CN221455951U - Integrated tongs mechanism and robot - Google Patents

Abstract

The utility model provides an integrated gripper mechanism and a robot. The jaw assembly of the integrated gripper mechanism includes a first jaw assembly and a second jaw assembly. The first jaw assembly and the second jaw assembly are respectively connected to a jaw power assembly, and the jaw power assembly is used to apply a force to the first jaw assembly and the second jaw assembly to drive the first jaw assembly and the second jaw assembly to move synchronously to pick up and place a first object. The suction cup assembly includes a plurality of branch suction cup assemblies, each branch suction cup assembly is correspondingly connected to each suction cup drive assembly, and each suction cup drive assembly is used to apply a force to each branch suction cup assembly to drive the branch suction cup assembly to pick up and place a second object synchronously while the first jaw assembly and the second jaw assembly pick up and place the first object. The jaw assembly and the suction cup assembly are installed on the same frame, which reduces the space occupied by the equipment. Moreover, the suction cup assembly picks up and places the second object synchronously while the jaw assembly picks up and places the first object, which improves production efficiency.

Description

Integrated gripper mechanism and robot

Technical Field

The utility model relates to the technical field of grippers, in particular to an integrated gripper mechanism and a robot.

Background technique

The automated production process involves many work scenarios related to material handling, and the same workstation may involve multiple handlings. For example, in the production process of TV glass, due to the large production capacity, fast beat, and large product size of the production line, the box and the glass diaphragm inside the box must be handled. In the process production, the diaphragm and the box are handled by two different sets of handling grippers. This results in the problem of large overall size of the production equipment, large space occupation, and long process time.

Utility Model Content

The utility model provides an integrated gripper mechanism and a robot, which are used to solve the problems of large equipment structure size and long process time caused by the existing separate placement of glass and box.

In order to achieve the above purpose, the utility model adopts the following technical solutions:

The utility model provides an integrated gripper mechanism in a first aspect, comprising a frame, a clamping claw assembly mounted on the frame for picking up and placing a first object, a clamping claw power assembly, a suction cup assembly for picking up and placing a second object, and a suction cup drive assembly;

The clamping jaw assembly comprises a first clamping jaw assembly and a second clamping jaw assembly, wherein the first clamping jaw assembly and the second clamping jaw assembly are respectively connected to the clamping jaw power assembly, and the clamping jaw power assembly is used to apply a force to the first clamping jaw assembly and the second clamping jaw assembly to drive the first clamping jaw assembly and the second clamping jaw assembly to move synchronously to pick up and place the first object;

The suction cup assembly includes a plurality of branch suction cup assemblies, each of which is connected to a corresponding suction cup drive assembly, and each suction cup drive assembly is used to apply force to each branch suction cup assembly to drive the branch suction cup assembly to synchronously pick up and place the second object while the first clamp assembly and the second clamp assembly pick up and place the first object.

In some embodiments, the frame includes a gripper slide rail, and the first gripper assembly and the second gripper assembly are both mounted on the gripper slide rail. When the gripper power assembly applies a force along the gripper slide rail toward the center of the gripper slide rail to the first gripper assembly and the second gripper assembly, the first gripper assembly and the second gripper assembly clamp the first object.

In some embodiments, the gripper power assembly includes a motor, a reducer and a screw; the motor is connected to the reducer, the reducer is connected to one end of the screw, the other end of the screw is hinged to the frame, and the screw is arranged parallel to the gripper slide rail; the first gripper assembly and the second gripper assembly are arranged on the screw, and move along the gripper slide rail synchronously with the rotation of the screw.

In some embodiments, the first clamping jaw assembly and the second clamping jaw assembly both include a nut, a clamping jaw slider and a clamping jaw plate, the nut is connected to the screw rod, one end of the clamping jaw slider is connected to the nut, the other end of the clamping jaw slider is slidably connected to the clamping jaw slide rail, one end of the clamping jaw plate is connected to the nut, and the other end of the clamping jaw plate is a clamping portion for clamping the first object.

In some embodiments, the first jaw assembly and the second jaw assembly also include a jaw plate slide rail, the jaw plate includes a first jaw plate and a second jaw plate, the middle part of the jaw plate slide rail is connected to the nut, the first jaw plate and the second jaw plate are connected to the jaw plate slide rail through a slider, and the first jaw plate and the second jaw plate are detachably fastened to the jaw plate slide rail by screws.

