Precise and safe grabbing system for pose-variable product

Abstract

The invention discloses a precise and safe grabbing system for pose-variable products. The precise and safe grabbing system comprises an auxiliary tool, a positioning pedestal and a grabbing clamp. The auxiliary tool comprises a belting assembly and two belting clamping blocks, the belting assembly is used for being connected with a product, and the two belting clamping blocks are symmetrically connected to the outer side of the belting assembly. The positioning pedestal is used for realizing coarse positioning and temporary clamping after the auxiliary tool is mounted on a product; the grabbing clamp comprises a clamp cross beam and two locking mechanisms, the clamp cross beam is of a C-shaped structure, the two locking mechanisms are arranged at the two ends of the clamp cross beam respectively, and the locking mechanisms are used for positioning and locking the wrapping tape clamping blocks. According to the grabbing system, cylindrical and conical products which are large in size and few in grabbing characteristic can be grabbed, the surfaces of the products can be protected in place, coarse positioning of the products and flexible grabbing under the small error condition can be achieved, and the grabbing system has high error adaptability, universality and safety.

Description

Technical Field

[0001] The invention relates to the field of automated fixtures, and in particular to a precise and safe grasping system for products with variable postures. Background Art

[0002] In automated assembly, the requirements for product grabbing, position movement and other operational needs are the primary considerations for fixture design. Multi-purpose fixtures with good adaptability, high safety and strong reliability are particularly important in automated assembly processes. In the current industrial stage of automated assembly work, it mainly relies on the rigid connection between special fixtures and the product's own clamping features or auxiliary tooling to ensure that during the work process, the fixture and the product are completely relatively still, so as to perform precision assembly work.

[0003] With the in-depth development of automated assembly, some special automated assembly products (such as cylindrical products) have no obvious clamping features and fixed-position auxiliary tooling, and the product surface protection requirements are high during assembly; the product itself is large in size and cannot be clamped completely; in the assembly work, the product position and posture have a large deviation from the installation position and posture of the auxiliary tooling; there are requirements such as product flipping tasks, and it is necessary to ensure that the product is locked with multiple degrees of freedom in the process flow with large changes in position and posture, and ensure that it will not loosen. Therefore, it is of great significance to design a safe and reliable fixture mechanism for special products under the requirements of automated assembly. Summary of the invention

[0004] The purpose of the present invention is to overcome the problems of accurate and safe clamping, reliable limiting, and flipping of large cylindrical workpieces in automated assembly, and to provide a precise and safe grasping system for products with variable postures, which can realize the grasping of large cylindrical products with few grasping features, and has high error adaptability, versatility, and safety when used, thereby meeting the needs of safe clamping, reliable limiting, and flipping tasks of such products.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention provides a precise and safe grasping system for products with variable posture, comprising an auxiliary tooling, a positioning platform and a grasping fixture; the auxiliary tooling comprises a tape clamp block, the tape clamp block is used to be connected to a tape assembly arranged on the outer peripheral surface of the product, and there are two tape clamp blocks, which are symmetrically connected to the outer sides of the tape assembly; the positioning platform is used to achieve rough positioning and temporary clamping after the auxiliary tooling is installed on the product; the grasping fixture comprises a clamp beam and a locking mechanism, the clamp beam is a C-shaped structure, there are two locking mechanisms, which are respectively arranged at both ends of the clamp beam, and the locking mechanism is used to position and lock the tape clamp block.

[0007] As a preferred embodiment of the present invention, the locking mechanism includes a connecting block base, a motor locking module and a cylinder locking module; the connecting block base is connected to the clamp crossbeam, and a U-shaped groove is provided on the connecting block base, and the U-shaped groove is adapted to the belt clamp block; the motor locking module and the cylinder locking module are both arranged on the connecting block base, and the motor locking module and the cylinder locking module are used to position and lock the belt clamp block entering the U-shaped groove.

