A workpiece grasping device with a three-axis compensation mechanism

Abstract

The present invention discloses a workpiece grasping device with a three-axis compensation mechanism, and belongs to the technical field of automation equipment. The Z-axis floating compensation cylinder connection mechanism is connected to a plate, and the output end of the Z-axis floating compensation cylinder is connected to a slider a, and the slider a is slidably connected to a guide rail a located on a vertical plate, and the bottom of the vertical plate is connected to an upper plate, and a clamping cylinder a is provided on the upper plate, and the clamping cylinder a is connected to two clamping claws arranged opposite to each other. The beneficial effects of the present invention are: through floating compensation on three axes, the gripper can adapt to and eliminate the existing difference, smoothly complete the grasping and placing work, enhance the stability of the gripper, and achieve the accuracy of grasping. Two sets of clamping mechanisms are provided on one manipulator to improve the grasping efficiency and save the beat.

Description

Technical Field

[0001] The invention relates to a workpiece grasping device with a three-axis compensation mechanism, belonging to the technical field of automation equipment. Background Art

[0002] In the operation of installing pallets on automobile chassis, there will be chassis of different types or specifications. The robot is required to grasp different fulcrum and tightening point units and replace them to the designated position of the chassis support pallet. The operation frequency and quantity are large. In the actual working environment, there are problems such as the uneven height of the chassis placement platform and the differences in the sizes of the grasped chassis, which make it impossible for the mechanical gripper to successfully complete the grasping of the chassis workpiece. Summary of the invention

[0003] In order to solve the defects existing in the prior art, the purpose of the present invention is to provide a workpiece grasping device with a three-axis compensation mechanism to ensure that the grasping work can be completed smoothly.

[0004] The technical solution of the present invention is: a workpiece grasping device with a three-axis compensation mechanism, a connecting flange connecting mechanism connecting plate, a Z-axis floating compensation cylinder connecting mechanism connecting plate, the output end of the Z-axis floating compensation cylinder is connected to a slider a, the slider a is slidably connected to a guide rail a located on a vertical plate, the bottom of the vertical plate is connected to an upper plate, a clamping cylinder a is provided on the upper plate, the clamping cylinder a is connected to two clamping jaws arranged opposite to each other, the top of a T-shaped connecting piece is located between the two clamping jaws, the T-shaped connecting piece is connected to a lower plate, a slider b is provided on the lower plate which is slidably connected to a guide rail b, the guide rail b is located on a middle plate, a guide rail c is provided on the middle plate, the slider c on the upper plate is slidably connected to the guide rail c, a clamping cylinder b is fixed on the lower plate, and the clamping cylinder b is connected to the clamping claws through a connecting plate.

[0005] A reinforcing connecting plate a is connected between the connecting plate and the clamping claw.

[0006] A reinforcing connecting plate b is connected between the vertical plate and the upper plate.

[0007] The T-shaped connector is connected to the middle part of the lower plate side.

[0008] There are two Z-axis floating compensation cylinders, which are symmetrically arranged on the mechanism connecting plate.

[0009] The mechanism connecting plate is connected to the industrial robot via a connecting flange.

[0010] The beneficial effects of the present invention are: through floating compensation on three axes, the gripper can adapt to and eliminate the existing differences, successfully complete the grasping and placement work, enhance the stability of the gripper, achieve grasping accuracy, and set two sets of clamping mechanisms on one manipulator to improve grasping efficiency and save beats. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the present invention;

[0012] Figure 2 It is a partial enlarged view of the present invention.

[0013] The reference numerals in the figure are as follows: 1. connecting flange, 2. Z-axis floating compensation cylinder, 3. vertical plate, 4. guide rail a, 5. upper plate, 6. clamping cylinder a, 7. clamping claw, 8. T-type connector, 9. lower plate, 10. guide rail b, 11. slider b, 12. middle plate, 13. guide rail c, 14. slider c, 15. clamping cylinder b, 16. connecting plate, 17. clamping claw, 18. reinforcing connecting plate a, 19. reinforcing connecting plate b, 20. mechanism connecting plate. DETAILED DESCRIPTION

[0014] The following is combined with Figure 1-2 The present invention is further described:

[0015] A workpiece grasping device with a three-axis compensation mechanism, a connecting flange 1 connecting a mechanism connecting plate 20, a Z-axis floating compensation cylinder 2 connecting a mechanism connecting plate 20, an output end of the Z-axis floating compensation cylinder 2 connecting a slider a, the slider a slidably connected to a guide rail a4 located on a vertical plate 3, the bottom of the vertical plate 3 connected to an upper plate 5, a clamping cylinder a6 provided on the upper plate 5, the clamping cylinder a6 connecting two clamping claws 7 arranged opposite to each other, a T-shaped connector 8 located between the two clamping claws 7, the T-shaped connector 8 connected to a lower plate 9, a slider b11 slidably connected to a guide rail b10 provided on the lower plate 9, the guide rail b10 located on a middle plate 12, a guide rail c13 provided on the middle plate 12, a slider c14 on the upper plate 5 slidably connected to the guide rail c13, a clamping cylinder b15 fixed on the lower plate 9, the clamping cylinder b15 connected to a clamping claw 17 via a connecting plate 16. A reinforcing connecting plate a18 is connected between the connecting plate 16 and the clamping claw 17. A reinforcing connecting plate b19 is connected between the vertical plate 3 and the upper plate 5. The T-shaped connecting piece 8 is connected to the middle of the side of the lower plate 9. There are two Z-axis floating compensation cylinders 2, which are symmetrically arranged on the mechanism connecting plate 20. The mechanism connecting plate 20 is connected to the industrial robot through the connecting flange 1.

