CN218891895U - Joint robot snatchs module - Google Patents
Joint robot snatchs module Download PDFInfo
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- CN218891895U CN218891895U CN202223275649.3U CN202223275649U CN218891895U CN 218891895 U CN218891895 U CN 218891895U CN 202223275649 U CN202223275649 U CN 202223275649U CN 218891895 U CN218891895 U CN 218891895U
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Abstract
The articulated robot grabbing module comprises a wrist component, a first finger component and a second finger component, wherein the wrist component is connected and arranged on the wrist part of the articulated robot; the wrist component is provided with a paw support, the paw support is provided with two groups of linear guide rails, and the first finger component and the second finger component are respectively arranged on the linear guide rails in a relatively sliding manner; the paw support is also provided with a linkage mechanism, the linkage mechanism is provided with a middle connecting rod and two end connecting rods, and the middle connecting rod is arranged on the paw support in a relatively rotatable manner; one end of one end connecting rod is rotatably arranged at one end of the middle connecting rod, and the other end of the end connecting rod is rotatably connected with the first finger assembly; one end of the other end connecting rod is rotatably arranged at the other end of the middle connecting rod, and the other end of the end connecting rod is rotatably connected with the second finger assembly. So as to more reliably clamp complex workpieces and prevent the workpieces from sliding or falling.
Description
Technical Field
The utility model relates to the field of industrial robots, in particular to a grabbing module of an articulated robot.
Background
The joint robot is widely used in the existing automatic production line, and has obvious effects on the aspects of replacing manual working procedures, improving the working quality and the production efficiency and the like in the automatic production line. However, when the device is applied to some more complex work pieces, for example, when the device needs to grasp a complex work piece formed by combining the winch and the fixed frame seat thereof in the embodiment of the application, the work piece is easy to drop due to the large size and complex shape structure of the work piece, and the reliable clamping of the shape of the work piece is difficult to realize due to other modes such as magnetic attraction and the like.
Disclosure of Invention
In view of the above, in order to solve the problems of the above-mentioned techniques, the present utility model proposes an articulated robot gripping module to more reliably grip a complex workpiece, preventing the workpiece from sliding or falling.
The articulated robot grabbing module comprises a wrist component, a first finger component and a second finger component, wherein the wrist component is connected and arranged on the wrist part of the articulated robot; the wrist component is provided with a paw support, two groups of linear guide rails are arranged on the paw support, and the first finger component and the second finger component are respectively arranged on the linear guide rails in a relatively sliding manner; the paw support is also provided with a linkage mechanism, the linkage mechanism is provided with a middle connecting rod and two end connecting rods, and the middle connecting rod is rotatably arranged on the paw support; one end of one end connecting rod is rotatably arranged at one end of the middle connecting rod, and the other end of the end connecting rod is rotatably connected with the first finger assembly; one end of the other end connecting rod is rotatably arranged at the other end of the middle connecting rod, and the other end of the end connecting rod is rotatably connected with the second finger assembly; the paw support is also provided with an air cylinder, and a driving shaft of the air cylinder is connected with the first finger assembly or the second finger assembly.
Further, the first finger assembly and the second finger assembly are respectively provided with a first finger, the first finger is respectively provided with a V-shaped cushion block, the V-shaped cushion blocks arranged on the first finger assembly and the V-shaped cushion blocks arranged on the second finger assembly are symmetrically arranged, and the V-shaped opening of the V-shaped cushion block arranged on the first finger assembly faces the V-shaped opening of the V-shaped cushion block arranged on the second finger assembly.
Further, two finger air cylinders are respectively arranged on the first finger assembly and the second finger assembly, and a driving shaft of each finger air cylinder is connected with a top block; in the two finger cylinders on the first finger assembly, the top block of one finger cylinder is arranged above, and the top block of the other finger cylinder is arranged below; in the two finger cylinders on the second finger assembly, the top block of one finger cylinder is arranged above, and the top block of the other finger cylinder is arranged below.
Preferably, the first fingers arranged on the first finger assembly and the second finger assembly are of inner groove structures and are symmetrically arranged, and the V-shaped cushion block and the finger cylinder are respectively arranged in the inner grooves of the first fingers; in the two finger cylinders on the first finger assembly, the top block of one finger cylinder is arranged above the first finger, and the top block of the other finger cylinder is arranged below the first finger; in the two finger cylinders on the second finger assembly, the top block of one finger cylinder is arranged above the first finger, and the top block of the other finger cylinder is arranged below the first finger.
Further, the first finger assembly and the second finger assembly are respectively provided with a second finger, the second finger is respectively provided with a rectangular cushion block, and the rectangular cushion block is provided with a plurality of semicircular grooves and/or square grooves.
