CN219325252U

CN219325252U - Industrial robot and automatic paw thereof

Info

Publication number: CN219325252U
Application number: CN202320060371.3U
Authority: CN
Inventors: 曹来富; 李慧; 朱鹏涛; 高云萌; 员俊峰; 王海涛; 卫兵
Original assignee: Beijing Research Institute of Auotomation for Machinery Industry Co Ltd
Current assignee: Beijing Research Institute of Auotomation for Machinery Industry Co Ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-07-11
Anticipated expiration: 2033-01-09

Abstract

An industrial robot and an automated gripper thereof, the industrial robot including an automated gripper mounted at a robot arm end of the industrial robot, comprising: the bracket is connected with the tail end of the robot arm; the fixed fingers are symmetrically arranged on the bracket; the driving mechanism is arranged on the bracket and is connected with the control mechanism of the industrial robot; the movable finger is symmetrically arranged on the bracket corresponding to the fixed finger and is connected with the driving mechanism; the movable finger is provided with an initial position and a grabbing position relative to the fixed finger, and the driving mechanism receives the instruction of the control mechanism to drive the movable finger to switch between the initial position and the grabbing position. The automatic gripper can automatically open the bag opening and fix the packaging bag, the gripping is firm, and the compatible gripping of packaging bags of different types can be realized by changing gripping fingers.

Description

Industrial robot and automatic paw thereof

Technical Field

The utility model relates to an industrial robot, in particular to an industrial robot and an automatic gripper carried by the industrial robot for completing grabbing and opening of a specific packaging bag.

Background

Along with the popularization of intelligent factories, various fields are being changed in automation and intelligence, and mechanical equipment is gradually used for replacing manpower, so that high-efficiency and high-quality modern production is realized.

Because the packaging bag is strong in flexibility and various in specification, most of the bag opening and fixing are carried out manually in the current bag opening and filling process, so that the efficiency is low and labor force is wasted.

Disclosure of Invention

The technical problem to be solved by the utility model is to provide an industrial robot and an automatic gripper carried by the industrial robot for completing grabbing of a specific packaging bag and opening of the bag.

In order to achieve the above object, the present utility model provides an automatic gripper of an industrial robot, which is installed at a robot arm end of the industrial robot, comprising:

the bracket is connected with the tail end of the robot arm;

the fixed fingers are symmetrically arranged on the bracket;

the driving mechanism is arranged on the bracket and is connected with the control mechanism of the industrial robot;

the movable finger is symmetrically arranged on the bracket corresponding to the fixed finger and is connected with the driving mechanism; the movable finger is provided with an initial position and a grabbing position relative to the fixed finger, and the driving mechanism receives the instruction of the control mechanism to drive the movable finger to switch between the initial position and the grabbing position.

The automatic paw of the industrial robot, wherein the movable finger is located on the inner side of the fixed finger, the front end of the movable finger is provided with the clamping block relatively, the clamping block comprises a connecting portion and a clamping portion which are connected with each other, one end of the connecting portion is connected with the movable finger, and the other end of the connecting portion is connected with the clamping portion.

The automatic gripper of the industrial robot, wherein the clamping part is provided with an arc surface matched with the packaging bag to be grabbed.

According to the automatic paw of the industrial robot, the cushion block is arranged at the front end of the fixed finger corresponding to the clamping part.

According to the automatic gripper of the industrial robot, when the gripper is in the initial position, the air cylinder is retracted, the front end of the movable finger is far away from the front end of the fixed finger, when the gripper is in the gripping position, the air cylinder stretches out to drive the movable finger to reach the gripping position, and the clamping block supports the packaging bag to be gripped and clamps the bag mouth of the packaging bag to be gripped together with the cushion block.

According to the automatic paw of the industrial robot, the rear end of the movable finger is hinged with the bracket through the pin shaft.

The automatic paw of the industrial robot comprises a cylinder and a pair of connecting rods, wherein the cylinder is arranged on the support and connected with the control mechanism, one ends of the connecting rods are respectively connected with the cylinder, and the other ends of the connecting rods are respectively connected with the corresponding movable fingers.

