A robot gripping mechanism suitable for punching products with different postures in multiple processes

Abstract

The present invention belongs to the technical field of tooling for automobile door frame production, and provides a robot grasping mechanism suitable for punching products with different postures in multiple processes, including a first grasping arm, a grasping module, a 90° connecting block, and a pen-shaped cylinder. The grasping module is arranged at the front end of the first grasping arm through a 90° connecting block 12, and a second grasping arm is connected to the rear end of the first grasping arm. A compact cylinder is arranged on the second grasping arm, and the output end of the compact cylinder is connected to the first grasping arm. The compact cylinder can drive the first grasping arm to rotate and be horizontal with the second grasping arm at 90°. The advantage of the present invention is that the robot grasping mechanism can change a variety of grasping postures according to the requirements of the product punching process to perform grasping and punching operations, and the grasping gripper can change different postures to fit the concave or convex surface with a larger curvature, thereby improving the grasping force, ensuring the reliability and stability of the grasping, and the entire grasping mechanism has a simple structure, ensuring the efficiency of automated production.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile door frame production tooling, and in particular relates to a robot grasping mechanism suitable for punching products with different postures in multiple processes. Background Art

[0002] In the automated production process of inner and outer panels of automobile door frames, a robot is usually required to drive the first grabbing arm to grab the inner and outer panels for punching and other processes. The grabbing mechanism in the prior art is only suitable for inner and outer panels of door frames with smaller curvatures. For inner and outer panels of door frames with larger curvatures, the existing grabbing mechanism cannot extend into the area with larger curvatures during grabbing, resulting in unstable grabbing and affecting the production quality of the inner and outer panels of door frames. At the same time, the punching process of the product requires changing multiple grabbing postures for grabbing and punching operations, but the existing robot grabbing mechanisms all have one posture, which seriously affects the punching efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a robot grasping mechanism suitable for punching products in multiple processes and with different postures, which can change a variety of grasping postures according to the requirements of the product punching process, grasp stably and reliably, and ensure the efficiency of automated production.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a robot grasping mechanism suitable for punching products with different postures in multiple processes, characterized in that it includes a first grasping arm, a grasping module, a 90° connecting block and a pen-shaped cylinder. The grasping module is arranged at the front end of the first grasping arm through the 90° connecting block. The output end of the pen-shaped cylinder is connected to the 90° connecting block and can drive the grasping module to rotate vertically 90°. A second grasping arm is connected to the rear end of the first grasping arm. A compact cylinder is arranged on the second grasping arm. The output end of the compact cylinder is connected to the first grasping arm. The compact cylinder can drive the first grasping arm to rotate and be horizontal with the second grasping arm at 90°.

[0005] In the above-mentioned robot grasping mechanism suitable for punching products with different postures in multiple processes, the front end of the first grasping arm has a flip arm, and the grasping module is hingedly connected to the flip arm through a 90° connecting block. A receiving groove is provided on the first grasping arm, and the pen-shaped cylinder is located in the receiving groove through a fixing part, and the front output end of the pen-shaped cylinder is connected to the 90° connecting block.

[0006] In the above-mentioned robot grasping mechanism suitable for punching products with different postures in multiple processes, a turntable bearing is provided at the connection between the first grasping arm and the second grasping arm, and an in-place buffer positioning assembly is provided next to the turntable bearing. When the first grasping arm and the second grasping arm are horizontal at 90°, the in-place buffer positioning assembly is stuck on the side of the second grasping arm and limits further rotation.

[0007] In the above-mentioned robot grasping mechanism suitable for punching products with different postures in multiple processes, the grasping module includes two grasping suction cups, each of which is movably connected to the first grasping arm through two universal buffer columns, and a suction cup guide plate is arranged between the side of the grasping suction cup and the first grasping arm, the upper end of the suction cup guide plate is connected to the first grasping arm, and the lower end of the suction cup guide plate is placed on the side of the grasping suction cup, and a sponge suction cup is connected to the lower side of each grasping suction cup.

