A robot end tool for gripping a rotary workpiece

Abstract

The present invention discloses a robot end tool for gripping a rotary workpiece, wherein the main structure of the robot includes a welded part connected to the end of the robot; the power device includes a servo motor, a motor support, a synchronous pulley and a synchronous belt, the ball screw of the transmission device is provided with threads which are symmetrical in position but have different rotation directions, and a linear bearing with a seat is installed on the ball screw; the clamping jaw device includes a connecting piece and a clamping jaw for clamping the workpiece, and the clamping jaw and a slider are fixedly connected to the connecting piece; the auxiliary sensing device includes an infrared photoelectric sensor, a radar ranging sensor and a connecting plate, the infrared photoelectric sensor is used to detect the position of the connecting piece and send a signal to control the opening and closing of the clamping jaw device, the clamping jaw device can be used in conjunction with a robot for loading and unloading materials to realize machine replacement of manual operation, the clamping jaw device can grasp products of different diameters and specifications, and when producing products of different diameters and specifications, there is no need to replace another set of robot end tools, and the workpiece processing versatility is good.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical processing, and in particular relates to a robot end tool for clamping a rotary workpiece. Background Art

[0002] At present, with the development of the field of mechanical engineering, it is constantly promoting innovation around the goals of reducing production costs, improving production efficiency, improving the working environment, and realizing intelligent manufacturing. In the process of mechanical processing, large rotary workpieces are usually loaded and unloaded by manually operated equipment such as cranes, which has low production efficiency and high labor costs. For example, the processing of the inner and outer rings of slewing bearings usually uses manually operated cranes for loading and unloading, which is cumbersome to operate, has low production efficiency and poses a personal safety hazard. Summary of the invention

[0003] The present invention provides a robot end tool for gripping rotary workpieces, with the aim of solving the problems in the prior art of manually operating a crane and other equipment for loading and unloading materials, which results in cumbersome operation, low production efficiency, high labor costs, and potential safety hazards to personnel, so as to achieve replacement of manual operation with machines by using robots for loading and unloading materials.

[0004] The robot end tool for gripping a rotary workpiece of the present invention comprises a main structure (I), a transmission device (II), a power device (III), an auxiliary sensor device (IV) and a clamping device (V); the main structure (I) comprises a welded part (1) connected to the end of the robot; the power device (III) comprises a servo motor (6), a motor support (5), a synchronous pulley and a synchronous belt (7), wherein the synchronous pulley comprises an active synchronous pulley (8) and a driven synchronous pulley (15); the servo motor (6) is mounted on the main structure (I) via the motor support (5); the power device (III) transmits power to the transmission device (II) via the synchronous belt (7) to control the opening and closing of the clamping device (V); the transmission device (II) comprises a linear guide rail (13), a slider (4), a ball screw (2), a linear bearing with a seat (11), a fixed side (14) of a ball screw support seat and a supporting side (17) of a ball screw support seat; The support seat fixing side (14) is installed on one side of the main structure (Ⅰ), and the ball screw support seat supporting side (17) is installed on the other side of the main structure (Ⅰ); the ball screw (2) is provided with threads with symmetrical positions but different rotation directions, and the seat linear bearing (11) is installed on the ball screw (2); the main structure (Ⅰ) is provided with a seat linear bearing (11), and the number of linear guide rails (13) is at least two, and they are respectively installed on both sides of the main structure (Ⅰ); the clamping device (V) includes a connecting member (3) and a clamping jaw (12) for clamping a workpiece, and the clamping jaw (12) and the slider (4) are fixedly connected to the connecting member (3); the auxiliary sensor device (IV) includes an infrared photoelectric sensor (16), a radar ranging sensor (9) and a connecting plate (10), and the infrared photoelectric sensor (16) is installed on the main structure (Ⅰ) and is used to detect the position of the connecting member (3) and send a signal to control the opening and closing of the clamping device (V).