[0008] As a preferred solution of the present invention, the motor locking module includes a servo motor and a locking safety pin, the locking safety pin is slidably connected to the connection block base, and the servo motor is used to drive the locking safety pin to extend into or withdraw from the U-shaped groove.

[0009] As a preferred embodiment of the present invention, the cylinder locking module includes a driving cylinder and a cylinder safety pin, the cylinder safety pin is slidably connected to the connecting block base, and the driving cylinder is used to drive the cylinder safety pin to extend into or out of the U-shaped groove.

[0010] As a preferred solution of the present invention, the strap clamp block and the strap assembly are detachably connected via bolts.

[0011] As a preferred embodiment of the present invention, a positioning hole and a locking hole are respectively provided on the strap clamp block, the positioning hole is arranged along the axial direction of the product, the axis of the locking hole is perpendicular to the axis of the positioning hole, the positioning hole is used in conjunction with the positioning base, and the locking hole is used in conjunction with the locking mechanism.

[0012] As a preferred embodiment of the present invention, the positioning base includes a positioning pin and a base body; there are two positioning pins and they are symmetrically arranged on both sides of the base body, and the positioning pins cooperate with the positioning holes on the strap clamp block; a floating plate and a centering clamping mechanism are provided on the base body, the floating plate is used to provide floating support for the product after the auxiliary tooling is installed, and the centering clamping mechanism is used to realize the centering clamping function after floating support.

[0013] As a preferred embodiment of the present invention, the centering clamping mechanism includes a clamping bracket and a forward and reverse rotating screw. There are two clamping brackets and they are symmetrically slidably arranged on the pedestal body. The forward and reverse rotating screws are rotatably arranged on the pedestal body and cooperate with the two clamping brackets to drive the two clamping brackets to move synchronously relative to or away from each other.

[0014] As a preferred embodiment of the present invention, the locking mechanism also includes lateral limit screws, which are symmetrically arranged at both ends of the clamp beam. After being screwed in, the lateral limit screws extend into the U-shaped groove and abut against the end face of the strap clamp block.

[0015] As a preferred embodiment of the present invention, the locking mechanism also includes upper and lower limit bolts, which are arranged on the locking safety pin after the locking safety pin extends into the U-shaped groove. After the upper and lower limit bolts are screwed in, they abut against the side of the strap clamp so as to completely limit the movement of the product.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] The grasping system in the present invention is capable of grasping cylindrical conical products with large volume and few grasping features, and can better protect the product surface. It can realize rough positioning of the product and flexible grasping with small errors, has high error adaptability, and has high versatility and adaptability in usage scenarios. During task execution, it can realize double safety locking of product grasping and firm fixation of product during movement, and has high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0019] Figure 1 It is a schematic diagram of the structure of the grabbing fixture in the present invention;

[0020] Figure 2 For the present invention Figure 1 A schematic diagram of the structure at the end of the fixture beam;

[0021] Figure 3 It is a schematic diagram of the combination of the motor locking module and the cylinder locking module in the present invention;

[0022] Figure 4 It is a schematic diagram of the combination of the auxiliary tooling and the positioning platform in the present invention;

[0023] Figure 5 For the present invention Figure 4 Schematic diagram of the auxiliary tooling installed on the product;

[0024] Figure 6 For the present invention Figure 4 Schematic diagram of the positioning base.