[0008] In the above-mentioned robot grasping mechanism suitable for punching products in different postures in multiple processes, each grasping fixture includes four universal buffer columns, namely the first universal buffer column, the second universal buffer column, the third universal buffer column and the fourth universal buffer column. When the second universal buffer column and the third universal buffer column are raised, the first universal buffer column and the fourth universal buffer column remain stationary, and the two sponge suction devices below are in a "︿" state.

[0009] In the above-mentioned robot grasping mechanism suitable for punching products with different postures in multiple processes, a buffer guide plate is also connected between the universal buffer column and the grasping fixture.

[0010] In the above-mentioned robot grasping mechanism suitable for punching products in different postures in multiple processes, the grasping fixture includes four universal buffer columns, namely the first universal buffer column, the second universal buffer column, the third universal buffer column and the fourth universal buffer column. When the first universal buffer column and the fourth universal buffer column are raised, the second universal buffer column and the third universal buffer column remain stationary, and the two sponge suction devices below are in a "﹀" state.

[0011] In the above-mentioned robot grasping mechanism suitable for punching products with different postures in multiple processes, there is a ball between the universal buffer column and the sponge suction device.

[0012] Compared with the prior art, the advantage of the present invention is that the robot grasping mechanism can change a variety of grasping postures to perform grasping and punching operations according to the requirements of the product punching process. The grasping suction device can change different postures to adapt to concave or convex surfaces with larger curvatures, thereby improving the grasping force and ensuring the reliability and stability of the grasping. The entire grasping mechanism has a simple structure and ensures automated production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a three-dimensional structural diagram of the robot gripping mechanism suitable for punching products with different postures in multiple processes;

[0014] Figure 2 yes Figure 3 A schematic diagram of the structure in another direction;

[0015] Figure 3 yes Figure 1 A schematic diagram of a top view structure;

[0016] Figure 4 This is a front view structural diagram of the robot gripping mechanism suitable for punching products with different postures in multiple processes;

[0017] Figure 5 It is a schematic diagram of the internal structure of the grab module;

[0018] Figure 6 It is a schematic diagram of the external structure of the grab module. DETAILED DESCRIPTION

[0019] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0020] In the figure, the first grabbing arm 1; the grabbing fixture 2; the fixture guide plate 3; the sponge fixture 4; the buffer guide plate 5; the first universal buffer column 6; the second universal buffer column 7; the third universal buffer column 8; the fourth universal buffer column 9; the ball 10; the grabbing module 11; the 90° connecting block 12; the pen-shaped cylinder 13; the second grabbing arm 14; the compact cylinder 15; the flip arm 16; the receiving groove 17; the turntable bearing 18; and the in-place buffer positioning assembly 19.

[0021] like Figure 1 and Figure 2As shown, the robot grasping mechanism suitable for punching products with different postures in multiple processes includes a first grasping arm 1, a grasping module 11, a 90° connecting block 12 and a pen-shaped cylinder 13. The grasping module 11 is arranged at the front end of the first grasping arm 1 through the 90° connecting block 12. The output end of the pen-shaped cylinder 13 is connected to the 90° connecting block 12 and can drive the grasping module 11 to rotate and flip vertically 90°. A second grasping arm 14 is connected to the rear end of the first grasping arm 1. A compact cylinder 15 is arranged on the second grasping arm 14. The output end of the compact cylinder 15 is connected to the first grasping arm 1. The compact cylinder 15 can drive the first grasping arm 1 to rotate and be horizontal with the second grasping arm 14 at 90°. Here, the pen-shaped cylinder 13 can make the entire grasping module 11 flip vertically 90 degrees. At the same time, the second grasping arm 14 can drive the first grasping arm 1 to move horizontally 90 degrees. That is to say, the grasping module 11 can also move horizontally 90 The front end of the first grabbing arm 1 has a flip arm 16, and the grabbing module 11 is hingedly connected to the flip arm 16 through a 90° connecting block 12. A receiving groove 17 is provided on the first grabbing arm 1, and the pen-shaped cylinder 13 is located in the receiving groove 17 through a fixing part, and the front output end of the pen-shaped cylinder 13 is connected to the 90° connecting block 12, so that the grabbing module 11 can be vertically flipped 90 degrees around the flip arm 16, and a turntable bearing 18 is provided at the connection between the first grabbing arm 1 and the second grabbing arm 14, and an in-place buffer positioning assembly 19 is provided next to the turntable bearing 18. When the first grabbing arm 1 and the second grabbing arm 14 are horizontally 90°, the in-place buffer positioning assembly 19 is stuck on the side of the second grabbing arm 14 and limits further rotation.