[0005] The robot end tool for gripping a rotary workpiece of the present invention has a power device (IV) that transmits power to a transmission device (II) by means of a synchronous belt drive, thereby driving a ball screw (2) to rotate. Since the thread rotation directions of the ball screw (3) are different, the rotation of the ball screw (3) can drive the clamping claws (12) on the connecting member (3) to move in opposite directions to clamp the workpiece or to move in the opposite direction to release the workpiece, thereby completing the operation of grasping and releasing the workpiece.

[0006] In the above solution, it is preferred that the infrared photoelectric sensor (16) is installed on the main structure (I) through a positioning member (18).

[0007] It is also preferred that the fixed side (14) of the ball screw support seat is installed on the bottom surface of the main structure (I).

[0008] It is also preferred that the fixed side (14) of the ball screw support seat is installed on the bottom surface of the main structure (I) and is located on one side of the servo motor (6).

[0009] It is also preferred that the support side (17) of the ball screw support seat is installed on the other side of the bottom surface of the main structure (Ⅰ).

[0010] It may also be preferred that two ends of the ball screw (2) are provided with two sections of threads which are symmetrical in position but have different rotation directions.

[0011] It is also preferred that the seated linear bearing (11) is installed on a non-threaded portion in the middle of the ball screw (2).

[0012] It may also be preferred that the seated linear bearing (11) is installed at the bottom of the main structure (I).

[0013] It may also be preferred that the seated linear bearing (11) is installed at the center position of the bottom of the main structure (I).

[0014] It is also preferred that the two infrared photoelectric sensors (16) are installed on the same side of the main structure (I) and are respectively located on both sides of the same slider (4).

[0015] The present invention can achieve the following beneficial effects:

[0016] The rotary workpiece clamping robot end tool of the present invention can solve the problems existing in the prior art of using manually operated cranes and other equipment for loading and unloading, which is cumbersome to operate, has low production efficiency, high labor costs, and poses a potential safety hazard to personnel; it can be used in conjunction with robots for loading and unloading, realizing the replacement of manual operations by machines; it has the following specific advantages: (1) it can grasp products of different diameters, and when producing products of different diameters, there is no need to replace another set of robot end tools, so the workpiece processing versatility is better and the equipment cost is reduced; (2) its radar ranging sensor can quickly adjust the workpiece grasping and releasing position according to the on-site conditions, and make the grasping and releasing position more accurate and stable; (3) its overall structure is reasonable and convenient, with a low failure rate and low maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 It is a schematic structural diagram of the robot end tool for gripping a rotary workpiece according to the present invention.

[0019] Figure 2 It is a top view of the robot end tool for gripping a rotary workpiece according to the present invention.

[0020] Figure 3This is a bottom view of the robot end tool for gripping a rotary workpiece according to the present invention.

[0021] In the figure: Ⅰ is the main structure, Ⅱ is the transmission device, Ⅲ is the power device, Ⅳ is the auxiliary sensor device, Ⅴ is the clamping claw device, 1 is the welding part, 2 is the ball screw, 3 is the connecting part, 4 is the slider, 5 is the motor support, 6 is the servo motor, 7 is the synchronous belt, 8 is the active synchronous pulley, 9 is the radar ranging sensor, 10 is the connecting plate, 11 is the linear bearing with seat, 12 is the clamping claw, 13 is the linear guide rail, 14 is the fixed side of the ball screw support seat, 15 is the driven synchronous pulley, 16 is the infrared photoelectric sensor, 17 is the supporting side of the ball screw support seat, and 18 is the positioning part. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0024] Example 1