Preferably, the rectangular cushion blocks on the first finger assembly and the second finger assembly are symmetrically arranged.
Preferably, the first finger assembly and the second finger assembly are respectively provided with a first finger and a second finger, wherein the two first fingers are arranged between the two second fingers, and a gap is arranged between the first fingers and the second fingers.
Further, the paw support comprises a rectangular support, a wrist connecting plate is arranged on one side of the rectangular support, a group of linear guide rails are respectively arranged on the upper portion and the lower portion of the other side of the rectangular support, and the two groups of linear guide rails are parallel to each other.
Further, a linkage installation part is arranged in the middle of the rectangular support, and the middle of the middle connecting rod is installed on the linkage installation part in a relatively rotatable manner through a pin shaft.
Preferably, the air cylinder is arranged above the rectangular bracket, and the air cylinder is fixed on the top of the rectangular bracket and/or the wrist connecting plate; the cylinder is installed in the one end at rectangular support top, and the other end at rectangular support top still is equipped with the collision piece, still be equipped with the buffer block on the collision piece.
After the technology provided by the utility model is adopted, the articulated robot grabbing module provided by the embodiment of the utility model has the following beneficial effects.
1) Because the reaction force when clamping the workpiece is born by the grabbing module, the wrist part of the joint robot only needs to bear gravity and is not influenced by the change force in the grabbing process, more stable and reliable clamping can be realized, and the travel of the wrist part of the joint robot is more stable.
2) Through the cooperation setting of first finger, kicking block and second finger, can adapt to the centre gripping work under the multiple condition, can centre gripping circular square work piece, have the frame construction of member or have the work piece of upper and lower flange face, especially possess the complicated work piece of aforementioned various structural feature.
3) The combination of any two clamping modes of the first finger clamping, the top block clamping or the second finger clamping can realize more stable and reliable clamping. If two fingers and the top block are adopted to clamp in multiple positions and directions, reliable clamping can be realized, the required force is small, and the workpiece cannot be damaged. And the position, especially the azimuth, of the workpiece can be reliably limited, so that the position of the workpiece on the wrist assembly is relatively fixed, the route of the manipulator is relatively fixed, and the locating time is saved in repeated work.
Drawings
Fig. 1 is a schematic structural diagram of an articulated robot gripping module according to an embodiment of the present application when the articulated robot gripping module is mounted on an articulated robot for use;
fig. 2 is a diagram of a grasping module of an articulated robot according to an embodiment of the present application;
FIG. 3 is a block diagram of a wrist assembly according to an embodiment of the present application;
FIG. 4 is a block diagram of a first finger assembly according to an embodiment of the present application;
FIG. 5 is a block diagram of a second finger assembly according to an embodiment of the present application;
fig. 6 is a schematic diagram of a state when the articulated robot gripping module in the embodiment of the present application grips a complex workpiece.
Reference numerals illustrate:
Paw support 10 drive plate 211
Floating joint 212 of wrist connecting plate 100
Cylinder 4 of slider 110
Middle connecting rod 121 ram 41
First substrate 21V cushion block 51
Fixed frame seat 7
Detailed Description
Various preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. The following description is provided with reference to the accompanying drawings to assist in the understanding of the exemplary embodiments of the utility model as defined by the claims and their equivalents. It includes various specific details that aid in understanding, but they are to be considered exemplary only. Accordingly, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the utility model. Moreover, a detailed description of functions and configurations well known in the art will be omitted for the sake of clarity and conciseness of the present specification.
As shown in fig. 1 to 5, an articulated robot gripping module includes a wrist assembly 1, a first finger assembly 2, and a second finger assembly 3, the wrist assembly 1 being connectively disposed on a wrist portion 90 of an articulated robot 9; the wrist component 1 is provided with a paw support 10, the paw support 10 is provided with two groups of linear guide rails 11, and the first finger component 2 and the second finger component 3 are respectively arranged on the linear guide rails 11 in a relatively sliding manner; the paw support 10 is also provided with a linkage mechanism 12, the linkage mechanism 12 is provided with a middle connecting rod 121 and two end connecting rods 122, and the middle connecting rod 121 is rotatably arranged on the paw support 10; one end of one end link 122 is rotatably mounted at one end of the middle link 121, and the other end of the end link 122 is rotatably connected with the first finger assembly 2; one end of the other end link 122 is rotatably mounted at the other end of the middle link 121, and the other end of the end link 122 is rotatably connected with the second finger assembly 3; the paw support 10 is also provided with a cylinder 4, and a driving shaft 40 of the cylinder 4 is connected with the first finger assembly 2 or the second finger assembly 3. The driving shaft of the air cylinder can drive the first finger assembly to move along the linear guide rail, and meanwhile, the left-right linkage mechanism formed by the plurality of connecting rods is matched with the finger driving mechanism to act so as to drive the second finger assembly to synchronously move in the opposite direction, so that a workpiece can be clamped. Because the reaction force when clamping the workpiece is born by the grabbing module, the wrist part of the joint robot only needs to bear gravity and is not influenced by the change force in the grabbing process, more stable and reliable clamping can be realized, and the travel of the wrist part of the joint robot is more stable.
