Anti-falling flat plate type workpiece grabbing clamping jaw and using method

Abstract

The invention discloses an anti-falling flat-plate-type workpiece grabbing clamping jaw and a using method, and relates to the field of assembly, the anti-falling flat-plate-type workpiece grabbing clamping jaw can serve as a robot quick-change tail end and is used for sucking flat-plate-type workpieces or cuboid box-type workpieces, the clamping jaw is opened when an air cylinder acts and retracts, and after a suction cup sucks the workpieces, the clamping jaw is closed. The air cylinder acts and stretches out to drive the clamping jaw to be closed to the position below the workpiece to achieve the supporting effect, the proximity switch can sense the state of the clamping jaw, the uniqueness of the grabbed workpiece can be guaranteed after the clamping jaw is in place, and it is guaranteed that the uppermost workpiece is grabbed. When the workpiece loses the adsorption force of the vacuum chuck, the anti-falling effect can be achieved; due to the fact that main transmission parts are fastened in an embracing ring mode, the angle of the transmission rod can be adjusted to enable the mechanism to form a dead point when the gravity of the workpiece acts on the clamping jaw, the workpiece is further prevented from falling off and being damaged, and safety of operators and equipment is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of assembly, and relates to a flat workpiece grabbing jaw capable of preventing falling and a use method. BACKGROUND

[0002] In the automatic transfer and assembly process of the existing flat or square workpiece shell cover, the workpiece is usually grabbed by a mechanical arm in a suction cup mode and then placed at a specified position. The suction cup generates negative pressure by a vacuum generator, so as to adsorb the workpiece on the fixed suction cup. However, the suction cup has uncertainty. Once the equipment fails to stop inhaling or the vacuum is broken due to external force in the transfer process, the workpiece may be damaged or even the equipment and the personal safety of the staff may be harmed. In addition, the flat plates may be stacked and placed, and the adjacent two flat plates are almost completely attached. Under the action of atmospheric pressure and self-weight, the flat plates may be mutually adhered. At this time, when the flat plates are lifted by using the suction cup, one or more flat plates may be easily adhered under the flat plates, which leads to inaccurate feeding of the suction cup and increases the falling risk. SUMMARY

[0003] The application solves the technical problem of overcoming the deficiencies of the prior art and providing a flat workpiece grabbing jaw capable of preventing falling, so as to solve the problem that the flat workpiece is easily fallen from the suction cup due to equipment failure when the mechanical arm relies on the suction cup to adsorb the flat workpiece for transfer or assembly, prevent the equipment from being damaged or the staff from being injured, and solve the problem that the suction cup may adhere one or more flat plates when grabbing the workpiece.

[0004] The technical scheme provided by the application is as follows.

[0005] A flat workpiece grabbing jaw capable of preventing falling comprises:

[0006] a rack;

[0007] a quick-change female disc connected to the rack and used for being connected with a mechanical arm;

[0008] a vacuum suction cup connected to the rack and used for sucking a workpiece;

[0009] two pneumatic clamping jaw mechanisms symmetrically arranged on two sides of the rack, and the two pneumatic clamping jaw mechanisms clamp the sucked workpiece when the workpiece is sucked by the vacuum suction cup.

[0010] Further, the pneumatic clamping jaw mechanism comprises a clamping jaw mechanism, a second transmission member and a driving mechanism, the rack is fixedly connected with a fixed seat and a bearing seat, the second transmission member passes through the bearing seat and is rotationally connected with the bearing seat, the clamping jaw mechanism is connected with the second transmission member, and the second transmission member drives the clamping jaw mechanism to rotate together; and the driving mechanism is connected between the second transmission member and the fixed seat and is used for driving the second transmission member to rotate.

[0011] Further, the clamping jaw mechanism comprises a supporting rod and at least two L-shaped clamping jaws, one end of the L-shaped clamping jaw is connected to the second transmission member, the second transmission member and the L-shaped clamping jaw rotate together, the other end of the L-shaped clamping jaw is bent towards the center of the rack, and the supporting rod is fixedly connected to the end of the L-shaped clamping jaw away from the second transmission member.

[0012] Further, the driving mechanism comprises a telescopic cylinder, a tail mounting member, an elbow joint and a first transmission member, one end of the telescopic cylinder is connected to the tail mounting member, the other end of the telescopic cylinder is fixed with the elbow joint, the tail mounting member is hingedly connected to the fixed base through a pin shaft, the elbow joint is hingedly connected to one end of the first transmission member through a pin shaft, and the other end of the first transmission member is fixed with the second transmission member.

