Precise safety grabbing system for pose-variable product

Abstract

The application discloses a precision safety grabbing system for products with variable poses, which comprises an auxiliary tool, a positioning pedestal and a grabbing clamp. The auxiliary tool comprises a wrapping belt assembly and wrapping belt clamping blocks. The wrapping belt assembly is used to be connected with the product. The two wrapping belt clamping blocks are symmetrically connected to the outer sides of the wrapping belt assembly. The positioning pedestal is used to realize rough positioning and temporary clamping after the product is installed with the auxiliary tool. The grabbing clamp comprises a clamp beam and locking mechanisms. The clamp beam is in a C-shaped structure. The two locking mechanisms are arranged at the two ends of the clamp beam. The locking mechanisms are used to position and lock the wrapping belt clamping blocks. The grabbing system can realize grabbing of a cylinder-cone-shaped product with large volume and few grabbing features. The protection of the product surface is more in place. The rough positioning of the product and the flexible grabbing under small errors can be realized. The grabbing system has high error adaptability, universality and safety.

Description

Technical Field

[0001] This invention relates to the field of automated clamping fixtures, and more specifically to a precision safety gripping system for products with variable orientation. Background Technology

[0002] In automated assembly, the requirements for product gripping and positional movement are the primary considerations in fixture mechanism design. Multi-purpose fixtures with good adaptability, high safety, and strong reliability are particularly important in automated assembly processes. In current industrial automated assembly operations, the rigid connection between specially designed fixtures and the product's gripping characteristics or auxiliary tooling ensures that the fixture and product remain completely stationary during operation, thus enabling precision assembly.

[0003] With the increasing prevalence of automated assembly, some specialized automated assembly products (such as cylindrical products) lack obvious clamping features and fixed-position auxiliary tooling, and require high surface protection during assembly. The products themselves are large, making complete envelopment clamping impossible. During assembly, the product's position and orientation deviate significantly from the installation position and orientation of the auxiliary tooling. Furthermore, there are requirements such as product flipping, necessitating multi-degree-of-freedom locking of the product in processes with significant positional changes, ensuring it does not loosen. Therefore, designing a safe and reliable clamping mechanism for specialized products under automated assembly requirements is of great significance. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of precise and safe gripping, reliable limiting, and flipping of large cylindrical workpieces in automated assembly, and to provide a precision and safe gripping system for products with variable position and orientation. This system can grip large cylindrical products with few gripping features and has high error adaptability, versatility, and safety, thereby meeting the requirements of safe gripping, reliable limiting, and flipping of such products.

[0005] This invention is achieved through the following technical solution:

[0006] This invention provides a precision safety gripping system for products with variable orientation, including an auxiliary fixture, a positioning platform, and a gripping fixture. The auxiliary fixture includes a strap clamping block, which is used to connect to a strap assembly disposed on the outer periphery of the product. There are two strap clamping blocks, which are symmetrically connected to the outer side of the strap assembly. The positioning platform is used to achieve coarse positioning and temporary clamping after the product is installed with the auxiliary fixture. The gripping fixture includes a clamping beam and a locking mechanism. The clamping beam has a C-shaped structure, and there are two locking mechanisms, which are respectively disposed at both ends of the clamping beam. The locking mechanisms are used to position and lock the strap clamping blocks.

[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 beam, and a U-shaped groove is provided on the connecting block base, the U-shaped groove being adapted to the bag strap clamping block; the motor locking module and the cylinder locking module are both disposed on the connecting block base, and the motor locking module and the cylinder locking module are used to position and lock the bag strap clamping block that enters the U-shaped groove.

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

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

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

[0011] As a preferred embodiment of the present invention, the bag strap clamp is provided with a positioning hole and a locking hole respectively. The positioning hole is arranged along the product axis direction, and 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 platform, and the locking hole is used in conjunction with the locking mechanism.

[0012] As a preferred embodiment of the present invention, the positioning platform includes positioning pins and a platform body; there are two positioning pins symmetrically arranged on both sides of the platform body, and the positioning pins cooperate with the positioning holes on the strap clamping block; the platform 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 achieve the centering clamping function after the floating support.

[0013] As a preferred embodiment of the present invention, the centering clamping mechanism includes clamping brackets and forward and reverse rotating screws. There are two clamping brackets, which are symmetrically slidably disposed on the base body. The forward and reverse rotating screws are rotatably disposed on the base body and cooperate with the two clamping brackets to drive the two clamping brackets to move synchronously relative to each other or in opposite directions.

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

[0015] As a preferred embodiment of the present invention, the locking mechanism further includes upper and lower limit bolts, which are positioned 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 bag strap clamp to completely restrict the movement of the product.

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

[0017] The gripping system of this invention can grip large cylindrical and conical products with few gripping features, providing better protection for the product surface. It can achieve both coarse positioning and flexible gripping with small errors, exhibiting high error adaptability. It has high versatility and adaptability in various application scenarios. During task execution, it can achieve dual safety locking for product gripping and reliable fixation during product movement, providing high safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a schematic diagram of the gripping fixture structure in this invention;

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

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

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

[0023] Figure 5 For the present invention Figure 4 A schematic diagram showing the auxiliary tooling installed on the product.

