A four-axis robot gripper capable of precise positioning for machining mechanical parts

Abstract

The present invention discloses a four-axis robot gripper that can be precisely positioned for machining mechanical parts, comprising a top plate, a driving mechanism is provided above the top plate, a connecting seat is installed on the upper end of the top plate, a cutting die side upper and lower cylinders embedded in the top plate are provided on one side of the connecting seat, a cutting die mounting plate is connected to the lower end of the cutting die mounting plate, a cutting die moving plate is installed at the lower end of the cutting die mounting plate, a mold side moving plate is connected to one side of the cutting die mounting plate, a mold side mounting plate connected to the top plate is provided at the upper end of the mold side moving plate, mold side limiting rods are installed on both sides of the lower end of the mold side mounting plate, and two positioning columns are installed at the lower ends of the mold side moving plate and the cutting die moving plate. The present invention adopts automatic operation and automatic clamping of products to avoid deviations in the clamping position, and at the same time, when the positioning column contacts the mold, the fixed gripper is grasped, thereby solving the risk of failing to clamp the product and improving work efficiency.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of mechanical grippers for machining mechanical products, and in particular to a four-axis robot gripper for machining mechanical parts which can be precisely positioned. Background Art

[0002] Auto parts processing refers to the various units that constitute the overall auto parts processing and the products that serve the auto parts processing. With the increasingly fierce competition in the auto parts processing market, the deep-rooted concept of environmental protection, and the continuous upgrading and application of technology, the international auto parts processing parts industry has higher and higher production requirements in recent years.

[0003] After the auto parts are injection molded in the mold, they need to be moved to the cutting mold by the robot gripper for cutting, and then sent to the conveying support in the next process. At present, the traditional four-axis robot gripper cannot be accurately positioned, which can easily cause it to get stuck in the mold and often miss the grasping phenomenon, resulting in the need for re-positioning and grasping, affecting work efficiency. Summary of the invention

[0004] The present invention mainly provides a four-axis robot gripper capable of precise positioning for machining mechanical parts, so as to solve the technical problems raised in the above-mentioned background technology.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A four-axis robot gripper with precise positioning for machining mechanical parts comprises a top plate, a driving mechanism is provided above the top plate, a connecting seat is installed at the upper end of the top plate, a side of the connecting seat is provided with a cutting die side upper and lower cylinders embedded in the top plate, the lower ends of the cutting die side upper and lower cylinders are connected to a cutting die mounting plate, a cutting die moving plate is installed at the lower end of the cutting die mounting plate, one side of the cutting die mounting plate is connected to a mold side moving plate, the upper end of the mold side moving plate is provided with a mold side mounting plate connected to the top plate, the lower end of the mold side moving plate is provided with four groups of mold side clamping cylinders, four groups of cutting die side clamping cylinders are installed at the lower end of the cutting die moving plate, fixed grippers are installed on the mold side clamping cylinders and the cutting die side clamping cylinders, and products are grabbed inside the fixed grippers; mold side limiting rods are installed on both sides of the lower end of the mold side mounting plate, and two positioning columns are installed at the lower ends of the mold side moving plate and the cutting die moving plate. The top end of the driving member is connected with the driving member by the spring, and the end of the driving member is connected with the driving member by the spring.

[0007] Preferably, the driving mechanism comprises an electric guide rail, an electric slider slides on the electric guide rail, and the electric slider is connected to a connecting seat.

[0008] Preferably, a solenoid valve group is installed on one side of the mold side mounting plate, and the upper and lower cylinder output ends and output ends of the cutting mold side, the mold side clamping cylinder output end, and the cutting mold side clamping cylinder output end are all connected to the solenoid valve group through a hose, and the exhaust duct is connected to the input ends of two adjacent mold side clamping cylinders or the cutting mold side clamping cylinders.

[0009] Preferably, a plurality of ball plungers are installed on the side walls of the cutting die mounting plate and the die side mounting plate.

[0010] Preferably, four groups of mold side rotating cylinders are installed on the upper end of the mold side movable plate, and the output end of each mold side rotating cylinder is connected to the corresponding mold side clamping cylinder. The lowest end of the positioning column and the lowest ends of the mold side rotating cylinder and the cutting mold side clamping cylinder are located on the same horizontal plane.

[0011] Preferably, a forming mold and a cutting mold are respectively disposed at the lower ends of the mold side clamping cylinder and the cutting mold side clamping cylinder, and a conveying bearing is disposed on the side of the cutting mold away from the forming mold.