[0022] like Figure 3 As shown, here when the pen-shaped cylinder 13 is in a retracted state and the compact cylinder 15 is in an extended state (i.e., the original state), the mechanism can horizontally grab the product, place the product horizontally, and perform punching operations; when the pen-shaped cylinder 13 is in motion, that is, the pen-shaped cylinder 13 is extended and the compact cylinder 15 is stationary, the mechanism can horizontally grab the product and then flip the product vertically 90° or directly grab the vertically placed product; when the compact cylinder 15 is in motion and the pen-shaped cylinder 13 is stationary, the mechanism can horizontally grab the product and then rotate the product horizontally 90° to place it or directly grab the product horizontally in this state due to space limitations; when both the pen-shaped cylinder 13 and the compact cylinder 15 are in motion, the mechanism can horizontally grab the product and then rotate it horizontally 90° and then vertically 90° or directly grab the vertically placed product in this state due to space limitations. In this way, a variety of postures can be used in combination according to the requirements of the punching process.

[0023] like Figure 4 , Figure 5 as well as Figure 6As shown, for the grasping module 11 (the pen-shaped cylinder, etc. are not marked in the figure), the grasping module 11 here includes two grasping suction devices 2, each grasping suction device 2 is movably connected to the first grasping arm 1 through two universal buffer columns, and a suction device guide plate 3 is arranged between the side of the grasping suction device 2 and the first grasping arm 1, and the upper end of the suction device guide plate 3 is connected to the first grasping arm 1, and the lower end of the suction device guide plate 3 is placed on the side of the grasping suction device 2, and a sponge suction device 4 is connected to the lower side of each grasping suction device 2, and a buffer guide plate 5 is also connected between the universal buffer column and the grasping suction device 2, and the buffer guide plate 5 can ensure a A certain buffering force can be provided to prevent the grabbing fixture 2 from being damaged. Here, the universal buffer column can make the grabbing fixture 2 change different directions. The addition of the fixture guide plate 3 ensures the stability of the fixture before and after the fixture during the left and right tilting process, so as to meet the final use requirements. The sponge fixture 4 can ensure the grabbing force. Each grabbing fixture 2 includes four universal buffer columns, namely the first universal buffer column 6, the second universal buffer column 7, the third universal buffer column 8 and the fourth universal buffer column 9. When the second universal buffer column 7 and the third universal buffer column 8 are raised, the first universal buffer column 6 and the fourth universal buffer column 9 are Keep still, the two sponge suction devices 4 below are in a "︿" state, this method is suitable for grasping the convex surface of products with larger curvature, there is a ball 10 between the universal buffer column and the sponge suction device 4, so that there is point-to-surface contact, which is convenient for driving the sponge suction device 4. For another method, the grasping suction device 2 includes four universal buffer columns, namely the first universal buffer column 6, the second universal buffer column 7, the third universal buffer column 8 and the fourth universal buffer column 9. When the first universal buffer column 6 and the fourth universal buffer column 9 are raised, the second universal buffer column 7 and the third universal buffer column 8 remain still, and the two sponge suction devices 4 below are in a "﹀" state, this state is suitable for grasping the concave surface.