[0024] Figure 6 For the present invention Figure 4 A schematic diagram of the positioning platform.

[0025] The attached diagram shows the markings and corresponding component names:

[0026] 1-Clamping beam, 2-Connecting block base, 21-U-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-Release limit switch, 51-Drive cylinder, 52-Cylinder safety pin, 53-Cylinder mounting plate, 54-Cylinder adapter plate, 61-First clamp, 62-Second clamp, 63-Base plate, 64-Wrapping clamp, 641-Positioning hole, 642-Locking hole, 65-Connecting plate, 71-Positioning pin, 72-Base body, 73-Floating plate, 74-Clamping bracket, 75-Forward and reverse rotating lead screw, 76-Crank handle, 8-Side limit screw, A-Product. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention 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 one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

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

[0030] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0032] In the embodiments of this application, the same reference numerals denote 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 this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0033] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces), unless otherwise explicitly specified.

[0034] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0035] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0036] In assembly equipment solutions using robotic arms as the main body, accurately identifying product positions and achieving flexible gripping and reliable fixation have become the main research issues in the end-effectors of robotic arms for automated assembly equipment. Therefore, designing grippers with higher reliability, safety, and smaller size plays a crucial role in the overall improvement of assembly automation. Some special assembly products have characteristics such as few gripping features (cylindrical products), large auxiliary tooling installation errors, large product volume, high assembly precision requirements, large assembly position span, and large changes in product posture during assembly. Therefore, the mature gripping mechanisms of industrial production lines cannot be used in these systems. Since these gripping mechanisms are mainly designed for industrial products with lower requirements for assembly precision, safety, and reliability, the robotic gripper primarily performs single point-to-point movements and low-precision assembly movements after gripping the industrial product. Therefore, conventional gripping mechanisms cannot meet the requirements of various operations performed on the product in the assembly tasks of these special products.

[0037] To achieve coarse positioning, flexible gripping, safe locking, and reliable limiting of large cylindrical products in automated assembly, the applicant has proposed a precision safety gripping system for products with variable posture after in-depth research. For such cylindrical products that are large in size, have few gripping features, and require high assembly precision, the gripping system includes a gripping fixture, auxiliary tooling, and a positioning platform. In use, the auxiliary tooling is installed on the product, and the product is placed on the positioning platform for coarse positioning. The robotic arm, connected to the gripping fixture, can achieve adaptive gripping, safe locking, and reliable fixation of the product, and can perform non-point-to-point complex trajectory movements, posture changes, assembly, and other precision operations.

[0038] Please refer to Figures 1 to 6 This application provides a precision safety gripping system for a product with variable pose, comprising an auxiliary fixture, a positioning platform, and a gripping fixture. The auxiliary fixture includes a strap clamping block 64, which is used to connect to a strap assembly disposed on the outer periphery of product A. There are two strap clamping blocks 64, which are symmetrically connected to the outer side of the strap assembly. The positioning platform is used to achieve coarse positioning and temporary clamping after the auxiliary fixture is installed on product A. The gripping fixture includes a clamping beam 1 and a locking mechanism. The clamping beam 1 has a C-shaped structure. There are two locking mechanisms, which are respectively disposed at both ends of the clamping beam 1. The locking mechanisms are used to position and lock the strap clamping blocks 64.

[0039] In this embodiment, to achieve connection with the robotic arm and gripping large cylindrical products, the clamping beam 1 is designed with a C-shaped structure. The central area of ​​the C-shaped clamping beam 1 is large enough to ensure that the clamp can grip large workpieces without interference. In use, the robotic arm connects to the middle section of the clamping beam 1 via the quick-change module 3, thereby driving the clamping beam 1 to perform positional changes such as movement and flipping. It should be noted that the quick-change module 3 is a conventional component for connecting the robotic arm and the clamp, and can be referred to in existing technology, so it will not be described in detail here.

[0040] Before gripping the product, the auxiliary fixture is first installed on product A, and then the product is hoisted onto the positioning platform. After the product is roughly positioned by the positioning platform, it is temporarily clamped. Then, the robotic arm drives the clamp beam 1 to move to the product gripping position. At this time, the temporary clamping of the positioning platform is released, and the robotic arm continues to move so that the locking mechanism at both ends of the clamp beam positions and locks the two packing clips 64 on the auxiliary fixture. Then the robotic arm can carry the product to any spatial position required.

[0041] According to some embodiments of this 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, the U-shaped groove 21 being adapted to the bag strap clamping block 64; the motor locking module and the cylinder locking module are both disposed on the connecting block base 2, and the motor locking module and the cylinder locking module are used to position and lock the bag strap clamping block 64 that enters the U-shaped groove 21.