[0012] Preferably, the guide ring groove is provided with a plurality of highest points, midpoints and lowest points, and the plurality of highest points, midpoints and lowest points are staggeredly distributed, and when the sliding ball is located between the highest point and the midpoint, the return air duct is blocked by the air blocking plate.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] When the present invention is in use, the mold side limit rods are located on both sides of the mold to ensure that the clamping position will not deviate. The mold side clamping cylinder and the cutting mold side clamping cylinder move downward to clamp the product. When the mold side mounting plate moves downward, air is taken in through the air inlet duct, and the incoming gas flows back through the return air duct. The positioning column follows and moves downward until the ejector rod contacts the mold. At this time, the fixed grippers are located on both sides of the product. The ejector rod moves upward under the action of pressure, causing the spring to contract, and the transmission rod pushes the lifting plate upward. The sliding ball moves upward under the drive of the lifting plate and moves upward from the lowest point of the guide ring groove. The curved rod moves upward with the upward movement of the lifting plate, and the air blocking plate also moves upward until the sliding ball moves When it reaches the highest point, the air baffle blocks the return air duct, and the exhaust duct is no longer blocked, and the gas entering through the air inlet duct will be transported into the mold side clamping cylinder or the cutting mold side clamping cylinder through the exhaust duct, so that the mold side clamping cylinder and the cutting mold side clamping cylinder drive the fixed gripper to clamp the product. It adopts automatic operation and automatic clamping of products, increases the mold side limit and the ball head plunger on the mold side and the cutting mold side to avoid deviation in the clamping position. At the same time, when the positioning column and the mold are in contact, the fixed gripper grabs, thereby solving the risk of failing to clamp the product, avoiding the problem of the four-axis robot gripper not being able to accurately position, and improving work efficiency.

[0015] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0017] Figure 2 It is a side view schematic diagram of the present invention;

[0018] Figure 3 It is a three-dimensional schematic diagram of the clamping cylinder of the present invention;

[0019] Figure 4 It is a schematic diagram of the positioning column structure of the present invention;

[0020] Figure 5It is a schematic diagram of the expanded structure of the guide ring groove of the present invention.

[0021] Description of the drawings: 1. Top plate; 11. Connecting seat; 12. Upper and lower cylinders on the cutting die side; 13. Ball plunger; 14. Fixed gripper; 2. Driving mechanism; 21. Electric guide rail; 22. Electric slider; 3. Cutting die mounting plate; 31. Cutting die moving plate; 32. Cutting die side clamping cylinder; 4. Mold side mounting plate; 41. Mold side moving plate; 42. Mold side clamping cylinder; 43. Mold side rotating cylinder; 44. Mold side limit rod; 5. Solenoid valve Group; 6. Product; 7. Positioning column; 701. Press plate; 702. Push rod; 703. Limit plate; 704. Transmission rod; 705. Spring; 706. Lifting plate; 707. Ring groove; 708. Guide ring groove; 709. Sliding ball; 710. Fixed baffle; 711. Curved rod; 712. Air blocking plate; 713. Inlet duct; 714. Return duct; 715. Exhaust duct; 716. Highest point; 717. Midpoint; 718. Lowest point. DETAILED DESCRIPTION

[0022] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0023] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly connected by technicians in the technical field to which the present invention belongs. The terminology used in the specification of the present invention is for the purpose of describing specific embodiments and is not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] Please refer to the attached Figure 1-3The present invention provides a technical solution: a four-axis robot gripper capable of precise positioning for machining mechanical parts, comprising a top plate 1, a driving mechanism 2 is arranged above the top plate 1, a connecting seat 11 is installed at the upper end of the top plate 1, a cutting die side upper and lower cylinders 12 are embedded on the top plate 1 on one side of the connecting seat 11, a cutting die side upper and lower cylinders 12 are connected to a cutting die mounting plate 3 at the lower end of the cutting die mounting plate 3, a cutting die moving plate 31 is installed at the lower end of the cutting die mounting plate 3, and a cutting die side upper and lower cylinders 12 are connected to a cutting die mounting plate 31 at one side of the cutting die mounting plate 3. The mold side movable plate 41 has a mold side mounting plate 4 connected to the top plate 1 at the upper end thereof, and four groups of mold side clamping cylinders 42 are arranged at the lower end of the mold side movable plate 41. Four groups of cutting mold side clamping cylinders 32 are installed at the lower end of the cutting mold movable plate 31. Fixed grippers 14 are installed on the mold side clamping cylinders 42 and the cutting mold side clamping cylinders 32. The fixed grippers 14 grip the product 6 inside. Mold side limiting rods 44 are installed on both sides of the lower end of the mold side mounting plate 4. Start the upper and lower cylinders 12 on the cutting die side to drive the mold side mounting plate 4 to move downward, thereby causing the mold side moving plate 41 and the cutting die moving plate 31 to move downward, and the mold side clamping cylinder 42 grabs the product 6 in the molding mold through the fixed gripper 14, and the cutting die side clamping cylinder 32 grabs the product 6 in the cutting mold through the fixed gripper 14, and then the upper and lower cylinders 12 on the cutting die side drive the mold side mounting plate 4 to move upward, the electric slider 22 drives the four-axis robot gripper to move, and the mold side mounting plate 4 moves downward again, and the mold side rotating cylinder 43 drives the mold side clamping cylinder 42 to rotate, so that the product 6 grabbed by the mold side clamping cylinder 42 enters the cutting mold, and the product 6 grabbed by the cutting die side clamping cylinder 32 falls onto the conveying support of the next process.