[0025] A rotary workpiece gripping robot end tool, such as Figures 1 to 3, including a main structure I, a transmission device II, a power device III, an auxiliary sensor device IV and a gripper device V; the main structure I includes a welded part 1 connected to the end of the robot; the power device III includes a servo motor 6, a motor support 5, a synchronous pulley and a synchronous belt 7, the synchronous pulley includes an active synchronous pulley 8 and a driven synchronous pulley 15, the servo motor 6 is installed on the main structure I through the motor support 5, the power device III transmits power to the transmission device II through the synchronous belt 7 to control the opening and closing of the gripper device V; the transmission device II includes a linear guide 13, a slider 4, a ball screw 2, a seated linear bearing 11, a ball screw support seat fixed side 14 and a ball screw support seat support side 17, the ball screw support seat fixed side 14 is installed on the main structure On one side of structure I, the ball screw support seat support side 17 is installed on the other side of the main structure I; the ball screw 2 is provided with threads with symmetrical positions but different rotation directions, and a linear bearing 11 with a seat is installed on the ball screw 2; a linear bearing 11 with a seat is provided on the main structure I, and the number of linear guides 13 is at least two, and they are respectively installed on both sides of the main structure I; the clamping device V includes a connecting member 3 and a clamping jaw 12 for clamping a workpiece, and the clamping jaw 12 and the slider 4 are fixedly connected to the connecting member 3; the auxiliary sensing device IV includes an infrared photoelectric sensor 16, a radar ranging sensor 9 and a connecting plate 10, and the infrared photoelectric sensor 16 is installed on the main structure I, and is used to detect the position of the connecting member 3 and send a signal to control the opening and closing of the clamping device V.

[0026] The rotary workpiece clamping robot end tool of this embodiment has a power device IV that transmits power to the transmission device II through a synchronous belt drive, thereby driving the ball screw 2 to rotate. Since the thread rotation directions of the ball screw 3 are different, the rotation of the ball screw 3 can drive the clamping claws 12 on the connecting member 3 to move in opposite directions to clamp the workpiece or to move in the opposite direction to release the workpiece, thereby completing the workpiece grasping and releasing operation. Its infrared photoelectric sensor 16 is installed on the main structure I, which is used to detect the position of the connecting member and send signals to control the opening and closing of the clamping claw device V respectively; its radar ranging sensor 9 can quickly adjust the workpiece grasping and releasing position according to the on-site situation, and make the grasping and releasing position more accurate and stable, and the radar ranging sensor 9 is used to detect the specific position of the workpiece and other objects that may cause collision, and play a protective role. Among them, the radar ranging sensor 9 is installed on the main structure I through the connecting plate 10, that is, the connecting plate 10 is fixed on the main structure I, and the radar ranging sensor 9 is installed on the connecting plate 10. The rotary workpiece clamping robot end tool of this embodiment can grasp products of different diameters. When producing products of different diameters, there is no need to replace another set of robot end tools, so the workpiece processing versatility is better.

[0027] Example 2

[0028] The rotary workpiece gripping robot end tool described in Example 1 can be more specific, and the infrared photoelectric sensor 16 is installed on the main structure I through the positioning member 18. This can facilitate the installation of the infrared photoelectric sensor 16 and make it more secure. The positioning member 18 can be a plate or block fixed to the main structure I. The infrared photoelectric sensor 16 is installed on the positioning member 18.

[0029] In another embodiment, the fixed side 14 of the ball screw support seat is mounted on the bottom surface of the main structure I. Preferably, the fixed side 14 of the ball screw support seat is mounted on the bottom surface of the main structure I and is located on one side of the servo motor 6. At this time, the supporting side 17 of the ball screw support seat is mounted on the other side of the bottom surface of the main structure I.

[0030] It can also be more specific that two ends of the ball screw 2 are provided with two sections of threads that are symmetrical in position but have different rotation directions. In this case, the number of the connecting parts 3 can be two, and the two connecting parts 3 are respectively connected with a clamping jaw 12. Since the two sections of the threads of the ball screw 3 have different rotation directions, the rotation of the ball screw can drive the clamping jaws 12 on the two connecting parts 3 to move towards each other to clamp the workpiece or to move in the opposite direction to release the workpiece, that is, to complete the workpiece grasping and releasing operation. In this case, preferably, the seated linear bearing 11 is installed on a non-threaded portion in the middle of the ball screw 2.

[0031] It can also be specific that the seated linear bearing 11 is installed at the bottom of the main structure I. At this time, preferably, the seated linear bearing 11 is installed at the center of the bottom of the main structure I. In addition, the seated linear bearing 11 can be installed at the center of the bottom of the main structure I by a threaded connection structure.