The automatic paw of the industrial robot, wherein the rear end of the bracket is provided with a connecting hole for connecting with the tail end of the robot arm.

The automatic paw of the industrial robot is characterized in that the air cylinder is arranged at the front end of the bracket, and the axis of the air cylinder and the symmetrical center line of the bracket are located in the same plane.

In order to better achieve the above object, the present utility model also provides an industrial robot, which includes the above automatic gripper.

The utility model has the beneficial effects that:

the automatic gripper can automatically open the bag opening and fix the packaging bag, the gripping is firm, and the compatible gripping of packaging bags of different types can be realized by changing gripping fingers.

The utility model will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the utility model thereto.

Drawings

FIG. 1 is a schematic diagram of an industrial robot working condition according to an embodiment of the present utility model;

FIG. 2 is a schematic view of an automatic gripper according to an embodiment of the present utility model;

FIG. 3 is a schematic view of the initial position of the automated gripper of FIG. 2;

fig. 4 is a schematic view of the automatic gripper gripping position of fig. 2.

Wherein reference numerals are used to refer to

1 Industrial robot

2 robot arm

3 automatic paw

31 support

311 connecting hole

32 driving mechanism

321 air cylinder

322 connecting rod

33 fixed finger

34 active finger

35 pin shaft

36 clamping block

361 connecting part

362 clamping part

37 cushion block

4 packaging bag

Detailed Description

The structural and operational principles of the present utility model are described in detail below with reference to the accompanying drawings:

referring to fig. 1, fig. 1 is a schematic view illustrating an operation state of an industrial robot 1 according to an embodiment of the present utility model. The components, structure, mutual positional relationship, connection relationship, control and working principle of the industrial robot 1 of the present utility model are all mature prior art, so that detailed description is omitted herein, and only the automatic gripper 3 of the industrial robot 1 will be described in detail below.

Referring to fig. 2-4, fig. 2 is a schematic structural view of an automatic gripper 3 according to an embodiment of the present utility model, fig. 3 is a schematic structural view of an initial position of the automatic gripper 3 of fig. 2, and fig. 4 is a schematic structural view of a grabbing position of the automatic gripper 3 of fig. 2. An automatic gripper 3 of an industrial robot 1 of the present utility model is attached to a distal end of a robot arm 2 of the industrial robot 1, and includes: a bracket 31 connected to the end of the robot arm 2, wherein a connection hole 311 for connecting to the end of the robot arm 2 is provided at the rear end of the bracket 31; a fixed finger 33 symmetrically mounted on the bracket 31; a driving mechanism 32 mounted on the bracket 31 and connected to a control mechanism of the industrial robot 1; the movable finger 34 is symmetrically arranged on the bracket 31 corresponding to the fixed finger 33 and is connected with the driving mechanism 32, preferably, the rear end of the movable finger 34 is hinged with the bracket 31 through a pin shaft 35 and can swing along the axis of the pin shaft 35; the movable finger 34 has an initial position and a gripping position with respect to the fixed finger 33, respectively, and the driving mechanism 32 receives the instruction of the control mechanism to drive the movable finger 34 to switch between the initial position and the gripping position.

The movable finger 34 is located at the inner side of the fixed finger 33, a clamping block 36 is disposed at the front end of the movable finger 34, the clamping block 36 includes a connecting portion 361 and a clamping portion 362 that are connected to each other, one end of the connecting portion 361 is connected to the movable finger 34, and the other end of the connecting portion 361 is connected to the clamping portion 362. The clamping portion 362 is provided with an arc surface adapted to the packaging bag 4 to be grasped. The front end of the fixed finger 33 is provided with a pad 37 corresponding to the clamping portion 362.

When in the initial position, the air cylinder 321 is retracted, the front end of the movable finger 34 is far away from the front end of the fixed finger 33, when in the grabbing position, the air cylinder 321 stretches out to drive the movable finger 34 to reach the grabbing position, and the clamping block 36 supports the packaging bag 4 to be grabbed and clamps the bag mouth of the packaging bag 4 to be grabbed together with the cushion block 37.