The paw support 10 comprises a rectangular support 101, a wrist connecting plate 100 is arranged on one side of the rectangular support 101, a group of linear guide rails 11 are respectively arranged on the upper portion and the lower portion of the other side of the rectangular support 101, and the two groups of linear guide rails 11 are parallel to each other.
The wrist attachment plate 100 is fixedly mounted on the wrist portion 90 of the articulated robot 9.
The middle part of the rectangular bracket 101 is provided with a linkage installation part 1010, and the middle part of the middle connecting rod 121 is rotatably installed on the linkage installation part 1010 through a pin shaft.
The air cylinder 4 is arranged above the rectangular bracket 101, and the air cylinder 4 is fixed on the top of the rectangular bracket 101 and/or the wrist connecting plate 100; the cylinder 4 is installed at one end of the top of the rectangular bracket 101, the other end of the top of the rectangular bracket 101 is also provided with a collision block 41, and the collision block 41 is also provided with a buffer block 42.
The first finger assembly 2 is provided with a first substrate 21, and a first finger 5 and a second finger 6 are arranged on one side of the first substrate 21; two sliding blocks 110 are arranged on the other side of the first base plate 21, and the two sliding blocks 110 are respectively arranged on two groups of linear guide rails 11 arranged on the paw support 10; the first base plate 21 is further provided with a first pin 210 (shoulder hinge pin (MIE 11-D16-L24)), and the first pin 210 is rotatably connected to the end link 122.
The first base plate 21 is further provided with a driving plate 211, the driving plate 211 is provided with a floating joint (F-M20X 150F) 212, and the floating joint 212 is connected with the driving shaft 40 of the cylinder 4.
The second finger assembly 3 is provided with a second substrate 31, one side of the second substrate 31 is provided with a first finger 5 and a second finger 6, the other side of the second substrate 31 is provided with two sliding blocks 110, and the two sliding blocks 110 are respectively arranged on two groups of linear guide rails 11 arranged on the paw support 10; the second base plate 31 is further provided with a second pin 310, and the second pin 310 is rotatably connected with the end link 122.
The first finger assembly 2 and the second finger assembly 3 are respectively provided with a first finger 5, the first finger 5 is respectively provided with a V-shaped cushion block 51, the V-shaped cushion blocks 51 arranged on the first finger assembly 2 and the V-shaped cushion blocks 51 arranged on the second finger assembly 3 are symmetrically arranged, and the V-shaped opening of the V-shaped cushion block 51 arranged on the first finger assembly 2 faces the V-shaped opening of the V-shaped cushion block 51 arranged on the second finger assembly 3. Through the symmetrical arrangement of the first finger and the V-shaped cushion block, the clamping of a conventional object can be realized, for example, round and square workpieces can be clamped.
Two finger air cylinders 52 are respectively arranged on the first finger assembly 2 and the second finger assembly 3, and a top block 53 is connected and arranged on a driving shaft of each finger air cylinder 52; of the two finger cylinders 52 on the first finger assembly 2, the top block 53 of one finger cylinder 52 is provided above and the top block 53 of the other finger cylinder 52 is provided below; in the two finger cylinders 52 of the second finger assembly 3, the top block 53 of one finger cylinder 52 is provided above and the top block 53 of the other finger cylinder 52 is provided below. Through setting up the finger cylinder, can be when the work piece is held through first finger, it is ejecting to the upper and lower side through the kicking block to can carry out the centre gripping to the work piece from another direction, make the centre gripping to the work piece more reliable, more stable, be particularly useful for the work piece that has upper and lower flange face, by V type cushion centre gripping work piece main part when the centre gripping, the kicking block then withstands the internal surface of flange face from both sides, prevents that the work piece from sliding, empting or dropping.