[0032] It can also be more specific that two infrared photoelectric sensors 16 are installed on the same side of the main structure I and are respectively located on the two sides of the same slider 4. At this time, preferably, the infrared photoelectric sensor 16 is installed on the side of the main structure I.

[0033] Example 3

[0034] The rotary workpiece gripping robot end tool described in any of the above embodiments can also be specifically that its main structure I can be a welded part 1 of an integral structure, and the welded part 1 of the integral structure can be provided with a threaded hole, and the welded part 1 can be connected to the robot end through a threaded connection structure. The welded part 1 can also be provided with a through hole, which is connected and fixed with a threaded structure. In addition, the through hole and the threaded hole can be provided on the upper part of the welded part 1 of the integral structure.

[0035] Specifically, the number of the linear guide rails 13 can be four, and the four linear guide rails 13 can be symmetrically installed on the main structure I. And the four linear guide rails 13 can be symmetrically installed at the bottom of the main structure I, for example, the four linear guide rails 13 can be symmetrically installed on the bottom surface of the main structure I.

[0036] Specifically, the slider 4 and the clamping jaw 12 can be fixed to the connecting member 3 by a threaded connection structure. The clamping jaw 12 can be provided with a protruding curved surface for clamping the workpiece.

[0037] The above is only the embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A rotary workpiece gripping robot end tool, comprising a main structure (I), a transmission device (II), a power device (III), an auxiliary sensor device (IV) and a gripper device (V); characterized in that: The main structure (I) includes a welded part (1) connected to the end of the robot; the power device (III) includes a servo motor (6), a motor support (5), a synchronous pulley and a synchronous belt (7), wherein the synchronous pulley includes an active synchronous pulley (8) and a driven synchronous pulley (15), the servo motor (6) is installed on the main structure (I) through the motor support (5), and the power device (III) transmits power to the transmission device (II) through the synchronous belt (7) for controlling the opening and closing of the clamping device (V); the transmission device (II) includes a linear guide rail (13), a slider (4), a ball screw (2), a linear bearing with a seat (11), a fixed side of a ball screw support seat (14) and a supporting side of a ball screw support seat (17), wherein the fixed side of the ball screw support seat (14) is installed on one side of the main structure (I), and the ball screw support seat supports the fixed side (14) and the supporting side (17) of the ball screw support seat. The side (17) is mounted on the other side of the main structure (Ⅰ); the ball screw (2) is provided with threads with symmetrical positions but different rotation directions, and the seat linear bearing (11) is mounted on the ball screw (2); the main structure (Ⅰ) is provided with a seat linear bearing (11), and the number of linear guide rails (13) is at least two, and they are respectively mounted on both sides of the main structure (Ⅰ); the clamping device (V) includes a connecting member (3) and a clamping jaw (12) for clamping a workpiece, and the clamping jaw (12) and the slider (4) are fixedly connected to the connecting member (3); the auxiliary sensing device (IV) includes an infrared photoelectric sensor (16), a radar ranging sensor (9) and a connecting plate (10), and the infrared photoelectric sensor (16) is mounted on the main structure (Ⅰ) and is used to detect the position of the connecting member (3) and send a signal to control the opening and closing of the clamping device (V); The infrared photoelectric sensor (16) is mounted on the main structure (I) via a positioning member (18); The fixed side (14) of the ball screw support seat is mounted on the bottom surface of the main structure (Ⅰ); The fixed side (14) of the ball screw support seat is installed on the bottom surface of the main structure (Ⅰ) and is located on one side of the servo motor (6); The ball screw support seat support side (17) is installed on the other side of the bottom surface of the main structure (Ⅰ); Two ends of the ball screw (2) are provided with two sections of threads that are symmetrical in position but have different rotation directions; The seated linear bearing (11) is mounted on a non-threaded portion in the middle of the ball screw (2); The seated linear bearing (11) is installed at the bottom of the main structure (I); The seated linear bearing (11) is installed at the center of the bottom of the main structure (I); Two infrared photoelectric sensors (16) are installed on the same side of the main structure (I) and are respectively located on both sides of the same slider (4).

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