CN219704513U - Multifunctional gripper and robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a multifunctional gripper and a robot. The cutter grabbing mechanism is connected with the connecting piece; the workpiece grabbing mechanism comprises a plurality of clamping jaws, a plurality of sliding assemblies and a plurality of clamping pieces, and the sliding assemblies are in sliding connection with the connecting pieces; the clamping pieces are in sliding connection with the sliding assemblies in one-to-one correspondence and are detachably connected with the clamping jaws in one-to-one correspondence; the clamping jaw is engaged and locked with the sliding component; when the clamping jaw is separated from the sliding component and is semi-detached from the clamping piece, the clamping jaw can synchronously slide on the sliding component with the clamping piece. The maximum or minimum movement stroke of the workpiece grabbing mechanism is adjusted in a semi-detached adjusting mode, the adjusting mode is simple, labor-saving, rapid and easy to operate, the adaptability of the workpiece grabbing mechanism to the grabbing of the workpieces of the same type and multiple sizes is improved, and the replacement frequency among the workpiece grabbing mechanisms with multiple types of movement strokes is reduced.

Description

Multifunctional gripper and robot

Technical Field

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

Background

Polishing is sometimes required after the cast workpiece is ejected, and polishing refers to a processing method for changing the surface roughness by means of a polishing tool or the like. The abrasion of the polishing tool is increased along with the increase of the use times, so that the polishing tool is required to be replaced from time to time.

Some existing polishing equipment is provided with polishing tools, such as cutters, on a robot, a plurality of cutters are stored in a cutter magazine, the robot can automatically change the cutters in the cutter magazine, workpieces are fixed at fixed positions, and the robot drives the polishing tools to move so as to polish the workpieces. However, a polishing blind area often exists when the workpiece is fixed, and if the workpiece is manually taken out and changed to be installed again, the polishing efficiency of the workpiece is affected.

In addition, some of the polishing apparatuses grasp a workpiece by a robot, and the polishing apparatus equipped with a polishing tool (cutter) is set at a fixed position, and the workpiece is moved to the polishing apparatus by the robot to be polished. When the robot is adopted to grab the workpiece for polishing, as the function of the gripper of the robot is single and the gripper is already arranged to be matched with the grabbing of the workpiece, the gripping of the polishing tool is not matched, and when the cutter is worn, the worn cutter can be replaced by manpower, so that the polishing efficiency of the workpiece is greatly affected.

Disclosure of Invention

First, the technical problem to be solved

In view of the above-mentioned drawbacks and shortcomings of the prior art, the present utility model provides a multifunctional hand grip and a robot, which solve the technical problem that the hand grip of the existing robot has a single function and affects polishing efficiency.

(II) technical scheme

In order to achieve the above object, the multifunctional grip of the present utility model includes:

a connecting piece;

the cutter grabbing mechanism is connected with the connecting piece;

the workpiece grabbing mechanism comprises a plurality of clamping jaws, a plurality of sliding assemblies and a plurality of clamping pieces, and the sliding assemblies are in sliding connection with the connecting pieces; the clamping pieces are in one-to-one corresponding sliding connection with the sliding assemblies and are in one-to-one corresponding detachable connection with the clamping jaws;

wherein the clamping jaw is engaged and locked with the sliding component; when the clamping jaw is separated from the sliding component and is half-detached from the clamping piece, the clamping jaw can synchronously slide on the sliding component with the clamping piece.

Optionally, the glide assembly includes a slider and a driver;

the driver is arranged on the connecting piece and can drive the sliding piece to slide relative to the connecting piece;

the clamping piece is connected with the sliding piece in a sliding mode and meshed and locked with the clamping jaw.

Optionally, the plurality of sliding pieces are uniformly arranged around the axial direction of the connecting piece, and the distances between the axis of the connecting piece and the connecting line of the geometric centers of the plurality of sliding pieces are equal.

