CN219685632U

CN219685632U - Robot gripper and robot

Info

Publication number: CN219685632U
Application number: CN202320561917.3U
Authority: CN
Inventors: 王晓辉; 兰海
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2023-03-21
Filing date: 2023-03-21
Publication date: 2023-09-15
Anticipated expiration: 2033-03-21

Abstract

The utility model relates to the technical field of robots, and provides a robot gripper and a robot, wherein the robot gripper comprises: the lower support plate is fixedly connected with the robot flange, and a spacing distance is reserved between the lower support plate and the robot flange; the weighing sensor is arranged at the top of the lower supporting plate; the upper support plate is positioned between the robot flange and the weighing sensor and is abutted with the weighing sensor; the top end of the guide column component is connected with the upper supporting plate in a hanging way, and the guide column component penetrates through the lower supporting plate and is fixedly connected with the lower supporting plate; and the grabbing component is arranged at the bottom of the guide pillar component. The utility model is provided with the weighing sensor, so that the workpiece quality can be weighed, and whether the workpiece is empty or not can be detected; in addition, the weighing sensor is only stressed and not pulled in the grabbing process of the grippers, so that the measurement accuracy of the weighing sensor is improved, and the service life of the weighing sensor is prolonged.

Description

Robot gripper and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot gripper and a robot.

Background

In an automated production process, a robotic gripper is typically used to automatically grasp a workpiece and place it in a designated location.

In the process of sorting and stacking the parts for blanking the steel plates, the situation that the blanking of the irregular steel plates needs to be grabbed often occurs, and in order to prevent the robot grippers from grabbing empty or prevent the blanking adhesion of the irregular steel plates and simultaneously grabbing a plurality of parts, a weighing sensor is usually required to be arranged on the grippers.

In the prior art, the setting of weighing sensor is usually that the top is connected with last fixed plate, and the bottom is connected with lower fixed plate, leads to weighing sensor to receive pulling force and pressure simultaneously in snatching the in-process, and weighing sensor is usually pressure sensor or tension sensor, when pressure sensor often receives pulling force, or tension sensor often receives pressure, causes the damage to pressure sensor or tension sensor very easily to influence weighing sensor's measurement accuracy, influence weighing sensor's life even.

Disclosure of Invention

The utility model provides a robot gripper and a robot, which are used for solving the defects that a weighing sensor in the gripper in the prior art bears pressure and tension at the same time, so that the measurement accuracy of the weighing sensor is influenced, and even the service life of the weighing sensor is influenced.

The utility model provides a robot gripper, which is connected with a robot flange and comprises:

the lower support plate is fixedly connected with the robot flange, and a spacing distance is reserved between the lower support plate and the robot flange;

the weighing sensor is arranged at the top of the lower supporting plate;

the upper support plate is positioned between the robot flange and the weighing sensor and is abutted with the weighing sensor;

the top end of the guide column component is connected with the upper supporting plate in a hanging way, and the guide column component penetrates through the lower supporting plate and is fixedly connected with the lower supporting plate;

and the grabbing component is arranged at the bottom end of the guide pillar component.

According to the robot gripper provided by the utility model, the guide pillar component and the grabbing component are multiple, and the guide pillar component and the grabbing component are arranged in a one-to-one correspondence manner; the guide pillar assemblies are uniformly distributed on the lower supporting plate, and the grabbing assemblies are matched with each other and used for grabbing workpieces with different sizes.

According to the present utility model, there is provided a robot hand grip, the guide post assembly comprising:

the top end of the guide post is connected with the upper supporting plate in a hanging way, and the guide post penetrates through the lower supporting plate; the bottom of the guide post is connected with the grabbing component;

the sleeve is sleeved on the periphery of the guide post and fixedly connected with the lower supporting plate;

the first elastic piece is sleeved on the periphery of the guide post, the top end of the first elastic piece is abutted to the bottom end of the sleeve, and the bottom end of the first elastic piece is abutted to the grabbing component.

The first elastic piece is sleeved on the periphery of the guide post, and the top end of the first elastic piece is abutted with the bottom end of the sleeve.

According to the robot hand grip provided by the utility model, the guide column assembly further comprises the shaft sleeve, the shaft sleeve is sleeved on the periphery of the guide column, and the shaft sleeve is positioned between the sleeve and the first elastic piece.