[0025] Marks and corresponding parts names in the attached drawings:

[0026] 1- fixture beam, 2- connecting block base, 21- U-shaped groove, 3- quick change module, 41- servo motor, 42- locking safety pin, 421- upper and lower limit threaded holes, 43- first gear, 44- second gear, 45- lead screw, 46- nut, 47- trigger bracket, 48- locking limit switch, 49- releasing limit switch, 51- driving cylinder, 52- cylinder safety pin, 53- cylinder mounting plate, 54- cylinder adapter plate, 61- first clamp, 62- second clamp, 63- bottom support plate, 64- band clamp block, 641- positioning hole, 642- locking hole, 65- connecting plate, 71- positioning pin shaft, 72- pedestal body, 73- floating plate, 74- clamping bracket, 75- forward and reverse rotation lead screw, 76- rocking handle, 8- lateral limit screw, A- product. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0029] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0032] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0033] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0034] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0035] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0036] In the scheme where the robot arm is the main body of the assembly equipment, how to accurately identify the product position, achieve flexible grasping and reliable fixation has become the main problem in the research of the end fixture of the robot arm of assembly automation equipment. Therefore, designing a fixture with stronger reliability, higher safety and smaller size plays a vital role in the overall improvement of assembly automation. Some special assembly products have the characteristics of few grasping features (cylindrical products), large installation errors of auxiliary tooling, large product volume, high assembly accuracy requirements, large assembly position span, and large changes in product posture during assembly. The grasping mechanism of the mature industrial assembly line cannot be used in the equipment. Since this type of grasping mechanism is mainly for industrial products with low requirements for assembly accuracy, safety and reliability, the robot fixture mainly performs single point-to-point movement and low-precision assembly movement after grasping the industrial product. Therefore, the conventional grasping mechanism cannot meet the requirements of performing various operations on the product in the assembly tasks of such special products.

[0037] In order to achieve coarse positioning, flexible grasping, safe locking, and secure limiting of large cylindrical products in automated assembly, the applicant has proposed a precise and safe grasping system for products with variable posture after in-depth research. For such cylindrical products with large volume, few grasping features, and high assembly precision requirements, the grasping system includes a grasping fixture, auxiliary tooling, and a positioning pedestal. When in use, the auxiliary tooling is installed on the product, and the product is placed on the positioning pedestal for coarse positioning. The robotic arm can achieve adaptive grasping, safe locking, and secure fixation of the product by connecting to the grasping fixture, and can perform non-point-to-point complex trajectory motion, posture change, assembly and other precision operations.

[0038] Please refer to Figures 1 to 6 A precise and safe grasping system for a product with a variable posture provided in an embodiment of the present application comprises an auxiliary tooling, a positioning platform and a grasping fixture; the auxiliary tooling comprises a tape clamp block 64, which is used to be connected to a tape assembly arranged on the outer peripheral surface of product A, and there are two tape clamp blocks 64, which are symmetrically connected to the outer sides of the tape assembly; the positioning platform is used to realize rough positioning and temporary clamping after the auxiliary tooling is installed on product A; the grasping fixture comprises a clamp beam 1 and a locking mechanism, the clamp beam 1 is a C-shaped structure, there are two locking mechanisms, which are respectively arranged at both ends of the clamp beam 1, and the locking mechanism is used to position and lock the tape clamp block 64.

[0039] In this embodiment, in order to achieve connection with the robot arm and grasping of large cylindrical products, the fixture beam 1 is designed as a C-shaped structure. The central area of ​​the C-shaped fixture beam 1 is large enough to ensure that the fixture can grasp large workpieces without interference. When in use, the robot arm is connected to the middle section of the fixture beam 1 through the quick-change module 3, thereby driving the fixture beam 1 to perform posture change operations such as movement and flipping. It should be noted that the quick-change module 3 is a conventional component for connecting the robot arm and the fixture, and the prior art can be referred to, and no further description will be given here.

[0040] Before grabbing the product, first install the auxiliary tooling on product A, and then hoist the product as a whole on the positioning base. Use the positioning base to roughly position the product and then temporarily clamp it. Then use the robotic arm to drive the fixture beam 1 to move to the product grabbing position. At this time, release the temporary clamping of the positioning base, and the robotic arm continues to move so that the locking mechanisms at both ends of the fixture beam can position and lock the two strap clamps 64 on the auxiliary tooling. Then the robotic arm can carry the product to any space required position.