[0026] Please refer to the attached Figure 1-5, the mold side moving plate 41 and the cutting mold moving plate 31 are both equipped with two positioning columns 7 at the lower ends, and a pressure plate 701 is slidably arranged at the lower end of each of the positioning columns 7, and a top rod 702 penetrating the positioning column 7 is connected to the lower end of the pressure plate 701, and a limit plate 703 connected to the inner wall of the positioning column 7 is arranged at the upper end of the pressure plate 701, and a transmission rod 704 is slidably connected inside the limit plate 703, and the lower end of the transmission rod 704 is connected to the pressure plate 701, and a spring 705 is sleeved on the transmission rod 704, and the two ends of the spring 705 are respectively connected to the pressure plate 701 and the limit plate 703, and a lifting plate 706 is connected to the upper end of the transmission rod 704, and a ring groove 707 is arranged on the side wall of the lifting plate 706, and a guide ring groove 708 is arranged on the inner wall of the positioning column 7, and a sliding ball 709 is arranged between the guide ring groove 708 and the ring groove 707, and the sliding ball 709 slides between the guide ring groove 708 and the ring groove 707 Inside the annular groove 707, a fixed baffle 710 connected to the inner wall of the positioning column 7 is provided at the upper end of the guide ring groove 708, and two curved rods 711 are slidably arranged on the fixed baffle 710, and the lower ends of the two curved rods 711 are connected to the lifting plate 706, and the upper ends of the two curved rods 711 are connected to an air blocking plate 712 slidably connected to the inner wall of the positioning column 7, and the top of the positioning column 7 is provided with an air inlet duct 713, an air return duct 714 and an exhaust duct 715, and the guide ring groove 708 is provided with a plurality of highest points 716, midpoints 717 and lowest points 718, and the plurality of highest points 716, midpoints 717 and lowest points 718 are staggered. When the sliding ball 709 is located between the highest point 716 and the midpoint 717, the air return duct 714 is blocked by the air blocking plate 712, and the lowest end of the positioning column 7 and the lowest ends of the mold side rotating cylinder 43 and the cutting mold side clamping cylinder 32 are located on the same horizontal plane. When the mold side mounting plate 4 moves down, the air inlet 713 takes in air, and the incoming air flows back through the return air duct 714, and the positioning column 7 moves down with it until the ejector 702 contacts the mold. At this time, the fixed gripper 14 is located on both sides of the product 6, and the ejector 702 moves up under the action of pressure, causing the spring 705 to contract, and the transmission rod 704 pushes the lifting plate 706 to move up. The sliding ball 709 moves up under the drive of the lifting plate 706 and moves upward from the lowest point 718 of the guide ring groove 708, and the curved rod 7 11 As the lifting plate 706 moves upward, the air blocking plate 712 also moves upward until the sliding ball 709 moves to the highest point 716, and the air blocking plate 712 blocks the return air duct 714. At the same time, the exhaust duct 715 is no longer blocked. The gas entering through the air inlet duct 713 will be transported to the mold side clamping cylinder 42 or the cutting mold side clamping cylinder 32 through the exhaust duct 715, so that the mold side clamping cylinder 42 or the cutting mold side clamping cylinder 32 drives the fixed gripper 14 to clamp the product 6.