According to the present utility model there is provided a robotic gripper, the gripping assembly comprising:

the first fixing plate is connected with the guide post;

the second fixing plate is arranged in parallel with the first fixing plate;

the top ends of the connecting rods are connected with the first fixing plate in a hanging mode, and the bottom ends of the connecting rods are fixedly connected with the second fixing plate;

a plurality of second elastic pieces are sleeved on the periphery of the connecting rod in a one-to-one correspondence manner,

the electromagnet is arranged at the bottom of the second fixing plate and is used for adsorbing a workpiece after being electrified.

According to the robot gripper provided by the utility model, the connecting rod is in clearance fit with the first fixed plate, the connecting rod is in clearance fit with the second fixed plate, the guide pillar is in clearance fit with the upper support plate, and the guide pillar is in clearance fit with the lower support plate.

According to the robot gripper provided by the utility model, the bearing frame is arranged in the middle of the bottom side of the lower supporting plate;

the guide shaft penetrates through the lower supporting plate, the top end of the guide shaft is fixedly connected with the upper supporting plate, and the bottom end of the guide shaft is connected with the bearing frame in a hanging mode;

the connecting shaft is arranged at the bottom of the bearing frame and is hung with the bearing frame; and a third elastic piece is sleeved on the periphery of the connecting shaft; the bottom of connecting axle is connected with snatch the subassembly.

According to the robot hand grip provided by the utility model, the robot hand grip further comprises:

the induction plate is arranged on one side of the bearing frame;

the proximity switch is hung at the bottom of the lower supporting plate and is higher than the induction plate in the vertical direction.

According to the utility model, a robot hand grip is provided, comprising: the top of the upper supporting plate is also provided with a guide plate for limiting the guide pillar component.

The utility model also provides a robot, comprising the robot gripper.

The robot gripper provided by the utility model is fixedly connected with the robot flange through the lower support plate, the lower support plate is spaced from the robot flange, the top end of the guide column component is connected with the upper support plate in a hanging manner, the guide column component penetrates through the lower support plate and is fixedly connected with the lower support plate, the grabbing component is arranged at the bottom end of the guide column component, the weighing sensor is arranged at the top of the lower support plate, the upper support plate is positioned between the robot flange and the weighing sensor, the upper support plate is abutted with the weighing sensor, and the weighing sensor can not only weigh the weight of a workpiece, but also detect whether the workpiece is empty to grab or adhere; and the weighing sensor is not stressed by the tensile force in the grabbing process of the tongs and is only stressed by the tensile force, so that the measurement accuracy of the weighing sensor is improved, and the service life of the weighing sensor is prolonged.

The robot provided by the utility model has various advantages due to the fact that the robot comprises the robot hand.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the utility model, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a robot hand grip provided by the present utility model;

FIG. 2 is a cross-sectional view of a robotic gripper provided by the present utility model;

FIG. 3 is a side view of a robotic gripper provided by the present utility model;

reference numerals:

1. a robot flange; 2. a lower support plate; 3. a weighing sensor; 4. an upper support plate; 5. a guide post assembly; 6. a grabbing component; 7. a carrier; 8. a guide shaft; 9. a connecting shaft; 10. a third elastic member; 11. an induction plate; 12. a proximity switch; 13. a guide plate;

51. a guide post; 511. a guide post body; 512. capping; 52. a sleeve; 53. a first elastic member; 54. a shaft sleeve;

61. a first fixing plate; 62. a second fixing plate; 63. a connecting rod; 64. a second elastic member; 65. an electromagnet.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The robot hand according to the present utility model is described below with reference to fig. 1 to 3, and is connected to a robot tip for gripping a workpiece.

As shown in fig. 1 and 2, the embodiment of the utility model provides a robot gripper, which is connected with a robot flange 1, wherein the robot gripper comprises a lower support plate 2, a weighing sensor 3, an upper support plate 4, a guide pillar component 5 and a grabbing component 6, the lower support plate 2 is fixedly connected with the robot flange 1, namely, no relative motion exists between the lower support plate 2 and the robot flange 1 all the time, and a spacing distance is formed between the lower support plate 2 and the robot flange 1, namely, a height difference is formed between the lower support plate 2 and the robot flange 1, and the lower support plate 2 and the robot flange 1 can be connected through bolts; this height difference is used to provide accommodation space for the load cell 3 and the upper support plate 4; the weighing sensor 3 is arranged at the top of the lower supporting plate 2, and the top surface of the lower supporting plate 2 supports the weighing sensor 3; the upper supporting plate 4 is positioned between the robot flange 1 and the weighing sensor 3, and the upper supporting plate 4 is abutted with the weighing sensor 3; the top end of the guide column component 5 is hung with the upper supporting plate 4, so that the grabbing component 6 can float up and down, and the guide column component 5 penetrates through the lower supporting plate 2 and is fixedly connected with the lower supporting plate 2; the grabbing component 6 is arranged at the bottom end of the guide pillar component 5, and the grabbing component 6 is used for grabbing a workpiece.