[0041] According to some embodiments of the present application, the locking mechanism includes a connecting block base 2, a motor locking module and a cylinder locking module; the connecting block base 2 is connected to the clamp beam 1, and a U-shaped groove 21 is provided on the connecting block base 2, and the U-shaped groove 21 is adapted to the belt clamp block 64; the motor locking module and the cylinder locking module are both arranged on the connecting block base 2, and the motor locking module and the cylinder locking module are used to position and lock the belt clamp block 64 entering the U-shaped groove 21.

[0042] The connection block base 2 in this embodiment is respectively located at the inner side of both ends of the C-shaped fixture beam 1, and the connection block base 2 is fixedly connected to the fixture beam 1 by bolts. The lower surface of the U-shaped groove 21 on the connection block base 2 is a conical surface, and the U-shaped groove 21 is adapted to the cross-sectional shape of the wrapping clamp block 64 to facilitate the positioning of the wrapping clamp block 64 after entering the U-shaped groove 21, so that the wrapping clamp block 64 installed on both sides of the product A can be quickly pre-positioned when the grabbing fixture grabs the wrapping clamp block 64. At the same time, after the wrapping clamp block 64 enters the U-shaped groove 21, the motor locking module and the cylinder locking module are actuated to position and lock the wrapping clamp block 64.

[0043] According to some embodiments of the present application, the motor locking module includes a servo motor 41 and a locking safety pin 42, the locking safety pin 42 is slidably connected to the connection block base 2, and the servo motor 41 is used to drive the locking safety pin 42 to extend into or withdraw from the U-shaped groove 21. When the product is placed on the positioning platform, the product axis is in a vertical state, and the tape clamp block 64 is in a horizontal state; when the mechanical arm drives the fixture beam 1 to move to the grasping position, the fixture beam 1 is in a horizontal state, the U-shaped groove 21 on the connection block base 2 opens upward, and the tape clamp block 64 is just above the opening of the U-shaped groove 21. Then the mechanical arm moves up to make the tape clamp block 64 enter the bottom of the U-shaped groove 21, and then the servo motor 41 drives the locking safety pin 42 to extend into the U-shaped groove 21, and the locking safety pin 42 is used to restrict the tape clamp block 64 in the U-shaped groove 21, thereby preventing the tape clamp block 64 from escaping from the opening of the U-shaped groove 21. In this application, the grabbing fixture grabs the product in a lifting manner, which makes the operation more reliable and safe.

[0044] According to some embodiments of the present application, the motor locking module also includes a first gear 43, a second gear 44, a lead screw 45, a nut 46, a trigger bracket 47, a locking limit switch 48 and a release limit switch 49, the first gear 43 is connected to the output shaft of the servo motor 41, the lead screw 45 is rotatably set on the connecting block base 2, the nut 46 is cooperatedly set on the lead screw 45, and the nut 46 is connected to the locking safety pin 42, the second gear 44 is connected to one end of the lead screw 45, and the first gear 43 is meshed with the second gear 44, the trigger bracket 47 is connected to the locking safety pin 42, and the locking limit switch 48 and the release limit switch 49 are set on the connecting block base 2.

[0045] During operation, the servo motor 41 drives the lead screw 45 to rotate through the first gear 43 and the second gear 44, thereby driving the locking safety pin 42 to slide on the connection block base 2 through the nut 46, so that the locking safety pin 42 extends into or exits the U-shaped groove 21. The movement of the locking safety pin 42 drives the trigger bracket 47 to move synchronously, and the control of the moving position of the locking safety pin 42 is achieved through the coordinated use of the trigger bracket 47, the locking limit switch 48, and the release limit switch 49.