In some embodiments, the branch suction cup assembly includes a suction cup and a suction cup bracket, and the suction cup bracket is connected to the suction cup drive assembly.

In some embodiments, the frame also includes a suction cup slide rail, the suction cup drive assembly includes a cylinder, a cylinder bracket and a cylinder slider, the cylinder is installed on the cylinder bracket, the cylinder bracket is connected to the cylinder slider, and the cylinder slider is slidingly connected to the suction cup slide rail; the piston rod of the cylinder is connected to the suction cup bracket, and when the piston rod is extended, the suction cup absorbs and grasps the second object.

In some embodiments, the integrated gripper mechanism further includes a central suction cup assembly and a central suction cup power assembly, wherein the central suction cup assembly is connected to the central suction cup power assembly, and the central suction cup power assembly is used to cooperate with the suction cup assembly to pick up and place the second object.

In some embodiments, the central suction cup assembly includes a central suction cup and a central suction cup bracket, the central suction cup power assembly includes a central cylinder and a central cylinder bracket, the central cylinder is installed on the central cylinder bracket, and the central cylinder bracket is fixed on the frame; the central suction cup bracket is connected to the piston rod of the central cylinder.

The utility model also discloses a robot, which comprises the integrated gripper mechanism described in any one of the above embodiments.

The effects provided in the utility model content are only the effects of the embodiments, not all the effects of the utility model. One of the above technical solutions has the following advantages or beneficial effects:

The clamping claw assembly for picking up and placing the first object and the suction cup assembly for picking up and placing the second object are installed on the same frame, thereby reducing the space occupied by the equipment. Moreover, each branch suction cup assembly of the suction cup assembly can pick up and place the second object synchronously while the first clamping claw assembly and the second clamping claw assembly of the clamping claw assembly pick up and place the first object, thereby saving the process time of equipment production and improving production efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram of the three-dimensional structure of the integrated gripper mechanism of the utility model.

FIG. 2 is a schematic diagram showing the positional relationship among the integrated gripper mechanism, the box body and the glass diaphragm of the utility model.

FIG3 is a schematic diagram showing the positional relationship among the integrated gripper mechanism, the box body and a glass diaphragm of another size of the utility model.

FIG. 4 is a schematic diagram of the structure along direction A of FIG. 1 .

FIG. 5 is a schematic diagram of the structure in the direction B of FIG. 1 .

FIG. 6 is a schematic diagram of the three-dimensional structure of the integrated gripper mechanism of the utility model from another angle.

Figure markings: 1 frame, 101 clamping jaw slide rail, 102 suction cup slide rail, 2 clamping jaw assembly, 201 nut, 202 clamping jaw slider, 203 clamping jaw plate, 204 limit block, 205 clamping jaw plate slide rail, 206 slider, 207 screw, 3 clamping jaw power assembly, 301 motor, 302 screw rod, 4 branch suction cup assembly, 401 suction cup, 402 suction cup bracket, 5 suction cup drive assembly, 501 cylinder, 502 cylinder bracket, 503 cylinder slider, 6 box, 7 glass diaphragm, 8 center suction cup assembly, 801 center suction cup, 802 center suction cup bracket, 9 center suction cup drive assembly, 901 center cylinder, 902 center cylinder bracket.

Detailed ways

In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in combination with the accompanying drawings. The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. In addition, the present invention may repeat reference numbers and/or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and/or settings discussed. It should be noted that the components illustrated in the accompanying drawings are not necessarily drawn to scale. The present invention omits the description of known components and processing techniques and processes to avoid unnecessary limitations on the present invention.

The invention discloses an integrated gripper mechanism to solve the problems in the background technology.

As shown in Fig. 1 to Fig. 6, the integrated gripper mechanism comprises a frame 1, a gripper assembly 2 for picking up and placing a first object mounted on the frame 1, a gripper power assembly 3, a suction cup assembly for picking up and placing a second object, and a suction cup drive assembly 5. The following description is made by taking the first object as a box 6 and the second object as a glass diaphragm 7 as an example.