[0016] The working principle of the present invention is as follows:

[0017] Before clamping the chassis workpiece, the clamping cylinder b15 is actuated to put the clamping claw 17 in an open state, the Z-axis floating compensation cylinder 2 is depressurized and stops working, and the slider a and the guide rail a can slide freely to achieve floating compensation in the Z-axis direction when the clamping claw 17 approaches the chassis workpiece. Before grabbing the workpiece, the clamping cylinder a6 drives the clamping claw 7 to open, so that the T-shaped connector 8 can move in the X and Y directions between the two clamps 7, that is, the clamping claw 17 can move in the X and Y directions, realizing floating compensation in the X and Y directions. The manipulator drives the device close to the chassis workpiece to be clamped. If the clamping claw 17 exceeds the stroke in the Z-axis direction, the slider a and the guide rail a move relatively to make the clamping claw 17 move in the Z-axis direction for compensation. If there is a position error of the clamping claw 17 in the X-axis and Y-axis directions, the position difference between the clamping claw 17 and the chassis workpiece to be clamped is eliminated through the compensatory movement between the guide rail b10, the slider b, the guide rail c13 and the slider c14, so that the clamping claw 17 can smoothly complete the clamping of the workpiece. When the clamping claw 17 leaves the workpiece storage position after clamping the workpiece, the clamping cylinder a6 is actuated to make the clamping claw 7 hold the T-shaped connector 8, so that the clamping claw 17 returns to the initial position in the X- and Y-axis directions, so as to accurately place the workpiece. Two clamping claws 17 are symmetrically arranged on the manipulator. After the first clamping claw 17 grabs the workpiece, the Z-axis floating compensation cylinder 2 is actuated to tighten and fix the slider a on the guide rail a4, and the manipulator rotates 180 degrees to facilitate the second clamping claw 17 to perform the grabbing work. After both clamping claws 17 grab the workpiece, the manipulator drives one clamping claw 17 to move to the workpiece placement position, releases the clamping claw 17 that has moved to the position, and puts the workpiece down. Then the manipulator continues to move and rotates at the same time, so that the other clamping claw 17 that still holds the workpiece moves to the position, and then releases the clamping claw 17 to put the workpiece down. Installing two clamping claws 17 on one manipulator improves the grasping efficiency and saves time.

[0018] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A workpiece grasping device with a three-axis compensation mechanism, characterized in that: The connecting flange (1) is connected to the connecting plate (20), the Z-axis floating compensation cylinder (2) is connected to the connecting plate (20), the output end of the Z-axis floating compensation cylinder (2) is connected to the slider a, the slider a is slidably connected to the guide rail a (4) located on the vertical plate (3), the bottom of the vertical plate (3) is connected to the upper plate (5), the upper plate (5) is provided with a clamping cylinder a (6), the clamping cylinder a (6) is connected to two clamping claws (7) arranged opposite to each other, and the top of the T-shaped connecting piece (8) is located between the two clamping claws (7) A T-shaped connector (8) is connected to a lower plate (9), a slider b (11) slidably connected to a guide rail b (10) is provided on the lower plate (9), the guide rail b (10) is located on the middle plate (12), a guide rail c (13) is provided on the middle plate (12), a slider c (14) on the upper plate (5) is slidably connected to the guide rail c (13), a clamping cylinder b (15) is fixed on the lower plate (9), and the clamping cylinder b (15) is connected to a clamping claw (17) through a connecting plate (16); A reinforcing connecting plate a (18) is connected between the connecting plate (16) and the clamping claw (17); A reinforcing connecting plate b (19) is connected between the vertical plate (3) and the upper plate (5).

2. The workpiece grasping device with a three-axis compensation mechanism according to claim 1, characterized in that: The T-shaped connecting piece (8) is connected to the middle part of the side of the lower plate (9).

3. The workpiece grasping device with a three-axis compensation mechanism according to claim 1, characterized in that: There are two Z-axis floating compensation cylinders (2), which are symmetrically arranged on the mechanism connecting plate (20).

4. The workpiece grasping device with a three-axis compensation mechanism according to claim 1, characterized in that: The mechanism connecting plate (20) is connected to the industrial robot via a connecting flange (1).

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