[0046] According to some embodiments of the present application, the cylinder locking module includes a driving cylinder 51 and a cylinder safety pin 52, the cylinder safety pin 52 is slidably connected to the connection block base 2, and the driving cylinder 51 is used to drive the cylinder safety pin 52 to extend into or withdraw from the U-shaped groove 21. The extension direction of the cylinder safety pin 52 is consistent with the sliding direction of the locking safety pin 42. After the locking safety pin 42 extends to restrict the strap clamp 64 in the U-shaped groove 21, the cylinder safety pin 52 is extended and inserted into the locking hole 642 on the strap clamp 64 by the action of the driving cylinder 51.

[0047] According to some embodiments of the present application, the cylinder locking module further includes a cylinder mounting plate 53 and a cylinder adapter plate 54, the cylinder mounting plate 53 is fixedly connected to the connection block base 2, the piston rod of the driving cylinder 51 is arranged in parallel with the cylinder safety latch 52, and the two ends of the cylinder adapter plate 54 are connected to the piston rod of the driving cylinder 51 and the cylinder safety latch 52. When working, the piston rod of the driving cylinder 51 is extended and retracted through the cylinder adapter plate 54 to drive the cylinder safety latch 52 to extend and retract synchronously.

[0048] It should be noted that the motor locking module and the cylinder locking module are both located on one side of the U-shaped groove 21 on the connection block base 2. After the servo motor 41 and the driving cylinder 51 are activated, the locking safety pin 42 and the cylinder safety pin 52 need to extend into the U-shaped groove 21 from one side of the U-shaped groove 21. Therefore, two through holes are provided on one side of the U-shaped groove 21 for the locking safety pin 42 and the cylinder safety pin 52 to extend and retract and slide. In order to allow the locking safety pin 42 and the cylinder safety pin 52 to stably limit the strap clamp 64 after being extended, a corresponding hole is provided on the other side of the U-shaped groove 21 so that the front ends of the locking safety pin 42 and the cylinder safety pin 52 can extend into the corresponding hole.

[0049] According to some embodiments of the present application, the strap clamp block 64 is detachably connected to the strap assembly by bolts. Specifically, the strap assembly includes a first clamp 61, a second clamp 62, and a bottom support plate 63 arranged along the axial direction of product A; the first clamp 61 and the second clamp 62 are respectively clamped on the outer peripheral surface of product A, the bottom support plate 63 is connected to the lower end of product A, and also includes a connecting plate 65, the connecting plate 65 is used to connect the first clamp 61, the second clamp 62 and the bottom support plate 63, and the strap clamp block 64 is arranged on the connecting plate 65.

[0050] During installation, the first clamp 61 and the second clamp 62 are respectively clamped on the allowable clamping positions on the outer surface of the product to ensure that the product is not damaged when being grabbed. The first clamp 61 and the second clamp 62 are adapted to the clamping positions, and the bottom support plate 63 and the lower end surface of the product can be connected by bolts. The connecting plate 64 connects the first clamp 61, the second clamp 62 and the bottom support plate 63 into a whole, and the strap clamping blocks 64 are symmetrically located on both sides of the product.

[0051] According to some embodiments of the present application, a positioning hole 641 and a locking hole 642 are respectively provided on the strap clamp block 64, the positioning hole 641 is arranged along the axial direction of the product, the axis of the locking hole 642 is perpendicular to the axis of the positioning hole 641, the positioning hole 641 is used in conjunction with the positioning base, and the locking hole 642 is used in conjunction with the locking mechanism.

[0052] Specifically, the positioning hole 641 and the locking hole 642 respectively penetrate the band clamp block 64 along the cross-sectional direction. When the product installation auxiliary tooling is placed on the positioning base, the positioning holes 641 on the two band clamp blocks 64 cooperate with the two vertical positioning pins 71 on the positioning base to achieve rough positioning of the product in the circumferential direction. When the grabbing fixture grabs the product, the cylinder safety pins 52 in the two locking mechanisms extend and penetrate the locking holes 642 on the two band clamp blocks 64.