[0013] Further, the outer circular surface of the second transmission member is provided with a groove, an elastic shaft retainer is arranged in the groove, and the elastic shaft retainer is in contact with one end of the bearing seat for axial limiting.

[0014] Further, the rack is fixedly connected with a sensor mounting bracket, and a proximity sensor is connected to the sensor mounting bracket; one end of the second transmission member is provided with a boss type fixing ring, the boss type fixing ring is in contact with the sensor mounting bracket, so that the second transmission member and the bearing seat cannot move relative to each other along the axis direction of the second transmission member; when the L-shaped clamping jaw is rotated to a position, the boss type fixing ring triggers the proximity sensor, so as to control the opening or closing of the clamping jaw.

[0015] Further, the rack is provided with a handle and two button switches, the handle is used for manual operation, one button switch is used for controlling the pneumatic clamping jaw mechanism to loosen the clamping of the workpiece, and the other button switch is used for controlling the vacuum chuck to break the vacuum.

[0016] A use method of the flat plate type workpiece grabbing clamping jaw capable of preventing falling, comprising:

[0017] When the workpiece is grabbed, the rack is moved to the upper side of the workpiece by the mechanical arm, the workpiece is sucked by the quick-change mother disc, then the rack and the workpiece are moved upward by the mechanical arm to a set distance, and the pneumatic clamping jaw mechanism is controlled to clamp the workpiece.

[0018] The rack and the workpiece are moved together by the mechanical arm until the workpiece is located at an assembly position, the pneumatic clamping jaw mechanism is controlled to loosen the clamping of the workpiece, and the vacuum chuck is controlled to break the vacuum.

[0019] In summary, the present application at least has the following beneficial technical effects:

[0020] The flat plate type workpiece grabbing clamp of the application can be used as a robot quick-change end, and is used for sucking flat plate type workpieces or cuboid box type workpieces. When the cylinder retracts, the clamp is opened. After the workpiece is sucked by the suction cup, the cylinder is extended to drive the clamp to close under the workpiece to play a supporting role. The proximity switch can sense the state of the clamp. When the clamp is in place, the uniqueness of the grabbed workpiece can be ensured. When the workpiece loses the adsorption force of the vacuum suction cup, the anti-falling effect can be achieved. Since the main transmission parts are fastened in the form of a ring, the angle of the transmission rod can be adjusted so that the mechanism forms a dead point when the gravity of the workpiece acts on the clamp, further preventing the workpiece from falling and causing damage to the workpiece, and ensuring the safety of the operator and the equipment.

[0021] The application provides an anti-falling device of a pneumatic connecting rod based on the end of the suction cup. The device can act based on the extension and retraction of the cylinder, realize the support of the workpiece from below after grabbing, and avoid the risk of falling caused by the loss of adsorption force of the workpiece due to equipment failure. At the same time, the anti-falling device can be used to separate two flat plates that are adhered to each other, and ensure that the uppermost workpiece is grabbed. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the application.

[0023] Figure 2 It is a schematic diagram of the pneumatic clamp mechanism in the application.

[0024] Figure 3 It is a schematic diagram of the end structure of the application modified from a power end to a man-machine cooperation assembly end. DETAILED DESCRIPTION

[0025] To make the purpose, technical scheme and advantages of the application clearer, the embodiments disclosed by the application will be further described in detail below with reference to the drawings.

[0026] The embodiments of the application disclose a flat plate type workpiece grabbing clamp for preventing falling, as shown in Figure 1 Figure 1 It is a schematic diagram of the overall structure of the application. The clamp includes a rack 101, two symmetrical pneumatic clamp mechanisms 200 installed on the rack 101, a fixed seat 201 and a bearing seat 207 fixed on the rack 101 through fastening screws, six vacuum suction cups 102 evenly distributed on the bottom of the rack 101, a frame 104 installed on the upper surface of the rack 101, and a quick-change female disc 103 connected to the frame 104. The quick-change female disc 103 is used for connecting a mechanical arm. The end clamp can be quickly replaced when used on a mechanical arm (or robot).

[0027] Figure 2 ​It is a schematic diagram of the pneumatic clamping jaw mechanism in the application, and the pneumatic clamping jaw mechanism 200 comprises a telescopic air cylinder 203, a tail mounting member 202, an elbow joint 204, a first transmission member 205, a second transmission member 206, a boss type fixing ring 211, a proximity sensor 212, a sensor mounting bracket 213, a bearing seat 207, an L-shaped clamping jaw 208, and a supporting rod 209.