[0024] When the entire grasping mechanism is working, when grasping the convex surface of a product with a larger arc, when an external force is applied to the first grasping arm 1, the second universal buffer column 7 and the third universal buffer column 8 in the middle of the grasping mechanism rise with the convexity of the product, and the first universal buffer column 6 and the fourth universal buffer column 9 on the two outer sides do not rise. At this time, the two sponge suction devices 4 under the entire grasping mechanism are in a "︿" state, and the contact surface of a single sponge suction device 4 and the product can be in approximately straight line contact, the grasping force is increased, and the convex surface of the product can be tightly grasped;

[0025] When grasping the concave surface of a product with a larger curvature, when an external force is applied to the first grasping arm 1, the first universal buffer column 6 and the fourth universal buffer column 9 in the middle of the grasping mechanism are connected to the sponge suction device 4 and are close to the concave surface of the product, while the outermost first universal buffer column 6 and the fourth universal buffer column 9 will rise with the curvature of the product, and the two sponge suction devices 4 under the entire grasping mechanism are in a "﹀" state. The contact surface of a single sponge suction device 4 and the product can be in approximately straight-line contact, and the grasping force is increased, so that the concave surface of the product can be tightly grasped. Here, the cooperation between the universal buffer column and the buffer guide plate 5 ensures that when the grasping mechanism grasps a product with a larger curvature, the sponge suction device 4 can perfectly tilt at a certain angle with the curvature of the product, and the addition of the suction device guide plate 3 ensures the stability of the suction device before and after during the left and right tilting process, thereby meeting the final usage requirements.

[0026] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner without departing from the scope defined by the spirit of the present invention.

Claims

1. A robot gripping mechanism suitable for punching products with different postures in multiple processes, characterized in that: It includes a first grabbing arm, a grabbing module, a 90° connecting block and a pen-shaped cylinder, the grabbing module is arranged at the front end of the first grabbing arm through the 90° connecting block, the output end of the pen-shaped cylinder is connected to the 90° connecting block and can drive the grabbing module to rotate vertically 90°, the second grabbing arm is connected to the rear end of the first grabbing arm, and the second grabbing arm is provided with a compact cylinder, the output end of the compact cylinder is connected to the first grabbing arm, and the compact cylinder can drive the first grabbing arm to rotate and be horizontal 90° with the second grabbing arm; the front end of the first grabbing arm is provided with a flipping arm, the grabbing module is hingedly connected to the flipping arm through the 90° connecting block, the first grabbing arm is provided with a accommodating groove, the pen-shaped cylinder is located in the accommodating groove through a fixing part, and the front output end of the pen-shaped cylinder is connected to the 90° connecting block; the grabbing module includes two grabbing fixtures, each of which is movably connected to the first grabbing arm through two universal buffer columns, A gripper guide plate is arranged between the side of the gripping gripper and the first gripping arm, the upper end of the gripper guide plate is connected to the first gripping arm, the lower end of the gripper guide plate is placed on the side of the gripping gripper, and a sponge gripper is connected to the lower side of each gripping gripper; each gripping gripper includes four universal buffer columns, namely the first universal buffer column, the second universal buffer column, the third universal buffer column and the fourth universal buffer column, when the second universal buffer column and the third universal buffer column are raised, the first universal buffer column and the fourth universal buffer column remain stationary, and the two sponge grippers below are in a "︿" state; the gripping gripper includes four universal buffer columns, namely the first universal buffer column, the second universal buffer column, the third universal buffer column and the fourth universal buffer column, when the first universal buffer column and the fourth universal buffer column are raised, the second universal buffer column and the third universal buffer column remain stationary, and the two sponge grippers below are in a "﹀" state; there is a ball between the universal buffer column and the sponge gripper.

2. A robot gripping mechanism suitable for punching products with different postures in multiple processes according to claim 1, characterized in that: A slewing bearing is arranged at the connection between the first grabbing arm and the second grabbing arm, and an in-place buffer positioning assembly is arranged next to the slewing bearing. When the first grabbing arm and the second grabbing arm are horizontally 90 degrees, the in-place buffer positioning assembly is clamped on the side of the second grabbing arm and limits further rotation.

3. The robot gripping mechanism suitable for punching products with different postures in multiple processes according to claim 1 is characterized in that: A buffer guide plate is also connected between the universal buffer column and the grabbing fixture.

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