[0053] According to some embodiments of the present application, the positioning base includes a positioning pin 71 and a base body 72; the positioning pin 71 has two and is symmetrically arranged on both sides of the base body 72, and the positioning pin 71 cooperates with the positioning hole 641 on the strap clamp 64; the base body 72 is provided with a floating plate 73 and a centering clamping mechanism, the floating plate 73 is used to perform floating support on the product after the auxiliary tooling is installed, and the centering clamping mechanism is used to realize the centering clamping function after floating support.

[0054] In this embodiment, the positioning pin 71 can telescopically move vertically so as to penetrate into the positioning hole 641 on the strap clamp 64 to position the product circumferentially. The floating plate 73 is located at the center of the pedestal body 72 and is used to support the bottom of the bottom support plate 63 in the auxiliary tooling. The floating plate 73 can move and rotate in the horizontal plane to facilitate the adjustment and positioning operation after the product is placed on the positioning pedestal. After the product is roughly positioned, it is temporarily clamped by the intermediate clamping mechanism to prevent the risk of the product tipping over. It should be noted that the floating mounting structure of the floating plate 73 on the pedestal body is a prior art to facilitate the adjustment of the rough positioning.

[0055] When grabbing, the product is located on the floating plate 73 of the positioning base, and the centering clamping mechanism ensures that the product is completely fixed. After the robot arm is completed and connected to the grabbing fixture, the centering clamping mechanism is released, and the product can be moved and rotated horizontally on the floating plate 73. The robot arm is lifted and the product is "scooped up" within a certain measurement error range. In this process, even if there is a certain error in the measurement and adjustment, the U-shaped groove 21 on the grabbing fixture has an automatic guide correction function, which cooperates with the floating plate 73 of the positioning base to ensure that the product is grabbed smoothly.

[0056] According to some embodiments of the present application, the centering clamping mechanism includes a clamping bracket 74 and a forward and reverse rotating screw 75. There are two clamping brackets 74 and they are symmetrically slidably arranged on the pedestal body 72. The forward and reverse rotating screw 75 is rotatably arranged on the pedestal body 72 and cooperates with the two clamping brackets 74 to drive the two clamping brackets 74 to move synchronously relative to or away from each other.

[0057] The clamping surface of the clamping bracket 74 in this embodiment can be set to a V-shaped structure so as to clamp the circular outer peripheral surface. When the screw is driven to rotate by the shaking handle 76 set at one end of the forward and reverse screw 75, the two clamping brackets 74 are respectively matched with the two sections of forward and reverse threads on the forward and reverse screw 75, so that the two clamping brackets 74 can move synchronously relative to or away from each other on the pedestal body 72, thereby achieving the clamping and loosening of the product.

[0058] According to some embodiments of the present application, the locking mechanism further includes lateral limit screws 8, which are symmetrically arranged at both ends of the clamp beam 1. After being screwed in, the lateral limit screws 8 extend into the U-shaped groove 21 and abut against the end surface of the band clamp block 64. The movement direction of the lateral limit screws 8 when screwed in is perpendicular to the telescopic movement direction of the cylinder safety pin 52. The end surface of the band clamp block 64 is tightened by the lateral limit screws 8 to limit the displacement of the product in the left and right directions (from the center line when the clamp beam 1 is in a horizontal state).

[0059] According to some embodiments of the present application, the locking mechanism further includes upper and lower limit bolts (not shown in the figure), which are arranged on the locking safety pin 42 after the locking safety pin 42 extends into the U-shaped groove 21, and the upper and lower limit bolts are screwed in and abut against the side of the band clamp block 64 to completely limit the movement of the product. The upper and lower limit bolts are used to tighten the side of the band clamp block 64 to limit the displacement of the product in the up and down directions (when the fixture crossbeam 1 is in a horizontal state).