In order to accommodate the components and increase the rigidity of the first finger, the first finger 5 arranged on the first finger assembly 2 and the second finger assembly 3 is of an inner groove type structure and is symmetrically arranged, and the V-shaped cushion block 51 and the finger cylinder 52 are respectively arranged in the inner groove of the first finger 5; in the two finger cylinders 52 on the first finger assembly 2, the top block 53 of one finger cylinder 52 is disposed above the first finger 5, and the top block 53 of the other finger cylinder 52 is disposed below the first finger 5; in the two finger cylinders 52 of the second finger assembly 3, the top block 53 of one finger cylinder 52 is provided above the first finger 5, and the top block 53 of the other finger cylinder 52 is provided below the first finger 5.
The first finger assembly 2 and the second finger assembly 3 are respectively provided with a second finger 6, the second finger 6 is respectively provided with a rectangular cushion block 61, and the rectangular cushion block 61 is provided with a plurality of semicircular grooves 62 and/or square grooves 63.
The rectangular cushion blocks 61 on the first finger assembly 2 and the second finger assembly 3 are symmetrically arranged. Through the setting of second finger, its rectangle cushion that is equipped with a plurality of semicircle grooves and/or square groove is especially adapted to the centre gripping has the frame construction work piece of member, and the cooperation of second finger and first finger and kicking block can follow a plurality of positions, a plurality of direction centre gripping work piece, improves the reliability when centre gripping.
The first finger assembly 2 and the second finger assembly 3 are respectively provided with a first finger 5 and a second finger 6, wherein the two first fingers 5 are arranged between the two second fingers 6, and a gap is arranged between the first fingers 5 and the second fingers 6.
Through the cooperation setting of first finger, kicking block and second finger, can adapt to the centre gripping work under the multiple condition, can centre gripping circular square work piece, have the frame construction of member, have the work piece of upper and lower flange face, especially possess the complicated work piece of aforementioned various structural feature.
For example, the workpiece shown in fig. 6 of the present application is a composite workpiece formed by combining a winch 8 and a fixed frame 7, and has a circular winch body 81 and a winch flange 82, and also has the fixed frame 7, wherein the fixed frame 7 is formed by connecting a plurality of frame connecting rods 71. The winch body 81 can be clamped by the first finger clamping, the frame seat connecting rod 71 can be clamped by the second finger clamping, and the winch flange 82 can be clamped by the top block clamping, but only one of the structural features cannot guarantee reliable clamping, and the winch can easily slide or fall off, and if the clamping force is too large for reliable clamping, the workpiece can also be easily damaged. By the clamping mode shown in fig. 6, the reliability during clamping can be greatly improved, and the clamping force required by each clamping mode is smaller, so that the workpiece is not damaged. Meanwhile, due to the structural constraint of the grabbing module, the position of the workpiece on the wrist component is relatively fixed, so that the route of the manipulator is relatively fixed, and the locating time is saved in repeated work.
By adopting the scheme of the application, the clamping can be realized more stably and reliably by adopting any two clamping modes in the first finger clamping, the top block clamping or the second finger clamping. If two fingers and the top block are adopted to clamp in multiple positions and directions, reliable clamping can be realized, the required force is small, and the workpiece cannot be damaged. And the position, especially the azimuth, of the workpiece can be reliably limited, so that the position of the workpiece on the wrist assembly is relatively fixed, the route of the manipulator is relatively fixed, and the locating time is saved in repeated work.
The foregoing has outlined rather broadly the more detailed description of the utility model in order that the detailed description of the principles and embodiments of the utility model may be implemented in conjunction with the detailed description of the utility model that follows, the examples being merely intended to facilitate an understanding of the method of the utility model and its core concepts; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.
From the description of the embodiments above, it will be apparent to those skilled in the art that the utility model may be practiced. Of course, the above listed cases are only examples, and the present utility model is not limited thereto. Those skilled in the art will appreciate that other variations or simplifications of the inventive solution may be suitably employed in the present utility model and are intended to be included within the scope of the present utility model.
Claims (10)
1. The articulated robot grabbing module is characterized by comprising a wrist assembly (1), a first finger assembly (2) and a second finger assembly (3), wherein the wrist assembly (1) is connected and arranged on a wrist part (90) of an articulated robot (9); the wrist assembly (1) is provided with a paw support (10), two groups of linear guide rails (11) are arranged on the paw support (10), and the first finger assembly (2) and the second finger assembly (3) are respectively arranged on the linear guide rails (11) in a relatively sliding manner; the gripper bracket (10) is also provided with a linkage mechanism (12), the linkage mechanism (12) is provided with a middle connecting rod (121) and two end connecting rods (122), and the middle connecting rod (121) is rotatably arranged on the gripper bracket (10); one end of one end connecting rod (122) is rotatably arranged at one end of the middle connecting rod (121), and the other end of the end connecting rod (122) is rotatably connected with the first finger assembly (2); one end of the other end connecting rod (122) is rotatably arranged at the other end of the middle connecting rod (121), and the other end of the end connecting rod (122) is rotatably connected with the second finger assembly (3); the paw support (10) is also provided with an air cylinder (4), and a driving shaft (40) of the air cylinder (4) is connected with the first finger assembly (2) or the second finger assembly (3).