[0027] Please refer to the attached Figure 1-4The driving mechanism 2 includes an electric guide rail 21, on which an electric slider 22 slides, and the electric slider 22 is connected to the connecting seat 11. The electric guide rail 21 is started to move the electric slider 22, so that the electric slider 22 drives the four-axis robot gripper to move. A solenoid valve group 5 is installed on one side of the mold side mounting plate 4. The output ends and output ends of the upper and lower cylinders 12 on the cutting mold side, the output ends of the mold side clamping cylinder 42, and the output ends of the cutting mold side clamping cylinder 32 are all connected to the solenoid valve group 5 through a hose. The exhaust duct 715 is connected to the input ends of two adjacent mold side clamping cylinders 42 or the cutting mold side clamping cylinder 32. The upper and lower cylinders 12 on the cutting mold side are controlled by the solenoid valve on the solenoid valve group 5. The exhaust of the mold side clamping cylinder 42 and the exhaust of the cutting mold side clamping cylinder 32 are both controlled by the solenoid valve on the solenoid valve group 5, and the air intake of the air inlet duct 713 and the air return duct 714 are both controlled by the solenoid valve on the solenoid valve group 5.

[0028] Please refer to the attached Figure 1-5 , several ball plungers 13 are installed on the side walls of the cutting die mounting plate 3 and the die side mounting plate 4. The ball plunger 13 is a component that can provide pressure and precise positioning. Four groups of die side rotating cylinders 43 are installed on the upper end of the die side moving plate 41. The output end of each die side rotating cylinder 43 is connected to the corresponding die side clamping cylinder 42. The die side rotating cylinder 43 is used to drive the die side clamping cylinder 42 to rotate. The lower ends of the die side clamping cylinder 42 and the cutting die side clamping cylinder 32 are respectively provided with a forming die and a cutting die. The cutting die is provided with a conveying seat on the side away from the forming die. The spacing between the forming die and the cutting die, the spacing between the cutting die and the conveying seat is equal to the spacing between the die side clamping cylinder 42 and the cutting die side clamping cylinder 32.

[0029] The specific operation process of the present invention is as follows:

[0030] When the user uses the four-axis robot gripper, first wait for the molding mold to finish injection molding the product 6, then start the electric guide rail 21 to move the electric slider 22, so that the electric slider 22 drives the four-axis robot gripper to move, and the four-axis robot gripper moves from the origin position to the top of the mold. At this time, the mold side clamping cylinder 42 is located directly above the molding mold, and the cutting mold side clamping cylinder 32 is located directly above the cutting mold. The cutting mold side upper and lower cylinders 12 are started to drive the mold side mounting plate 4 to move downward, so that the mold side moving plate 41 and the cutting mold moving plate 3 1 moves downward. When the mold side mounting plate 4 moves downward, the air inlet 713 takes in air, and the incoming air flows back through the return air duct 714. The positioning column 7 moves downward until the ejector 702 contacts the mold. At this time, the fixed gripper 14 is located on both sides of the product 6. The ejector 702 moves upward under the action of pressure, causing the spring 705 to contract. The transmission rod 704 pushes the lifting plate 706 to move upward. The sliding ball 709 moves upward under the drive of the lifting plate 706 and moves upward from the lowest point 718 of the guide ring groove 708. The curved rod 711 moves along with the lifting plate 706. The air block plate 712 also moves upward until the sliding ball 709 moves to the highest point 716, and the air block plate 712 blocks the return air duct 714. At the same time, the exhaust duct 715 is no longer blocked, and the gas entering through the air inlet duct 713 will be transported to the mold side clamping cylinder 42 or the cutting mold side clamping cylinder 32 through the exhaust duct 715, so that the mold side clamping cylinder 42 and the cutting mold side clamping cylinder 32 drive the fixed gripper 14 to clamp the product 6, and then the cutting mold side upper and lower cylinders 12 drive the mold side mounting plate 4 to move upward, and the electric The slider 22 drives the four-axis robot gripper to move, and the mold side mounting plate 4 moves down again. The mold side rotating cylinder 43 drives the mold side clamping cylinder 42 to rotate, so that the product 6 grasped by the mold side clamping cylinder 42 enters the cutting mold, and the product 6 grasped by the cutting mold side clamping cylinder 32 falls onto the conveying support of the next process. The internal gas of the mold side clamping cylinder 42 or the cutting mold side clamping cylinder 32 is discharged through the solenoid valve group 5, so that the fixed gripper 14 no longer clamps the product 6. After releasing the product 6, it rises back to the original position and moves again.