In the robot hand grip provided by the utility model, in a standby state, a weighing sensor 3 is supported by a lower supporting plate 2, and the top of the weighing sensor 3 is contacted with an upper supporting plate 4 and is zeroed; when grabbing, grabbing the subassembly and snatch down when acting, guide pillar component 5 is because with last backup pad 4 articulates, guide pillar component 5 and lower backup pad 2 fixed connection, guide pillar component 5 and last backup pad 4 produce relative motion, thereby avoid lower backup pad 2 to weigh sensor 3 and produce the pulling force, after grabbing the subassembly successfully and snatch the work piece, because the effect of gravity, guide pillar component 5 resumes to hang with last backup pad 4, then guide pillar component 5 produces a pressure to last backup pad 4, thereby last backup pad 4 will be pressed and be transmitted for weighing sensor 3, consequently, weighing sensor 3 only receives the pressure in the whole process of snatching, do not receive the pulling force, can not influence weighing sensor's measurement accuracy, and then the life of extension weighing sensor.

In general, the load cell 3 here employs a pressure sensor.

As shown in fig. 1, in one embodiment of the present utility model, the guide pillar assembly 5 and the grabbing assembly 6 are multiple, and the guide pillar assembly 5 and the grabbing assembly 6 are disposed in a one-to-one correspondence; the guide pillar assemblies 5 are uniformly distributed on the lower support plate 2; when the lower supporting plate 2 is square, the guide pillar assemblies 5 and the grabbing assemblies 6 are four, are distributed at four corners of the lower supporting plate 2 in a complete set, and the grabbing assemblies 6 are matched with each other, so that workpieces with different sizes can be grabbed; in the grabbing process, when the workpiece is smaller, the workpiece can be grabbed through one grabbing component 6, and when the workpiece is larger, the workpiece can be grabbed through two grabbing components 6 at the same time, and the workpiece can also be grabbed through three grabbing components 6 at the same time.

As shown in fig. 2, in one embodiment of the present utility model, the guide post assembly 5 includes a guide post 51, a sleeve 52 and a first elastic member 53, a first through hole is formed in the upper support plate 4 corresponding to the position of the guide post 51, the guide post 51 includes a guide post body 511 and a cap 512, the guide post body 511 may be integrally connected with the cap 512, and an outer diameter of the guide post body 511 is smaller than an inner diameter of the first through hole, so that an angle can be generated in a grabbing process cheaply. The guide pillar body 511 penetrates through the upper support plate 4, the cap 512 is hung with the upper support plate 4, and the guide pillar 51 penetrates through the lower support plate 2; and the bottom of the guide pillar body 511 is connected with the grabbing component 6; the sleeve 52 is sleeved on the periphery of the guide post 51, and the outer diameter of the guide post body 511 is smaller than the inner diameter of the sleeve 52; the sleeve 52 is fixedly connected with the lower support plate 2; the periphery of guide pillar 51 is located to first elastic component 53 cover, and the top of first elastic component 53 and the bottom butt of sleeve 52, and the bottom of first elastic component 53 and snatch subassembly 6 butt for snatch subassembly 6 can float from top to bottom through the setting of guide pillar body 511, avoids weighing sensor 3 to produce the pulling force.

As shown in fig. 2, in one embodiment of the present utility model, the guide post assembly 5 further includes a sleeve 54, the sleeve 54 is sleeved on the outer periphery of the guide post body 511, the sleeve 54 is located between the sleeve 52 and the first elastic member 53, and a clearance fit is formed between the sleeve 54 and the guide post body 511, so that when the grabbing assembly 6 grabs a workpiece, a certain angular offset can be achieved. The sleeve 54 is provided for the purpose of providing the first elastic member 53 with an elastic function for supplementing the length with the sleeve 54 when the length of the sleeve 52 is short.