Optionally, a dovetail groove is formed in the sliding piece, and the clamping piece can slide in the dovetail groove and form a reverse buckle so as to limit the clamping piece in the axial direction of the connecting piece.

Optionally, a pair of racks is arranged on the sliding piece, the clamping piece is arranged between the paired racks, and the free end of the clamping piece extends out of the dovetail groove;

the clamping jaw is provided with a pair of second racks, and the racks in the pair are meshed and locked with the second racks in the pair in a one-to-one correspondence manner;

the sliding piece can drive the clamping jaw and the clamping piece to synchronously move.

Optionally, the jaw comprises a jaw arm and a jaw;

the claw arm is engaged and locked with the sliding component and is detachably connected with the clamping piece;

the clamping jaws are arranged on the clamping jaw arms, and a plurality of clamping jaws can clamp or release clamping workpieces.

Optionally, the workpiece grabbing mechanism further comprises an elastic piece;

the elastic piece is arranged on the clamping jaw; the distance between the elastic piece and the workpiece is not larger than the distance between the clamping jaw and the workpiece.

Optionally, the tool gripping mechanism includes a moving arm and a base;

the moving arm can be close to or far away from the base to clamp or unclamp a tool.

Optionally, the clamping piece is detachably connected with the clamping jaw through a bolt.

Further, the utility model also provides a robot comprising the multifunctional gripper as described above.

(III) beneficial effects

The beneficial effects of the utility model are as follows: the workpiece grabbing mechanism and the cutter grabbing mechanism are connected to the connecting piece, clamping of the workpiece and clamping of the cutter can be integrated on one robot, two robots are not required to be arranged to respectively and independently clamp the workpiece and the cutter, the overall structure and the overall dimension of the robot are compact, and occupied space and cost of equipment can be saved. When the multifunctional gripper grabs the cutter, the robot can automatically replace the cutter on the grinding equipment, so that the cutter replacing time is shortened, and the workpiece is efficiently ground; when the multifunctional gripper grabs the workpiece, the robot can eliminate polishing dead angles through actions so as to polish the workpiece efficiently.

The sliding components are connected with the connecting piece in a sliding way and are engaged and locked with the clamping jaw. When the multifunctional gripper is in a working state, the meshing locking makes the sliding assembly unable to move horizontally relative to the clamping jaw, so that the clamping jaw can be driven to move through the sliding assembly, and then the clamping jaw is driven to move by the clamping jaw to be detachably connected with the clamping jaw, so that the workpiece grabbing mechanism can grab or put down a workpiece, and stability and reliability in grabbing the workpiece can be guaranteed.

The clamping pieces are in sliding connection with the sliding assemblies in one-to-one correspondence and are detachably connected with the clamping jaws in one-to-one correspondence. When the moving stroke of the workpiece grabbing mechanism needs to be adjusted, the detachable connection part of the clamping jaw and the clamping piece can be semi-detached, namely, the clamping jaw is not completely detached, and the meshing part of the clamping jaw and the sliding assembly is separated, so that the clamping piece can slide in the sliding assembly. Simultaneously, clamping jaw still can hang on the joint spare, alright manual work synchronous movement clamping jaw and joint spare remove to the interval between the clamping jaw of adjustment relative setting is suitable for the snatching of the work piece of same type but not unidimensional. And after the clamping jaw is adjusted to a preset new position, the clamping piece and the clamping jaw are fastened, so that the clamping jaw and the sliding component are meshed again for locking, and the adjustment of the moving stroke of the workpiece grabbing mechanism is completed. The semi-detached adjusting mode is simple, labor-saving, rapid and easy to operate, and the adaptability of the workpiece grabbing mechanism to grabbing of the same type and multiple sizes of workpieces is further improved, so that the replacement frequency among the workpiece grabbing mechanisms with multiple types of moving strokes is reduced.