[0060] Specifically, upper and lower limit threaded holes 421 that are compatible with upper and lower limit bolts (not shown in the figure) are provided on the locking safety pin 42. The axes of the upper and lower limit threaded holes 421 are perpendicular to the telescopic sliding direction of the locking safety pin 42. Therefore, after the upper and lower limit bolts are screwed in, they will be tightened against the side of the strap clamp 64.

[0061] The working process of the grabbing system is as follows: install the auxiliary tooling on product A; hoist the product on the positioning base, adjust the alignment of the product through the positioning pin shaft 71 and the positioning hole 641 on the wrapping clamp block 64, and lock the centering clamping mechanism on the positioning base; the end of the robot arm is connected to the quick-change module 3 located on the upper surface of the center of the fixture beam 1, and moves to the workpiece grabbing position; the lower surface of the U-shaped groove 21 of the connecting block base 2 at the end of the fixture beam 1 cooperates with the surface of the wrapping clamp block 64 of the auxiliary tooling, releases the centering clamping mechanism on the positioning base, and the robot arm lifts and grabs the product; then the servo motor 41 rotates, and the locking safety pin 42 extends into the U-shaped In the slot 21, when the trigger bracket 47 reaches the sensing position of the locking limit switch 48, the servo motor 41 stops; the driving cylinder 51 is pressurized, and the cylinder safety pin 52 extends into the U-shaped slot 21 and passes through the locking hole 642 on the strap clamp 64, and the driving cylinder 51 stops moving when it reaches the maximum stroke; manually tighten the lateral limit screws 8 at both ends of the clamp beam 1 to tighten the end face of the strap clamp 64, and screw the upper and lower limit bolts into the upper and lower limit threaded holes 421 on the locking safety pin 42, and tighten the side of the strap clamp 64 through the upper and lower limit bolts to complete the auxiliary clamp limitation; the robotic arm can carry the product to any space required position.

[0062] The grabbing system in the embodiment of the present application has at least the following advantages:

[0063] 1. To achieve the grasping of cylindrical (conical) products with large volume and few grasping features. Design a C-type grasping fixture with a larger center space and use a U-shaped groove to hold the product. Compared with traditional clamping and suction cup clamps used in industrial production lines, the large center space is more conducive to grasping large parts and is more suitable for the above-mentioned special products. Compared with grasping and suction methods, the lifting method is safer and more reliable, and has fewer requirements on the grasping features of the product.

[0064] 2. Realize flexible grasping and rough positioning of products, with high error adaptability and versatility. With the help of positioning base and auxiliary tooling, the product can be roughly positioned when loading. The robot arm carries the grasping fixture to lift the product from the bottom. Due to the uncertainty of the installation of the tape assembly, the relative position and posture of the auxiliary tooling and the product are inconsistent each time the material is loaded. At this time, the tape clamp block of the auxiliary tooling cooperates with the U-shaped groove of the base of the connecting block. The product will move on the floating plate to adapt to the lifting position of the grasping fixture, eliminate a small amount of installation error, and finally be grasped smoothly by the grasping fixture. The auxiliary tooling is simple to design and process, and tape clamp blocks with different positioning holes and locking holes can be designed to be suitable for multiple models of products.

[0065] 3. Realize double safety locking of product grabbing, with high safety. Use electric and pneumatic methods to lock the product, ensuring the absolute connection between the product and the grabbing fixture. The servo motor locking is used to limit the up and down movement of the product, and the driving cylinder locking is used for left and right adjustment after the servo motor is locked. The cross-sectional shape of the band clamp of the auxiliary tooling cooperates with the U-shaped groove of the grabbing fixture to achieve front and back locking.

[0066] 4. Achieve secure fixation of the product during movement. Design lateral limit screws and upper and lower limit bolts to ensure complete fixation of the product. The lateral limit screws are used to limit the displacement of the product in the left and right directions, and the upper and lower limit bolts are used to limit the displacement of the product in the up and down directions, thereby avoiding shaking when the product is moved or flipped.