As shown in fig. 2 and 3, in one embodiment of the present utility model, the grabbing assembly 6 includes a first fixing plate 61, a second fixing plate 62, a connecting rod 63, a second elastic member 64, and an electromagnet 65, and the first fixing plate 61 is connected to the guide post 51; the second fixing plate 62 is disposed in parallel with the first fixing plate 61; a plurality of connecting rods 63, the top ends of which are connected with the first fixing plate 61 in a hanging way, and the bottom ends of which are fixedly connected with the second fixing plate 62; the connecting rods 63 are uniformly distributed between the first fixing plate 61 and the second fixing plate 62, when the first fixing plate and the second fixing plate 62 are round, three connecting rods 63 are generally arranged, corresponding second elastic pieces 64 are sleeved on the three connecting rods 63, electromagnets 65 are arranged at the bottom of the second fixing plate 62, and the electromagnets 65 are used for adsorbing workpieces after being electrified.

When the connecting rod 63 is coupled to the first fixing plate 61 and when the connecting rod 63 is coupled to the second fixing plate 62, annular gaskets may be provided on the top and bottom sides of the first fixing plate 61 and on the top and bottom sides of the second fixing plate 62 for coupling the connecting rod 63 to the first fixing plate 61 and coupling the connecting rod 63 to the second fixing plate 62. Of course, other structures may be used to implement the connection between the link 63 and the first fixing plate 61 and the connection between the link 63 and the second fixing plate 62.

Through the arrangement of the connecting rod 63 and the second elastic piece 64, the electromagnet 65 can float up and down and can deflect in angle, and rigid contact between the electromagnet 65 and a workpiece is avoided.

In one embodiment of the present utility model, the angular offset of the grabbing component 6 may be achieved by the clearance fit between the connecting rod 63 and the first fixing plate 61, between the connecting rod 63 and the second fixing plate 62, between the guide pillar body 511 and the upper support plate 4, and between the guide pillar body 511 and the lower support plate 2.

As shown in fig. 2, in one embodiment of the present utility model, the guide rail assembly further comprises a bearing frame 7, a guide shaft 8 and a connecting shaft 9, wherein the bearing frame 7 is arranged in the middle of the bottom side of the lower support plate 2, that is, the guide pillar assemblies 5 are distributed around the bearing frame 7; the guide shaft 8 penetrates through the lower support plate 2, the top end of the guide shaft 8 is fixedly connected with the upper support plate 4, and the bottom end of the guide shaft 8 is connected with the bearing frame 7 in a hanging mode; when the grabbing component 6 at the bottom of the bearing frame 7 is pressed down to grab a workpiece, the guide shaft 8 and the lower supporting plate 2 move relatively, the connecting shaft 9 is arranged at the bottom of the bearing frame 7, and the connecting shaft 9 is connected with the bearing frame 7 in a hanging manner; and a third elastic piece 10 is sleeved on the periphery of the connecting shaft 9; the bottom of connecting axle 9 is connected with snatchs subassembly 6, and the setting of third elastic component 10 for snatch the subassembly 6 and snatch the action time and can float from top to bottom.

In one embodiment of the utility model, the device further comprises a sensing plate 11 and a proximity switch 12, wherein the sensing plate 11 is arranged on one side of the bearing frame 7; the proximity switch 12 is hung at the bottom of the lower support plate 2, the proximity switch 12 is higher than the sensing plate 11 in the vertical direction, the height difference between the proximity switch 12 and the sensing plate 11 is generally set to be close to the thickness of a workpiece, when the grabbing component 6 grabs the workpiece, the sensing plate 11 moves upwards by a certain distance, the sensing plate 11 rises to be on the same horizontal plane with the proximity switch 12, and the proximity switch 12 senses that the workpiece is successfully grabbed.

In an embodiment of the present utility model, a guide plate 13 for limiting the guide post assembly 5 is further disposed on the top of the upper support plate 4, and correspondingly, a side of the cap 512 close to the guide plate 13 is a plane, so that the guide plate 13 is convenient for limiting the guide post assembly 5.

In summary, according to the robot gripper provided by the utility model, through the arrangement of the guide pillar component 5 and the grabbing component 6 and the connection structure between the guide pillar component 5 and the lower support plate 2 and between the guide pillar component 5 and the upper support plate 4, up-and-down floating and angle offset can be realized when each grabbing component 6 grabs a workpiece, and the weighing sensor is arranged, so that the quality of the workpiece can be weighed, whether the workpiece is empty to grab or adhere can be detected, and the upper support plate 4 is arranged in a suspended manner, so that the weighing sensor is not stressed by tensile force, the measurement precision of the weighing sensor is improved, and the service life of the weighing sensor is prolonged.