Drawings

FIG. 1 is a schematic view of a multifunctional gripper according to the present utility model;

FIG. 2 is a schematic view of a work piece gripping mechanism according to the present utility model;

FIG. 3 is a schematic view of a slider according to the present utility model;

FIG. 4 is a schematic structural view of a clip according to the present utility model;

fig. 5 is a schematic structural view of the tool gripping mechanism of the present utility model.

[ reference numerals description ]

1: a connecting piece;

2: a workpiece grabbing mechanism; 21: a claw arm; 22: a claw; 23: an elastic member;

3: a cutter grabbing mechanism; 31: a moving arm; 32: a base;

4: a slip assembly; 41: a slider; 412: a first rack;

5: a clamping piece;

6: a workpiece;

7: a cutter.

Detailed Description

The utility model will be better explained by the following detailed description of the embodiments with reference to the drawings.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; "coupled" may be mechanical or electrical; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 and 3, the present utility model provides a multifunctional grip including a connecting member 1, a tool gripping mechanism 3, and a workpiece gripping mechanism 2. The cutter grabbing mechanism 3 is connected with the connecting piece 1; the workpiece grabbing mechanism 2 comprises a plurality of clamping jaws, a plurality of sliding assemblies 4 and a plurality of clamping pieces 5, and the sliding assemblies 4 are in sliding connection with the connecting pieces 1; the clamping pieces 5 are in sliding connection with the sliding assemblies 4 in one-to-one correspondence and are detachably connected with the clamping jaws in one-to-one correspondence; wherein, the clamping jaw is engaged and locked with the sliding component 4; when the clamping jaw is separated from the sliding component 4 and is half-detached from the clamping piece 5, the clamping jaw can synchronously slide on the sliding component 4 with the clamping piece 5.

The workpiece grabbing mechanism 2 and the cutter grabbing mechanism 3 are connected to the connecting piece 1, clamping functions of the workpiece 6 and the cutter 7 can be integrated on one robot, two robots are not required to be arranged to respectively and independently clamp the workpiece 6 and the cutter 7, the overall structure and the overall dimension of the robot are compact, and occupied space and cost of equipment can be saved. When the multifunctional gripper grabs the cutter 7, the robot can automatically replace the cutter 7 on the grinding equipment, so that the cutter changing time is shortened, and the workpiece 6 is efficiently ground; when the multifunctional gripper grabs the workpiece 6, the robot can eliminate polishing dead angles through actions so as to polish the workpiece 6 efficiently.

A plurality of slip assemblies 4 are slidably connected to the connector 1 and are in meshed locking engagement with the jaws. When the multifunctional gripper is in a working state, the meshing locking makes the sliding component 4 incapable of horizontally moving relative to the clamping jaw, so that the clamping jaw can be driven to move through the sliding component 4, and then the clamping jaw drives the clamping piece 5 detachably connected with the clamping jaw to move, so that the workpiece grabbing mechanism 2 can grab or put down the workpiece 6, and stability and reliability in grabbing the workpiece 6 can be guaranteed.

The clamping pieces 5 are slidably connected with the sliding assemblies 4 in one-to-one correspondence and detachably connected with the clamping jaws in one-to-one correspondence. When the moving stroke of the workpiece grabbing mechanism 2 needs to be adjusted, the detachable connection part of the clamping jaw and the clamping piece 5 can be semi-detached, namely the clamping jaw is not completely detached, so that the meshing part of the clamping jaw and the sliding component 4 is separated, and the clamping piece 5 can slide in the sliding component 4. Simultaneously, clamping jaw still can hang on joint spare 5, alright manual work synchronous movement clamping jaw and joint spare 5 remove to adjust the interval between the clamping jaw of relative setting, in order to be suitable for the snatching of work piece 6 of same kind but not unidimensional. After the clamping jaw is adjusted to a preset new position, the clamping piece 5 and the clamping jaw are fastened again, so that the clamping jaw and the sliding component 4 are meshed again for locking, and the adjustment of the moving stroke of the workpiece grabbing mechanism 2 is completed. The semi-detached adjusting mode is simple, labor-saving, rapid and easy to operate, and the adaptability of the workpiece grabbing mechanism 2 to grabbing of the workpieces 6 with the same type and multiple sizes is further improved, so that the replacement frequency among the workpiece grabbing mechanisms 2 with multiple types of moving strokes is reduced.