Wherein, the clamping jaw assembly 2 includes a first clamping jaw assembly and a second clamping jaw assembly, and the first clamping jaw assembly and the second clamping jaw assembly are connected to the clamping jaw power assembly 3 respectively, and the clamping jaw power assembly 3 is used to apply a force to the first clamping jaw assembly and the second clamping jaw assembly to drive the first clamping jaw assembly and the second clamping jaw assembly to move synchronously to pick up and place the box 6. Because the box 6 is an item with a certain height and a relatively large structural size, when picking up and placing, in order to ensure relatively stable picking and placing, the first clamping jaw assembly and the second clamping jaw assembly are used to pick up and place the box 6. The first clamping jaw assembly and the second clamping jaw assembly move synchronously under the driving action of the clamping jaw power assembly 3, and the first clamping jaw assembly and the second clamping jaw assembly can be arranged symmetrically, such as installing the clamping jaw power assembly 3 on the frame 1, and the first clamping jaw assembly and the second clamping jaw assembly are arranged symmetrically about the clamping jaw power assembly 3. The symmetrical structural design can reduce the design cost on the one hand, and facilitate the arrangement of the first clamping jaw assembly and the second clamping jaw assembly on the other hand. When it is necessary to grab the box 6, the clamp power assembly 3 applies a force to the first clamp assembly and the second clamp assembly, so that the first clamp assembly and the second clamp assembly move synchronously in the direction of the clamp power assembly 3, that is, move in the direction close to the box 6, until the first clamp assembly and the second clamp assembly clamp the box 6. Similarly, when it is necessary to release the box 6, the clamp power assembly 3 applies an opposite force to the first clamp assembly and the second clamp assembly, so that the first clamp assembly and the second clamp assembly move synchronously in the direction away from the clamp power assembly 3 to release the box 6. The movement of the first clamp assembly and the second clamp assembly can be preset according to the size of the box 6, or sensors can be set at the positions of the first clamp assembly and the second clamp assembly corresponding to the clamping of the box 6, so as to determine whether the box 6 is clamped.

The suction cup assembly includes a plurality of branch suction cup assemblies 4, each branch suction cup assembly 4 is connected to each suction cup drive assembly 5, and each suction cup drive assembly 5 is used to apply a force to each branch suction cup assembly 4 to drive the branch suction cup assembly 4 to synchronously pick up and place the glass diaphragm 7 while the first clamp assembly and the second clamp assembly pick up and place the box 6. Since the size of the glass diaphragm 7 is relatively large, a plurality of branch suction cup assemblies 4 are used to simultaneously adsorb and/or release the glass diaphragm 7 to ensure the adsorption force of the suction cup assembly on the glass diaphragm 7. The suction cups of each branch suction cup assembly 4 can be appropriately adjusted in position according to the size of the glass diaphragm 7, so as to stably adsorb the glass diaphragm 7. Generally, the suction cups of each branch suction cup assembly 4 can be arranged correspondingly around the glass diaphragm 7 to achieve stable adsorption of the glass diaphragm 7.

In some embodiments, the frame 1 includes a clamping jaw slide 101, and the first clamping jaw assembly and the second clamping jaw assembly are both installed on the clamping jaw slide 101. When the clamping jaw power assembly 3 applies a force along the clamping jaw slide 101 toward the center of the clamping jaw slide 101 to the first clamping jaw assembly and the second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly clamp the box 6. The clamping jaw slide 101 can adopt a linear slide, and the center of the linear slide is the center of the frame 1, and the center position of the box 6 also corresponds to the center position of the linear slide. The clamping jaw slide 101 can realize the smooth sliding of the first clamping jaw assembly and the second clamping jaw assembly to ensure the smooth movement of the integrated gripper structure.

The gripper power assembly 3 includes a motor 301, a reducer and a screw rod 302; a motor 301 with a dual output shaft can be used to connect the reducer and the screw rod 302, or two identical motors 301 arranged symmetrically can be used to connect the reducer and the screw rod 302 respectively. The motor 301 is connected to the reducer to reduce speed, and the reducer is also connected to one end of the screw rod 302, and the other end of the screw rod 302 is hinged on the frame 1. The first gripper assembly and the second gripper assembly are arranged on the screw rod 302 and move synchronously along the gripper slide rail 101 as the screw rod 302 rotates. The screw rod 302 is arranged in parallel with the gripper slide rail 101, so that the first gripper assembly and the second gripper assembly move smoothly along the gripper slide rail 101 under the driving action of the gripper power assembly 3.