[0031] The above is an exemplary description of the present invention in combination with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A four-axis robot gripper capable of precise positioning for machining mechanical parts, comprising a top plate (1), characterized in that: A driving mechanism (2) is provided above the top plate (1); a connecting seat (11) is installed at the upper end of the top plate (1); a cutting die side upper and lower cylinders (12) embedded in the top plate (1) are provided on one side of the connecting seat (11); a cutting die side upper and lower cylinders (12) are connected to a cutting die mounting plate (3) at the lower end of the cutting die mounting plate (3); a cutting die moving plate (31) is installed at the lower end of the cutting die mounting plate (3); and a mold side moving plate (41) is connected to one side of the cutting die mounting plate (3). The upper end of the mold side moving plate (41) is provided with a mold side mounting plate (4) connected to the top plate (1); the lower end of the mold side moving plate (41) is provided with four groups of mold side clamping cylinders (42); the lower end of the cutting die moving plate (31) is provided with four groups of cutting die side clamping cylinders (32); the mold side clamping cylinders (42) and the cutting die side clamping cylinders (32) are both provided with fixed grippers (14); the fixed grippers (14) grip products (6) inside. Mold side limiting rods (44) are installed on both sides of the lower end of the mold side mounting plate (4), and two positioning columns (7) are installed at the lower ends of the mold side movable plate (41) and the cutting mold movable plate (31). A pressing plate (701) is slidably installed at the lower end of each positioning column (7). The lower end of the pressing plate (701) is connected to a push rod (702) that penetrates the positioning column (7). The upper end of the pressing plate (701) is provided with a limiting plate (703) connected to the inner wall of the positioning column (7). A transmission rod (704) is slidably connected inside the limiting plate (703). The lower end of the transmission rod (704) is connected to the pressing plate (701), and a spring (705) is sleeved on the transmission rod (704). The two ends of the spring (705) are respectively connected to the pressing plate (701) and the limiting plate (703). The upper end of the transmission rod (704) is connected to a lifting plate (706). The lifting plate (706) has a side wall provided with an annular groove (707), the inner wall of the positioning column (7) has a guide annular groove (708), a sliding ball (709) is provided between the guide annular groove (708) and the annular groove (707), the sliding ball (709) slides inside the guide annular groove (708) and the annular groove (707), the upper end of the guide annular groove (708) is provided with a fixed baffle (710) connected to the inner wall of the positioning column (7), two curved rods (711) slide on the fixed baffle (710), the lower ends of the two curved rods (711) are connected to the lifting plate (706), and the upper ends of the two curved rods (711) are connected to an air blocking plate (712) slidably connected to the inner wall of the positioning column (7), and the top of the positioning column (7) is provided with an air inlet duct (713), an air return duct (714) and an exhaust duct (715).

2. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: The driving mechanism (2) comprises an electric guide rail (21), an electric slider (22) slides on the electric guide rail (21), and the electric slider (22) is connected to the connecting seat (11).

3. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: A solenoid valve group (5) is installed on one side of the mold side mounting plate (4); the output ends and output ends of the upper and lower cylinders (12) on the cutting mold side, the output end of the mold side clamping cylinder (42), and the output end of the cutting mold side clamping cylinder (32) are all connected to the solenoid valve group (5) through a hose; and the exhaust duct (715) is connected to the input ends of two adjacent mold side clamping cylinders (42) or cutting mold side clamping cylinders (32).

4. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: A plurality of ball head plungers (13) are installed on the side walls of the cutting die mounting plate (3) and the die side mounting plate (4).

5. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: Four groups of mold side rotating cylinders (43) are installed on the upper end of the mold side moving plate (41), and the output end of each mold side rotating cylinder (43) is connected to the corresponding mold side clamping cylinder (42). The lowest end of the positioning column (7) and the lowest ends of the mold side rotating cylinder (43) and the cutting mold side clamping cylinder (32) are located on the same horizontal plane.

6. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: A forming die and a cutting die are provided at the lower ends of the die side clamping cylinder (42) and the cutting die side clamping cylinder (32), respectively. A conveying seat is provided on the side of the cutting die away from the forming die.

7. The four-axis robot gripper capable of precise positioning for machining mechanical parts according to claim 1, characterized in that: The guide ring groove (708) is provided with a plurality of highest points (716), midpoints (717) and lowest points (718), and the plurality of highest points (716), midpoints (717) and lowest points (718) are staggeredly distributed, and when the sliding ball (709) is located between the highest point (716) and the midpoint (717), the return air duct (714) is blocked by the air blocking plate (712).

Images