Another embodiment of the present utility model is to provide a robot, including a robot body and a robot gripper as described above, where the robot gripper is connected to a distal end of the robot body, and the robot body provides power and electric power for the robot gripper to grasp a workpiece.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "manner," "particular modes," or "some modes," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or mode is included in at least one embodiment or mode of the embodiments of the present utility model. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or manner. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or ways. Furthermore, various embodiments or modes and features of various embodiments or modes described in this specification can be combined and combined by those skilled in the art without mutual conflict.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A robot gripper connected to a robot flange (1), comprising:

the lower support plate (2) is fixedly connected with the robot flange (1), and a spacing distance is reserved between the lower support plate (2) and the robot flange (1);

the weighing sensor (3) is arranged at the top of the lower supporting plate (2);

an upper support plate (4) positioned between the robot flange (1) and the weighing sensor (3), wherein the upper support plate (4) is abutted with the weighing sensor (3);

the top end of the guide column component (5) is connected with the upper supporting plate (4) in a hanging mode, and the guide column component (5) penetrates through the lower supporting plate (2) and is fixedly connected with the lower supporting plate (2);

the grabbing component (6) is arranged at the bottom end of the guide pillar component (5).

2. The robotic gripper according to claim 1, wherein the guide pillar assembly (5) and the gripping assembly (6) are each plural, and the guide pillar assembly (5) and the gripping assembly (6) are arranged in a one-to-one correspondence; the guide pillar assemblies (5) are uniformly distributed on the lower supporting plate (2); the grabbing components (6) are matched with each other and used for grabbing workpieces with different sizes.

3. The robotic gripper according to claim 1, wherein the guide post assembly (5) comprises:

the top end of the guide post (51) is connected with the upper supporting plate (4) in a hanging mode, and the guide post (51) penetrates through the lower supporting plate (2); the bottom of the guide post (51) is connected with the grabbing component (6);

the sleeve (52) is sleeved on the periphery of the guide post (51), and the sleeve (52) is fixedly connected with the lower supporting plate (2);

the first elastic piece (53) is sleeved on the periphery of the guide post (51), the top end of the first elastic piece (53) is abutted to the bottom end of the sleeve (52), and the bottom end of the first elastic piece (53) is abutted to the grabbing component (6).

4. A robotic gripper according to claim 3, characterized in that the guide post assembly (5) further comprises a bushing (54), the bushing (54) being arranged around the guide post (51), and the bushing (54) being located between the sleeve (52) and the first elastic member (53).

5. A robotic gripper as claimed in claim 3, characterized in that the gripping assembly (6) comprises:

a first fixing plate (61) connected to the guide post (51);

a second fixing plate (62) disposed in parallel with the first fixing plate (61);

the top ends of the connecting rods (63) are connected with the first fixing plate (61) in a hanging mode, and the bottom ends of the connecting rods are fixedly connected with the second fixing plate (62);

a plurality of second elastic pieces (64) which are sleeved on the periphery of the connecting rod (63) in a one-to-one correspondence manner,

the electromagnet (65) is arranged at the bottom of the second fixing plate (62), and the electromagnet (65) is used for adsorbing a workpiece after being electrified.

6. The robotic gripper according to claim 5, wherein the connection rod (63) and the first fixing plate (61), the connection rod (63) and the second fixing plate (62), the guide post (51) and the upper support plate (4) and the guide post (51) and the lower support plate (2) are all in clearance fit.

7. The robotic gripper of claim 3, further comprising:

the bearing frame (7) is arranged in the middle of the bottom side of the lower supporting plate (2);

the guide shaft (8) penetrates through the lower supporting plate (2), the top end of the guide shaft (8) is fixedly connected with the upper supporting plate (4), and the bottom end of the guide shaft (8) is hung on the bearing frame (7);

the connecting shaft (9) is arranged at the bottom of the bearing frame (7), and the connecting shaft (9) is hung with the bearing frame (7); and a third elastic piece (10) is sleeved on the periphery of the connecting shaft (9); the bottom of the connecting shaft (9) is connected with the grabbing component (6).

8. The robotic gripper of claim 7, further comprising:

the induction plate (11) is arranged on one side of the bearing frame (7);

the proximity switch (12) is hung at the bottom of the lower supporting plate (2), and the proximity switch (12) is higher than the induction plate (11) in the vertical direction.

9. Robot gripper according to claim 1, characterized in that the top of the upper support plate (4) is further provided with a guide plate (13) for limiting the guide post assembly (5).

10. A robot comprising a robot hand according to any of claims 1-9.