The first clamping jaw assembly and the second clamping jaw assembly both include a nut 201, a clamping jaw slider 202 and a clamping jaw plate 203. The nut 201 is arranged on the screw rod 302 and is threadedly connected to the screw rod 302. The clamping jaw slider 202 is in a rectangular block shape. One end of the clamping jaw slider 202 is fixedly connected to the nut 201, and the other end of the clamping jaw slider 202 is slidably connected to the clamping jaw slide rail 101. One end of the clamping jaw plate 203 is fixedly connected to the nut 201, and the other end of the clamping jaw plate 203 is a clamping portion for clamping the box body 6. A limit block 204 is arranged on one side of the clamping portion facing the box body 6. The limit block 204 is fixed to the bottom end of the clamping jaw plate 203. When the clamping jaw plate 203 clamps the box body 6, the limit block 204 corresponds to the box body 6 position of the box body 6 to prevent the box body 6 from falling off after the clamping jaw plate 203 clamps the box body 6, so as to further ensure the stability of the box body 6 being clamped.

The first clamping jaw assembly and the second clamping jaw assembly further include a clamping jaw plate slide rail 205, the clamping jaw plate includes a first clamping jaw plate and a second clamping jaw plate, the middle part of the clamping jaw plate slide rail 205 is connected to the nut 201, that is, two clamping jaw plates can be installed on the same nut 201. The first clamping jaw plate and the second clamping jaw plate are connected to the linear clamping jaw plate slide rail 205 through a slider 206, and the first clamping jaw plate and the second clamping jaw plate are detachably fastened to the clamping jaw plate slide rail 205 through screws 207. According to the size of the box body 6, the position of the first clamping jaw plate and the second clamping jaw plate on the clamping jaw plate slide rail 205 can be adjusted by screws 207 to adapt to the box body 6 to be clamped.

In some embodiments, the branch suction cup assembly 4 includes a suction cup 401 and a suction cup bracket 402, and the suction cup bracket 402 is connected to the suction cup drive assembly 5. An air pipe or the like can be provided on the suction cup bracket 402, and the integrated gripper mechanism is externally connected to a vacuum generator or the like for supplying air to the suction cup 401. Alternatively, the vacuum generator is installed on the frame 1.

The frame 1 also includes a linear suction cup slide rail 102, and the suction cup drive assembly 5 includes a cylinder 501, a cylinder bracket 502 and a cylinder slider 503. The cylinder 501 is mounted on the cylinder bracket 502, and the cylinder bracket 502 is connected to the cylinder slider 503. The cylinder bracket 502 can directly adopt a cylinder seat. The cylinder slider 503 is connected to the suction cup slide rail 102 in a sliding fit. The piston rod of the cylinder 501 is connected to the suction cup bracket 402. When the piston rod is extended, the suction cup absorbs and fixes the glass diaphragm 7. While the clamping jaw assembly clamps the box body 6, the piston rod of the cylinder is extended, and the suction cup synchronously absorbs and fixes the glass diaphragm 7. Then, when the integrated gripper mechanism drives the robot or other structure to lower the box body 6 and the glass diaphragm 7 and simultaneously transports them to another station, the clamping jaw assembly and the suction cup assembly are actuated to release the box body 6 and the glass diaphragm 7. In this way, the box body 6 and the glass membrane 7 can be synchronously transported by using the same integrated gripper mechanism, which reduces the process time of the production equipment and improves the production efficiency.

In some embodiments, the integrated gripper mechanism further includes a central suction cup assembly 8 and a central suction cup power assembly 9, and the central suction cup assembly 8 is connected to the central suction cup power assembly. In conjunction with Figures 2 and 3, the central suction cup power assembly is used to cooperate with the suction cup assembly to pick up and place the glass diaphragm 7, or to adsorb the glass diaphragm 7 with a smaller structural size. At this time, the central suction cup assembly 8 is suitable for the situation where the smaller glass diaphragm 7 cannot be adsorbed by the suction cup assembly. To further ensure the adsorption and fixing strength of the glass diaphragm 7. The central suction cup assembly 8 includes a central suction cup 801 and a central suction cup bracket 802. The central suction cup power assembly 9 includes a central cylinder 901 and a central cylinder bracket 902. The central cylinder 901 is installed on the central cylinder bracket 902, and the central cylinder bracket 902 is fixed on the frame 1; the central suction cup bracket 902 is connected to the piston rod of the central cylinder 901. When the piston rod is extended, the central suction cup 801 adsorbs the glass diaphragm 7. The central suction cup assembly 8 can be one or more.