[0028] In the pneumatic clamping jaw mechanism 200, the telescopic air cylinder 203 is connected with the mounting member 202 at the tail, and the elbow joint 204 is fixed at the head. The mounting member 202 is hingedly connected with the fixed seat 201 through a pin shaft, the elbow joint 204 is hingedly connected with one end of the first transmission member 205 through a pin shaft, the other end of the first transmission member 205 is in the form of a clamping ring, the second transmission member 206 passes through the end of the first transmission member 205 in the form of a clamping ring, and the end of the second transmission member 206 in the form of a clamping ring is fastened by a screw, so that the second transmission member 206 and the first transmission member 205 are relatively fixed. The outer circular surface of the second transmission member 206 is provided with a groove, the groove is provided with an elastic shaft collar, the elastic shaft collar is in contact with one end of the bearing seat 207, and is used for axial limiting. The sensor mounting bracket 213 is fixedly connected to the rack 101. The other end of the second transmission member 206 is provided with the boss type fixing ring 211, the boss type fixing ring 211 is in contact with the sensor mounting bracket 213, and is used for axial limiting, so that the second transmission member 206 and the bearing seat 207 cannot relatively move along the axis direction of the second transmission member 206, and the second transmission member 206 and the L-shaped clamping jaw 208 rotate together. When the L-shaped clamping jaw 208 rotates to the position, the boss type fixing ring 211 triggers the proximity sensor 212. The second transmission member 206 passes through the middle bearing of the bearing seat 207, rotates around the bearing as the center, and the two L-shaped clamping jaws 208 are fixed on the two sides of the bearing seat. One end of the clamping jaw 208 is in the form of a clamping ring, can be fastened on the second transmission member 206 by a screw, and the supporting rod 209 is fixed between the two clamping jaws. The proximity sensor 212 is fixed in the circular ring of the sensor mounting bracket 213 by two side nuts, and is used for adjusting the sensor mounting position to ensure that the two sensors detect the opening and closing states of the clamping jaws.

[0029] Figure 3 It is a schematic diagram of the human-machine cooperation assembly end structure modified from the automatic end in the application. The automatic end can be modified into a human-machine cooperation assembly end. Specifically, two handles 106 and two button switches 105 can be installed on the rack. The handle 106 is used for manual operation. The robot arm connects the human-machine cooperation assembly end through the quick-change female disc 103. The robot arm drives the human-machine cooperation assembly end to the fixed position under visual guidance or teaching to grasp the workpiece. After grasping, the workpiece is transported to the human-machine cooperation area to hover. The handle 106 is used to manually drag the human-machine cooperation assembly end to the assembly position. After reaching the position, one side button switch is pressed to open the two clamping jaws. The workpiece is placed in the accurate assembly position. Then, the other side button switch is pressed to break the vacuum of the suction cup. The workpiece is completely separated from the clamping jaw.

[0030] In the present application, the clamping jaw action force can be provided by a motor, hydraulic power mechanism, etc. When the grabbed object is a magnetic material, the suction cup can be replaced by an electromagnet.

[0031] The use method of the flat workpiece grabbing clamping jaw is as follows: when grabbing the workpiece, the mechanical arm drives the rack 101 to move above the workpiece, then the quick-change female disc 103 sucks the workpiece, then the rack 101 and the workpiece are driven to move up by a set distance, the piston rod of the telescopic cylinder 203 is controlled to move, and then the telescopic cylinder 203 drives the second transmission member 206 and the L-shaped clamping jaw 208 to rotate, so that the bottom of the L-shaped clamping jaw 208 rotates below the workpiece, so that the L-shaped clamping jaw 208 clamps the workpiece, and the falling of the workpiece is avoided. The mechanical arm drives the rack and the workpiece to move together until the workpiece is located at the assembly position, the pneumatic clamping jaw mechanism is controlled to loosen the clamping of the workpiece, and the vacuum suction cup is broken.

[0032] The contents not described in detail in the specification of the present application are the known technology of those skilled in the art.

[0033] The present application is described in detail above in combination with the specific implementation manners and exemplary examples, but these descriptions cannot be understood as limitations of the present application. Those skilled in the art understand that the technical solutions and implementation manners of the present application can be variously replaced, modified or improved without deviating from the spirit and scope of the present application, and these all fall within the scope of the present application. The protection scope of the present application is subject to the appended claims.

