RU220512U1 - Industrial robot grip - Google Patents

Abstract

The utility model relates to the field of robotics and can be used in gripping devices of robotic manipulators. The gripper contains two jaws placed on fasteners; the flexible parts of the jaws are fixed in a rigid body by means of T-shaped protrusions made on the jaws and corresponding T-shaped grooves in the rigid body. The rigid bodies are hingedly connected to the fasteners and to each other, and the outer solid wall of the flexible parts of the jaws is united by internal parallel stiffening ribs. The use of the utility model makes it possible to increase the reliability of the gripper. 3 salary f-ly, 4 ill.

Description

The utility model relates to grippers of industrial robots, namely to the gripper of a robotic manipulator.

Known from the prior art, in particular, is a mechanical robot gripper (see CN101085525, publ. 12/12/2007) (1), which consists of a motor, a connecting sleeve, a lower pin plate and a gripping device, the motor being connected to the lower pin plate via the coupling body, the handle is hinged to the bottom plate of the pin, the motor is connected to the gripper through a screw rod. When the progressive motor rotates clockwise when viewed from behind, it causes the helical rod to rotate clockwise through the clutch. Due to the correct rotation pattern of the main screw of the screw rod, it can limit the freedom of direction of rotation, with the main screw moving downward, driving the handle pressure plate downwards, opening the fingers and vice versa. It is simple, inexpensive, small in size and flexible.

Mechanical regulation in the proposed analogue (1) leads to the fact that the jaws can only occupy a strictly defined position, which limits the capabilities of the device.

Also an analogue of the claimed utility model is a gripper (see US9266242B2, published on February 23, 2016) (2), in particular a gripper with a pneumatic drive, with a housing in which a linear drive is formed, preferably with a pneumatic drive. The gripper also has first and second gripping jaws, which are respectively mounted to be rotatable relative to the housing around a rotation axis. The first and second gripping jaws are coupled to the linear actuator such that the linear motion generated by the linear actuator is correspondingly converted into a rotational movement of the first and second jaws in the direction of opening or closing the gripping jaws. To ensure reliable gripping, the first and second gripping jaws are connected to each other by means of a synchronizing element so that when the linear actuator is activated, the rotary movements of the first and second jaws are synchronized.

The disadvantage of the gripper according to (2) is that it is controlled by a pneumatic drive, which reduces the accuracy and smoothness of its operation.

The closest analogue of the claimed device, according to the applicant, is the capture mechanism (see CN113459139A, published 05/05/2020) (3). The gripping mechanism contains a clamping unit and an angle adjustment unit; The clamping unit and the angle adjustment unit are rigidly connected through a support socket. The first power module in the clamping unit rotates the rotating mechanism connected to the first power module, so that the two clamping parts in mirror symmetry perform opening, closing and clamping at a precise distance, and accurate clamping of workpieces is achieved; the second power module in the angle adjustment unit rotates the adjustment mechanism connected to the second power module, the adjustment mechanism rotates in the clamping part through the gear on the movable part, precise adjustment of the angle of the gripping mechanism is achieved, and the workpieces grasped by the gripping mechanism are placed in a precise position; The gripping mechanism is simple in structure, the workpiece clamping accuracy is further improved, workpieces can be placed more accurately, and the gripping efficiency is greatly improved.

In the proposed analogue (3), mechanical regulation of the grip leads to the fact that the jaws can only occupy a strictly defined position, which limits the capabilities of the device.

Summary of the Invention

This invention is aimed at solving a technical problem related to increasing the reliability of the clamping device.

The technical result of the invention is to improve the quality of sorting, which is ensured by the reliable operation of the clamping device.

The technical result is achieved by creating a grip that contains two jaws placed on the fasteners. The flexible parts of the jaws are fixed in a rigid body by means of T-shaped fastenings made on the jaws and corresponding T-shaped grooves in the rigid body, the rigid bodies are hingedly connected to the fastenings and to each other, the flexible parts of the jaws are made in the form of a rectangular prism, in which the outer The solid wall is united by internal parallel stiffeners.

In a particular embodiment, the grip contains two T-shaped fasteners for each jaw.

In a particular embodiment, the flexible part of the sponge is made of plastic.

In a particular embodiment, the flexible part of the sponge is made on a 3D printer.

In a particular embodiment, each flexible part of the jaw has 5 stiffening ribs.

The essence of the utility model is illustrated by drawings, in which:

FIGS. 1-4 are capture images.

The positions in figure 2 indicate the following:

1 - flexible jaws;

2 - hinge;

3 - fastening;

4 - stiffeners.

These drawings do not cover and, moreover, do not limit the entire scope of options for implementing this technical solution, but represent only illustrative material of a particular case of its implementation.

The gripper consists of jaws (1) placed on the mounts (3) of the industrial robot. The jaws are designed for gripping and are made in the form of a flexible element connected to the rigid body by means of T-shaped fastenings made on the jaws and corresponding T-shaped grooves in the rigid body, preferably there are two such fastenings for each jaw. Thus, the flexible jaws can be easily replaced when worn.

The rigid bodies are connected to the fasteners (3) and to each other using hinges (2). This utility model does not describe the gripper drive; it is understood that the design of the drive is not limited to any one type, but involves a choice from possible ones.

The flexible parts of the jaws are made in the form of a rectangular prism, in which the outer solid wall is united by internal parallel stiffeners. The flexible parts of the sponge are mainly made from plastic on a 3D printer. The most effective are jaws with 5 stiffeners.

The proposed gripper is intended for a number of applications, including use by marketplaces, logistics companies, as well as in the food industry, metallurgy, mechanical engineering, waste processing plants, hardware plants, etc.

Claims (4)

1. A gripper of an industrial robot containing two jaws placed on fastenings with flexible parts fixed in a rigid body, wherein the flexible parts have an outer solid wall, which is united by means of internal parallel stiffening ribs, characterized in that said fastenings of the jaws in the body are made in the form T-shaped protrusions made on the jaws and corresponding T-shaped grooves made in a rigid body, with the rigid bodies being hingedly connected to the fasteners and to each other. 2. The grip according to claim 1, characterized in that the T-shaped protrusions and T-shaped grooves are made in the amount of two for each jaw. 3. Grip according to claim 1 or 2, characterized in that the flexible part of the jaws is made of plastic. 4. Capture according to any one of paragraphs. 1-3, characterized in that on each flexible part of the sponge there are five stiffening ribs.