In this embodiment, the workpiece grabbing mechanism 2 and the cutter grabbing mechanism 3 are vertically arranged at 90 degrees, so that the overall structure and the overall dimension of the multifunctional gripper are more compact, the possibility of interference of the robot during operation is reduced, and the occupied area and the equipment cost are saved. Of course, the workpiece grabbing mechanism 2 and the cutter grabbing mechanism 3 may be set at 180 ° or at other angles, so long as interference can be avoided and polishing requirements can be met.

As shown in fig. 2 to 4, the slip assembly 4 includes a slider 41 and a driver (not shown); the driver is arranged on the connecting piece 1 and can drive the sliding piece 41 to slide relative to the connecting piece 1; the clamping piece 5 is connected with the sliding piece 41 in a sliding way and is engaged and locked with the clamping jaw. In this embodiment, the driver selects a hydraulic cylinder, the hydraulic cylinder is built in the connecting piece 1, and the valve core in the connecting piece 1 is pushed to move by oil, so that the valve core can drive the sliding pieces 41 to slide. Of course, the driver may also be a linear driving device such as an electric push rod or an air cylinder, which is set as required, and the hydraulic cylinder built-in connector 1 in this embodiment can further save the occupied space.

Next, the sliding member 41 is provided with a dovetail groove, and the clamping member 5 can slide in the dovetail groove and form a back-off to limit the clamping member 5 in the axial direction of the connecting member 1. The dovetail groove is a T-shaped groove, and the clamping piece 5 is correspondingly arranged into a T-shaped block to form an inverted buckle structure, so that the clamping piece 5 and the clamping jaw are limited, guided and supported. Similarly, the sliding connection part of the sliding member 41 and the connecting member 1 can be also provided as a dovetail groove structure, so as to enhance the limit, guide and support of the connecting member 1 to the workpiece grabbing mechanism 2 and improve the adaptability to the high-weight workpiece 6.

In addition, the sliding member 41 is provided with a pair of first racks 412, the clamping member 5 is arranged between the pair of first racks 412, and the free end of the clamping member 5 extends out of the dovetail groove; the clamping jaw is provided with a pair of second racks, and the pair of first racks 412 are meshed and locked with the pair of second racks in a one-to-one correspondence manner; the sliding member 41 can drive the clamping jaw and the clamping member 5 to synchronously move. Specifically, after the end of the clamping piece 5 connected with the clamping jaw extends out of the dovetail groove, the clamping piece is detachably connected with the clamping jaw, as shown in the azimuth of fig. 2, that is, the distance between the top end of the clamping piece 5 and the bottom end of the connecting piece 1 is larger than the distance between the top end of the first rack 412 and the bottom end of the connecting piece 1, so that after the clamping piece 5 is semi-detached from the clamping jaw, the meshing part of the clamping piece 5 is separated, but the clamping piece 5 is still clamped in the clamping jaw, then in the process of adjusting the movable stroke of the workpiece grabbing mechanism 2, the sliding piece 41 can still limit the clamping jaw in the vertical direction, and at the moment, the clamping jaw and the clamping piece 5 can be manually pushed or pulled to move synchronously, and the clamping piece 5 slides along the dovetail groove to adjust the movable stroke of the workpiece grabbing mechanism 2. The semi-detached adjusting mode is beneficial to the stability of guiding sliding of the clamping jaw, and can reduce the shear stress born by the detachable connection part (such as a bolt), so that the equipment is effectively protected, and the service life of the equipment is prolonged.