Claims

1. A flat workpiece gripping clamp that prevents falling, characterized in that: include: Rack (101); A quick-change mother disk (103) is connected to the frame (101) and is used to connect to the robot arm; A vacuum suction cup (102), connected to the frame (101), for sucking a workpiece; Two pneumatic clamping jaw mechanisms (200) are provided. The two pneumatic clamping jaw mechanisms (200) are symmetrically arranged on both sides of the frame (101). When the vacuum suction cup (102) sucks the workpiece, the two pneumatic clamping jaw mechanisms (200) clamp the sucked workpiece.

2. The anti-drop flat workpiece gripping clamp according to claim 1, characterized in that: The pneumatic clamping mechanism (200) comprises a clamping mechanism, a second transmission member (206) and a driving mechanism. A fixed seat (201) and a bearing seat (207) are fixedly connected to the frame (101). The second transmission member (206) passes through the bearing seat (207) and is rotatably connected to the bearing seat (207). The clamping mechanism is connected to the second transmission member (206), and the second transmission member (206) drives the clamping mechanism to rotate together. The driving mechanism is connected between the second transmission member (206) and the fixed seat (201) and is used to drive the second transmission member (206) to rotate.

3. The anti-drop flat workpiece gripping clamp according to claim 2, characterized in that: The clamping mechanism comprises a supporting rod (209) and at least two L-shaped clamping jaws (208), one end of the L-shaped clamping jaw (208) is connected to the second transmission member (206), the second transmission member (206) and the L-shaped clamping jaw (208) rotate together, the other end of the L-shaped clamping jaw (208) is bent in a direction toward the center of the frame (101), and the supporting rod (209) is fixedly connected to the end of the L-shaped clamping jaw (208) away from the second transmission member (206).

4. The anti-drop flat workpiece gripping clamp according to claim 2, characterized in that: The driving mechanism comprises a telescopic cylinder (203), a tail mounting member (202), an elbow joint (204) and a first transmission member (205); one end of the telescopic cylinder (203) is connected to the tail mounting member (202); the other end of the telescopic cylinder (203) is fixed with the elbow joint (204); the tail mounting member (202) is hinged to the fixing seat (201) via a pin; the elbow joint (204) is hinged to one end of the first transmission member (205) via a pin; and the other end of the first transmission member (205) is fixed to the second transmission member (206).

5. The anti-drop flat workpiece gripping clamp according to claim 2, characterized in that: The outer circumferential surface of the second transmission member (206) is provided with a groove, and a shaft elastic circlip is provided in the groove. The shaft elastic circlip contacts one end of the bearing seat (207) for axial limiting.

6. The anti-drop flat workpiece gripping clamp according to claim 5, characterized in that: The frame (101) is fixedly connected to a sensor mounting bracket (213), and the proximity sensor (212) is connected to the sensor mounting bracket (213); a boss-type fixing ring (211) is provided at one end of the second transmission member (206), and the boss-type fixing ring (211) is in contact with the sensor mounting bracket (213) so that the second transmission member (206) and the bearing seat (207) do not move relative to each other along the axis direction of the second transmission member (206); when the L-shaped clamping jaw (208) is rotated into position, the boss-type fixing ring (211) triggers the proximity sensor (212) to control the clamping jaw to open or close.

7. The anti-drop flat workpiece gripping clamp according to claim 1, characterized in that: The frame (101) is provided with a handle (106) and two button switches (105). The handle (106) is used for manual operation. One button switch (105) is used to control the pneumatic clamping mechanism (200) to release the clamping of the workpiece. The other button switch (105) is used to control the vacuum cup (102) to break the vacuum.

8. A method for using the anti-drop flat workpiece gripping clamp according to any one of claims 1 to 7, characterized in that: include: When grabbing a workpiece, the robot arm drives the frame (101) to move above the workpiece, and absorbs the workpiece through the quick-change mother plate (103). Then, the robot arm drives the drive frame (101) and the workpiece to move upward by a set distance, and then controls the pneumatic clamping mechanism (200) to clamp the workpiece. The mechanical arm drives the frame (101) and the workpiece to move together until the workpiece is located at the assembly position, controls the pneumatic clamping mechanism (200) to release the clamping of the workpiece, and controls the vacuum suction cup (102) to break the vacuum.

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