first extension portion (12), the mounting rod (32) is disposed in the waist-shaped hole (121), an external thread is formed on the outer side of the middle of the mounting rod (32), nuts (34) are disposed on the outer side of the mounting rod (32) above and below the first extension portion (12), and the mounting rod (32) is fixed on the first extension portion (12) through the nuts (34).

3. A gripper for a picking robot according to claim 1, characterized in that the outside of the second extension (13) is detachably provided with a camera mounting plate (21), the industrial 3D camera (2) being detachably provided on the camera mounting plate (21).

4. A gripper for a picking robot according to claim 1, characterized in that the gripping assembly comprises an electrically powered jaw (41) and two clamps (42), the electrically powered jaw (41) being provided at the end of the lower surface of the second extension (13) remote from the mounting (11), the two clamps (42) being provided at the bottom of the electrically powered jaw (41), the electrically powered jaw (41) being adapted to push the two clamps (42) towards or away from each other.

5. A gripper for a picking robot according to claim 1, characterized in that the mounting part (11) is a circular plate, the first (12) and second (13) extensions are both rectangular plates, and the two first (12) and second (13) extensions are radially arranged outside the mounting part (11) and evenly distributed.