Further, the jaw includes a jaw arm 21 and a jaw 22; the claw arm 21 is engaged and locked with the sliding component 4 and is detachably connected with the clamping piece 5; the claws 22 are provided on the claw arms 21, and the plurality of claws 22 can clamp or unclamp the workpiece 6. In the embodiment, the top end of the claw arm 21 is correspondingly provided with a limiting groove and a pair of second racks, and the limiting groove is in sliding connection with the clamping piece 5 to play a role in limiting and guiding; the pair of second racks can be engaged and locked in one-to-one correspondence with the pair of first racks 412. The shape of the surface of the claw 22 facing the workpiece 6 is adapted to the shape of the workpiece 6, and the workpiece 6 is carried by friction between the claw 22 and the workpiece 6. Of course, the workpiece 6 may be abutted against the top end of the claw 22, and the position of the claw 22 may be set correspondingly, so that the stability of the workpiece 6 during conveying is further enhanced.

Secondly, the jaw further comprises an elastic member 23; the elastic piece 23 is arranged on the claw 22; and in the horizontal direction, the distance between the elastic member 23 and the workpiece 6 is not greater than the distance between the claw 22 and the workpiece 6. The elastic member 23 may be a rubber sheet having a large friction coefficient and capable of withstanding a certain deformation. The elastic member 23 is disposed closer to the workpiece 6 than the claw 22, so that the elastic member 23 abuts against the workpiece 6 before the claw 22, and buffers the impact force when gripping the workpiece 6 until the abutment of the claw 22 against the workpiece 6 is completed. The elastic piece 23 can further increase the friction force between the clamping jaw and the workpiece 6, improve the adaptability to the high-weight workpiece 6, and also can play a role in buffering, so that the condition that the workpiece 6 and the clamping jaw 22 are damaged due to collision is effectively avoided.

Referring to fig. 5, the tool gripping mechanism 3 includes a moving arm 31 and a base 32; the moving arm 31 can be moved toward or away from the base 32 by driving a cylinder or a hydraulic cylinder or the like to clamp or unclamp the tool 7. The cutter grabbing mechanism 3 can clamp the cutter 7 between the moving arm 31 and the base 32, and is quick and convenient to grab and release the cutter 7. Of course, the base 32 may be additionally provided in a movable manner, and the cutter 7 is clamped by the movable arm 31 and the movable base 32, so as to shorten the movement stroke of the single movable arm 31 and further enhance the cutter changing speed.

In addition, the clamping piece 5 is detachably connected with the clamping jaw through a bolt. The bolt passes the claw arm 21 and is connected with joint spare 5, when needs adjust work piece snatch mechanism 2, follow tools such as claw arm 21 below with screwdrivers or allen wrench, send the bolt twist, make the second rack of claw arm 21 and first rack 412 separation, the regulation of the biggest or minimum movable stroke of work piece snatch mechanism 2 can be accomplished to artifical pulling or pushing claw arm 21, adjust rapidly, conveniently, labour saving and time saving, adaptability to different size work pieces 6 is higher, thereby can reduce the frequency of changing work piece snatch mechanism 2, correspond improvement polishing efficiency. Of course, the manner of bolting also enables quick disassembly of the jaws when they need to be replaced, based on the type and size of the workpiece 6.

In addition, the utility model also provides a robot, which comprises the multifunctional gripper. The multifunctional gripper is detachably connected with the robot through a flange plate and bolts. In this embodiment, a workpiece fixing area, a robot, and a polishing apparatus are sequentially provided, and a tool magazine may be provided beside, wherein the workpiece fixing area is fixed with a workpiece 6 to be polished, and a tool (for example, a grinding wheel) may be mounted on the polishing apparatus and may be capable of driving the tool to rotate at a high speed. The robot can clamp the workpiece 6 through the workpiece grabbing mechanism 2 and move the workpiece 6 to polishing equipment for polishing; when the cutter of the polishing equipment is worn, the robot can grasp a new cutter from the cutter magazine through the cutter grasping mechanism 3, and the worn cutter of the polishing equipment is replaced in time. The robot has dual functions of polishing the workpiece 6 and clamping the workpiece 6, can realize the quick switching of the two functions on the same manipulator, further realizes the quick switching of the polishing or tool changing functions of the grabbing workpiece 6, saves working hours and improves polishing efficiency.