[0067] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A precise and safe grasping system for products with variable posture, characterized in that: It includes auxiliary tooling, a positioning platform and a grabbing fixture; the auxiliary tooling includes a tape clamp block, which is used to be connected to the tape assembly arranged on the outer peripheral surface of the product, and there are two tape clamp blocks, which are symmetrically connected to the outer sides of the tape assembly; the positioning platform is used to achieve rough positioning and temporary clamping after the auxiliary tooling is installed on the product; the grabbing fixture includes a clamp beam and a locking mechanism, the clamp beam is a C-shaped structure, there are two locking mechanisms, which are respectively arranged at both ends of the clamp beam, and the locking mechanism is used to position and lock the tape clamp blocks.

2. The precise and safe grasping system for products with variable posture according to claim 1 is characterized in that: The locking mechanism includes a connecting block base, a motor locking module and a cylinder locking module; the connecting block base is connected to the clamp crossbeam, and a U-shaped groove is provided on the connecting block base, and the U-shaped groove is adapted to the belt clamp block; the motor locking module and the cylinder locking module are both arranged on the connecting block base, and the motor locking module and the cylinder locking module are used to position and lock the belt clamp block entering the U-shaped groove.

3. The precise and safe grasping system for products with variable posture according to claim 2, characterized in that: The motor locking module comprises a servo motor and a locking safety pin, wherein the locking safety pin is slidably connected to the connection block base, and the servo motor is used to drive the locking safety pin to extend into or withdraw from the U-shaped groove.

4. The precise and safe grasping system for products with variable posture according to claim 3 is characterized in that: The cylinder locking module comprises a driving cylinder and a cylinder safety latch, wherein the cylinder safety latch is slidably connected to the connection block base, and the driving cylinder is used to drive the cylinder safety latch to extend into or withdraw from the U-shaped groove.

5. The precise and safe grasping system for products with variable posture according to any one of claims 1 to 4, characterized in that: The strap clamp block and the strap assembly are detachably connected via bolts.

6. The precise and safe grasping system for position-variable products according to any one of claims 1 to 4, characterized in that: The strap clamp block is provided with a positioning hole and a locking hole, respectively. The positioning hole is arranged along the product axis direction, the axis of the locking hole is perpendicular to the axis of the positioning hole, the positioning hole is used in conjunction with the positioning base, and the locking hole is used in conjunction with the locking mechanism.

7. The precise and safe grasping system for products with variable posture according to any one of claims 1 to 4, characterized in that: The positioning base includes a positioning pin shaft and a base body; there are two positioning pin shafts and they are symmetrically arranged on both sides of the base body, and the positioning pin shafts cooperate with the positioning holes on the strap clamp block; the base body is provided with a floating plate and a centering clamping mechanism, the floating plate is used to provide floating support for the product after the auxiliary tooling is installed, and the centering clamping mechanism is used to realize the centering clamping function after floating support.

8. The precise and safe grasping system for products with variable posture according to claim 7, characterized in that: The centering clamping mechanism includes a clamping bracket and a forward and reverse rotating screw. There are two clamping brackets and they are symmetrically slidably arranged on the pedestal body. The forward and reverse rotating screws are rotatably arranged on the pedestal body and cooperate with the two clamping brackets to drive the two clamping brackets to move synchronously relative to or away from each other.

9. The precise and safe grasping system for position-variable products according to claim 3 or 4, characterized in that: The locking mechanism also includes lateral limit screws, which are symmetrically arranged at both ends of the clamp crossbeam. After being screwed in, the lateral limit screws extend into the U-shaped groove and abut against the end surface of the strap clamp block.

10. The precise and safe grasping system for products with variable posture according to claim 9, characterized in that: The locking mechanism also includes upper and lower limit bolts, which are arranged on the locking safety pin after the locking safety pin extends into the U-shaped groove. After the upper and lower limit bolts are screwed in, they abut against the side of the strap clamp block to completely limit the movement of the product.

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