In addition, an embodiment of the utility model further discloses a robot, which includes the integrated gripper mechanism described in any one of the above embodiments.

Although the above describes the specific implementation methods of the utility model in conjunction with the accompanying drawings, it is not intended to limit the protection scope of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the protection scope of the utility model.

Claims (10)

1. The integrated gripper mechanism is characterized by comprising a frame, a clamping jaw assembly, a clamping jaw power assembly, a sucking disc assembly and a sucking disc driving assembly, wherein the clamping jaw assembly is arranged on the frame and used for taking and placing a first object;

The clamping jaw assembly comprises a first clamping jaw assembly and a second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly are respectively connected with the clamping jaw power assembly, and the clamping jaw power assembly is used for applying acting force to the first clamping jaw assembly and the second clamping jaw assembly so as to drive the first clamping jaw assembly and the second clamping jaw assembly to synchronously move to take and put the first article;

the sucker assembly comprises a plurality of branch sucker assemblies, each branch sucker assembly is correspondingly connected with each sucker driving assembly, and each sucker driving assembly is used for applying acting force to each branch sucker assembly so as to drive the branch sucker assemblies to synchronously pick and place the second object while the first clamping jaw assembly and the second clamping jaw assembly pick and place the first object.

2. The integrated gripper mechanism of claim 1, wherein the frame comprises a jaw slide, the first jaw assembly and the second jaw assembly are each mounted on the jaw slide, and the first jaw assembly and the second jaw assembly clamp the first article when the jaw power assembly applies a force to the first jaw assembly and the second jaw assembly along the jaw slide toward a center of the jaw slide.

3. The integrated gripper mechanism of claim 2, wherein the jaw power assembly comprises a motor, a speed reducer, and a screw; the motor is connected with the speed reducer, the speed reducer is connected with one end of the screw rod, the other end of the screw rod is hinged to the frame, and the screw rod is arranged in parallel with the clamping jaw sliding rail; the first clamping jaw assembly and the second clamping jaw assembly are arranged on the screw rod and synchronously move along the clamping jaw sliding rail along with the rotation of the screw rod.

4. The integrated gripper mechanism of claim 3, wherein the first gripper jaw assembly and the second gripper jaw assembly each comprise a screw, a gripper slider and a gripper plate, the screw is connected with the screw, one end of the gripper slider is connected with the screw, the other end of the gripper slider is connected with the gripper slide rail in a sliding fit manner, one end of the gripper plate is connected with the screw, and the other end of the gripper plate is a gripper portion for gripping the first article.

5. The integrated gripper mechanism of claim 4, wherein the first and second jaw assemblies further comprise jaw plate rails, the jaw plates comprise first and second jaw plates, a middle portion of the jaw plate rails are connected to the nuts, the first and second jaw plates are connected to the jaw plate rails by a slider, and the first and second jaw plates are detachably fastened to the jaw plate rails by screws.

6. The integrated gripper mechanism of claim 1, wherein the branched suction cup assembly comprises a suction cup and a suction cup support, the suction cup support being coupled to the suction cup drive assembly.

7. The integrated gripper mechanism of claim 6, wherein the frame further comprises a suction cup slide rail, the suction cup drive assembly comprises a cylinder, a cylinder bracket and a cylinder slide block, the cylinder is mounted on the cylinder bracket, the cylinder bracket is connected with the cylinder slide block, and the cylinder slide block is connected with the suction cup slide rail in a sliding fit; and a piston rod of the air cylinder is connected with the sucker support, and when the piston rod extends out, the sucker adsorbs and grabs the second object.

8. The integrated gripper mechanism of claim 1, further comprising a central chuck assembly and a central chuck power assembly, the central chuck assembly being coupled to the central chuck power assembly, the central chuck power assembly being configured to cooperate with the chuck assembly to pick and place the second item.

9. The integrated gripper mechanism of claim 8, wherein the central chuck assembly comprises a central chuck, a central chuck support, the central chuck power assembly comprising a central cylinder and a central cylinder support, the central cylinder being mounted on the central cylinder support, the central cylinder support being secured to the frame; the center sucker support is connected with a piston rod of the center cylinder.

10. A robot comprising an integrated gripper mechanism according to any one of claims 1 to 9.