It should be understood that the above description of the specific embodiments of the present utility model is only for illustrating the technical route and features of the present utility model, and is for enabling those skilled in the art to understand the present utility model and implement it accordingly, but the present utility model is not limited to the above-described specific embodiments. All changes or modifications that come within the scope of the appended claims are intended to be embraced therein.

Claims (10)

1. A multifunctional gripper, characterized in that the multifunctional gripper comprises:

a connecting piece (1);

the cutter grabbing mechanism (3), the cutter grabbing mechanism (3) is connected with the connecting piece (1);

the workpiece grabbing mechanism (2), the workpiece grabbing mechanism (2) comprises a plurality of clamping jaws, a plurality of sliding assemblies (4) and a plurality of clamping pieces (5), and the sliding assemblies (4) are in sliding connection with the connecting pieces (1); the clamping pieces (5) are in sliding connection with the sliding assemblies (4) in one-to-one correspondence and are detachably connected with the clamping jaws in one-to-one correspondence;

when the multifunctional gripper is in a working state, the clamping jaw and the sliding assembly (4) can be engaged and locked; when the clamping jaw is separated from the sliding component (4) and is semi-detached from the clamping piece (5), the clamping jaw and the clamping piece (5) can slide synchronously on the sliding component (4).

2. The multifunctional grip according to claim 1, characterized in that the slip assembly (4) comprises a slider (41) and a driver;

the driver is arranged on the connecting piece (1) and can drive the sliding piece (41) to slide relative to the connecting piece (1);

the clamping piece (5) is connected with the sliding piece (41) in a sliding mode and meshed and locked with the clamping jaw.

3. The multifunctional grip according to claim 2, characterized in that a plurality of the sliding members (41) are uniformly arranged around the axial direction of the connecting member (1), and the distances between the axis of the connecting member (1) and the connecting line of the geometric centers of the plurality of sliding members (41) are equal.

4. The multifunctional gripper according to claim 2, characterized in that the sliding member (41) is provided with a dovetail groove, and the clamping member (5) can slide in the dovetail groove and form a back-off, so as to limit the clamping member (5) in the axial direction of the connecting member (1).

5. The multifunctional gripper according to claim 4, characterized in that the sliding piece (41) is provided with a pair of first racks (412), the clamping piece (5) is arranged between the pair of first racks (412), and the free end of the clamping piece (5) extends out of the dovetail groove;

the clamping jaw is provided with a pair of second racks, and the first racks (412) in the pair can be meshed and locked with the second racks in the pair in a one-to-one correspondence manner; the sliding piece (41) can drive the clamping jaw and the clamping piece (5) to synchronously move.

6. The multifunctional grip according to any one of claims 1-5, characterized in that the gripping jaw comprises a jaw arm (21) and a jaw (22);

the claw arm (21) is engaged and locked with the sliding component (4) and is detachably connected with the clamping piece (5);

the clamping jaws (22) are arranged on the clamping jaw arms (21), and a plurality of clamping jaws (22) can clamp or release the clamping workpiece (6).

7. The multifunctional gripper according to claim 6, characterized in that the workpiece gripping mechanism (2) further comprises an elastic element (23);

the elastic piece (23) is arranged on the clamping jaw (22); the distance between the elastic piece (23) and the workpiece (6) is not larger than the distance between the clamping jaw (22) and the workpiece (6).

8. The multifunctional gripper according to any one of claims 1-5, characterized in that the tool gripping mechanism (3) comprises a moving arm (31) and a base (32);

the moving arm (31) can be close to or far from the base (32) to clamp or unclamp the tool (7).

9. The multifunctional grip according to any one of claims 1-5, characterized in that the clamping element (5) is detachably connected to the clamping jaw by means of a bolt.

10. A robot comprising a multifunctional grip according to any one of claims 1-9.