The driving mechanism 32 of this embodiment includes a cylinder 321 and a pair of links 322, where the cylinder 321 is mounted and fixed on the support 31 and connected to the control mechanism, one end of a pair of links 322 is connected to the cylinder 321, and the other end of a pair of links 322 is connected to the corresponding movable finger 34, and the cylinder 321 provides power for the links 322, and realizes opening and closing of the movable finger 34 through the links 322, so that the movable finger is switched between an initial position and a gripping position. Preferably, the cylinder 321 is mounted at the front end of the bracket 31, and the axis of the cylinder 321 is located in the same plane with the symmetry center line of the bracket 31.

The cylinder 321 is in a retracted state under normal state, the movable finger 34 is positioned at an initial position, the front end of the movable finger 34 is far away from the front end of the fixed finger 33, when the automatic gripper 3 moves to the position above the bag mouth of the packaging bag 4 to be gripped, the front end of the fixed finger 33 is positioned at the outer edge of the bag mouth, the cylinder 321 stretches out at this time, and the movable finger 34 swings from inside to outside to two sides under the drive of the connecting rod 322, so that the bag mouth is supported and clamped. The cushion blocks 37 with different thicknesses can be replaced to be matched with the clamping blocks 36, so that the bag openings with different sizes can be supported and clamped.

The automatic gripper 3 is used for gripping and opening the packaging bag 4 in the bag opening and filling process, the automatic gripper 3 can automatically open the bag opening of the packaging bag 4 and clamp and fix the packaging bag 4, the gripping is firm, and the gripping is compatible with gripping blocks 36 at the front ends of movable fingers 34 through replacing cushion blocks 37 at the front ends of fixed fingers 33, so that compatible gripping of packaging bags 4 of different types is realized.

Of course, the present utility model is capable of other various embodiments and its several details are capable of modification and variation in light of the present utility model, as will be apparent to those skilled in the art, without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. An automatic gripper of an industrial robot, which is mounted at a robot arm end of the industrial robot, comprising:

the bracket is connected with the tail end of the robot arm;

the fixed fingers are symmetrically arranged on the bracket;

2. The automatic gripper of an industrial robot according to claim 1, wherein the movable finger is located at the inner side of the fixed finger, a clamping block is arranged at the front end of the movable finger, the clamping block comprises a connecting portion and a clamping portion which are connected with each other, one end of the connecting portion is connected with the movable finger, and the other end of the connecting portion is connected with the clamping portion.

3. The automated gripper of an industrial robot of claim 2, wherein the gripping portion is provided with a cambered surface adapted to the bag to be gripped.

4. An automated gripper for an industrial robot according to claim 2 or 3, wherein the fixed finger front end is provided with a pad corresponding to the gripping portion.

5. The automated gripper of an industrial robot of claim 4, wherein the rear end of the movable finger is hinged to the support by a pin.

6. The automatic gripper of an industrial robot according to claim 5, wherein said driving mechanism comprises a cylinder and a pair of links, said cylinder being mounted on said support and connected to said control mechanism, one end of a pair of said links being connected to said cylinder, respectively, and the other end of a pair of said links being connected to the corresponding movable finger, respectively.

7. The automated gripper of an industrial robot according to claim 6, wherein the rear end of the bracket is provided with a connection hole for connection with the distal end of the robot arm.

8. The automated gripper of an industrial robot of claim 7, wherein the cylinder is mounted at the front end of the carriage and the axis of the cylinder is in the same plane as the center line of symmetry of the carriage.

9. The automated gripper of claim 6, wherein in the initial position, the cylinder is retracted, the front end of the movable finger being distal to the front end of the fixed finger; when the packing bag is at the grabbing position, the cylinder stretches out to drive the movable finger to reach the grabbing position, and the clamping block props up the packing bag to be grabbed and clamps the bag mouth of the packing bag to be grabbed together with the cushion block.

10. An industrial robot comprising the automated gripper of any one of claims 1-9.