2. The articulated robot gripping module according to claim 1, wherein the first finger assembly (2) and the second finger assembly (3) are respectively provided with a first finger (5), the first finger (5) is respectively provided with a V-shaped cushion block (51), the V-shaped cushion block (51) arranged on the first finger assembly (2) and the V-shaped cushion block (51) arranged on the second finger assembly (3) are symmetrically arranged, and the V-shaped opening of the V-shaped cushion block (51) arranged on the first finger assembly (2) faces the V-shaped opening of the V-shaped cushion block (51) arranged on the second finger assembly (3).
3. The articulated robot gripping module according to claim 2, wherein two finger air cylinders (52) are respectively arranged on the first finger assembly (2) and the second finger assembly (3), and a top block (53) is connected and arranged on a driving shaft of each finger air cylinder (52); in two finger cylinders (52) on the first finger assembly (2), a top block (53) of one finger cylinder (52) is arranged above, and a top block (53) of the other finger cylinder (52) is arranged below; in the two finger cylinders (52) on the second finger assembly (3), a top block (53) of one finger cylinder (52) is arranged above, and a top block (53) of the other finger cylinder (52) is arranged below.
4. The articulated robot gripping module according to claim 3, wherein the first fingers (5) arranged on the first finger assembly (2) and the second finger assembly (3) are of an inner groove structure and are symmetrically arranged, and the V-shaped cushion block (51) and the finger cylinder (52) are respectively arranged in the inner grooves of the first fingers (5); in two finger cylinders (52) on the first finger assembly (2), a top block (53) of one finger cylinder (52) is arranged above the first finger (5), and a top block (53) of the other finger cylinder (52) is arranged below the first finger (5); in two finger cylinders (52) on the second finger assembly (3), a top block (53) of one finger cylinder (52) is arranged above the first finger (5), and a top block (53) of the other finger cylinder (52) is arranged below the first finger (5).
5. The articulated robot gripping module according to claim 1, wherein the first finger assembly (2) and the second finger assembly (3) are respectively provided with a second finger (6), the second finger (6) is respectively provided with a rectangular cushion block (61), and the rectangular cushion block (61) is provided with a plurality of semicircular grooves (62) and/or square grooves (63).
6. The articulated robot gripping module according to claim 5, characterized in that rectangular pads (61) on the first finger assembly (2) and the second finger assembly (3) are symmetrically arranged.
7. The articulated robot gripping module according to claim 1, wherein the first finger assembly (2) and the second finger assembly (3) are provided with a first finger (5) and a second finger (6), respectively, wherein the two first fingers (5) are arranged between the two second fingers (6), and a gap is provided between the first fingers (5) and the second fingers (6).
8. The articulated robot gripping module according to claim 1, wherein the gripper bracket (10) comprises a rectangular bracket (101), a wrist connecting plate (100) is arranged on one side of the rectangular bracket (101), a group of linear guide rails (11) are respectively arranged on the upper and lower parts of the other side of the rectangular bracket (101), and the two groups of linear guide rails (11) are mutually parallel.
9. The articulated robot gripping module according to claim 8, wherein a linkage mounting portion (1010) is provided at a middle portion of the rectangular bracket (101), and the middle portion of the middle link (121) is rotatably mounted on the linkage mounting portion (1010) by a pin shaft.
10. The articulated robot gripping module according to claim 9, characterized in that the cylinder (4) is mounted above the rectangular support (101), the cylinder (4) being fixed on top of the rectangular support (101) and/or on the wrist connection plate (100); the cylinder (4) is arranged at one end of the top of the rectangular support (101), the other end of the top of the rectangular support (101) is also provided with a collision block (41), and the collision block (41) is also provided with a buffer block (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223275649.3U CN218891895U (en) | 2022-12-07 | 2022-12-07 | Joint robot snatchs module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223275649.3U CN218891895U (en) | 2022-12-07 | 2022-12-07 | Joint robot snatchs module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218891895U true CN218891895U (en) | 2023-04-21 |
Family
ID=86000431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223275649.3U Active CN218891895U (en) | 2022-12-07 | 2022-12-07 | Joint robot snatchs module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218891895U (en) |
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2022
- 2022-12-07 CN CN202223275649.3U patent/CN218891895U/en active Active
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