[0042] In this embodiment, the connecting block base 2 is located on the inner sides of both ends of the C-shaped clamp beam 1, and the connecting block base 2 and the clamp beam 1 are fixedly connected by bolts. The lower surface of the U-shaped groove 21 on the connecting block base 2 is a tapered surface. The U-shaped groove 21 is adapted to the cross-sectional shape of the strap clamp 64 to facilitate the positioning of the strap clamp 64 after it enters the U-shaped groove 21. This allows for rapid pre-positioning when the gripping fixture grips the strap clamps 64 installed on both sides of product A. At the same time, after the strap clamp 64 enters the U-shaped groove 21, the motor locking module and the cylinder locking module are activated to position and lock the strap clamp 64.

[0043] According to some embodiments of this 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 connecting block base 2. The servo motor 41 is used to drive the locking safety pin 42 to extend into or retract from the U-shaped groove 21. When the product is placed on the positioning platform, the product axis is vertical and the strap clamp 64 is horizontal. When the robotic arm moves the clamp beam 1 to the gripping position, the clamp beam 1 is horizontal, the opening of the U-shaped groove 21 on the connecting block base 2 faces upward, and the strap clamp 64 is located just above the opening of the U-shaped groove 21. Then, the robotic arm moves upward to allow the strap clamp 64 to enter the bottom of the U-shaped groove 21. Then, the servo motor 41 drives the locking safety pin 42 to extend into the U-shaped groove 21, using the locking safety pin 42 to restrict the strap clamp 64 within the U-shaped groove 21, thereby preventing the strap clamp 64 from coming out of the opening of the U-shaped groove 21. The gripping fixture in this application grips the product by lifting it, making the operation more reliable and safer.

[0044] According to some embodiments of this application, the motor locking module further 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 releasing limit switch 49. The first gear 43 is connected to the output shaft of the servo motor 41. The lead screw 45 is rotatably mounted on the connecting block base 2. The nut 46 is fitted onto the lead screw 45 and 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 meshes with the second gear 44. The trigger bracket 47 is connected to the locking safety pin 42. The locking limit switch 48 and the releasing limit switch 49 are mounted on the connecting block base 2.

[0045] During operation, the servo motor 41 drives the lead screw 45 to rotate via the first gear 43 and the second gear 44. This, in turn, causes the locking safety pin 42 to slide on the connecting block base 2 via the nut 46, allowing the locking safety pin 42 to extend into or retract from the U-shaped groove 21. The movement of the locking safety pin 42 causes the trigger bracket 47 to move synchronously. Through the cooperation of the trigger bracket 47 with the locking limit switch 48 and the releasing limit switch 49, the movement position of the locking safety pin 42 can be controlled.

[0046] According to some embodiments of this application, the cylinder locking module includes a drive cylinder 51 and a cylinder safety pin 52. The cylinder safety pin 52 is slidably connected to the connecting block base 2. The drive cylinder 51 is used to drive the cylinder safety pin 52 to extend into or retract from the U-shaped groove 21. The extension and retraction 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 and restricts the strap clamp 64 within the U-shaped groove 21, the drive cylinder 51 actuates to cause the cylinder safety pin 52 to extend and insert into the locking hole 642 on the strap clamp 64.

[0047] According to some embodiments of this 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 connecting block base 2. The piston rod of the drive cylinder 51 is arranged parallel to the cylinder safety pin 52. The two ends of the cylinder adapter plate 54 connect the piston rod of the drive cylinder 51 and the cylinder safety pin 52. During operation, the extension and retraction of the piston rod of the drive cylinder 51 drives the cylinder safety pin 52 to extend and retract synchronously through the cylinder adapter plate 54.

[0048] It should be noted that both the motor locking module and the cylinder locking module are located on one side of the U-shaped groove 21 on the connecting block base 2. After the servo motor 41 and the drive 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. 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 slide and retract. In order to ensure that the locking safety pin 42 and the cylinder safety pin 52 can stably limit the positioning of the strap clamp 64 after they extend, corresponding matching holes are 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 holes.

[0049] According to some embodiments of this application, the strap clamp 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 base plate 63 arranged along the axial direction of product A; the first clamp 61 and the second clamp 62 are respectively clamped to the outer peripheral surface of product A, the base plate 63 is connected to the lower end of product A, and a connecting plate 65 is also included, the connecting plate 65 is used to connect the first clamp 61, the second clamp 62, and the base plate 63, and the strap clamp 64 is disposed on the connecting plate 65.

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

[0051] According to some embodiments of this application, the bag strap clamp 64 is provided with a positioning hole 641 and a locking hole 642. The positioning hole 641 is arranged along the product axis direction, and 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 platform, and the locking hole 642 is used in conjunction with the locking mechanism.

[0052] Specifically, the positioning hole 641 and the locking hole 642 pass through the strap clamping block 64 along the cross-sectional direction. When the product installation auxiliary tooling is placed on the positioning platform, the positioning holes 641 on the two strap clamping blocks 64 cooperate with the two positioning pins 71 along the vertical direction on the positioning platform to achieve coarse positioning of the product in the circumferential direction. When the gripping fixture grips the product, the cylinder safety pins 52 in the two locking mechanisms extend and pass through the locking holes 642 on the two strap clamping blocks 64.

[0053] According to some embodiments of this application, the positioning platform includes positioning pins 71 and a platform body 72; there are two positioning pins 71, which are symmetrically arranged on both sides of the platform body 72, and the positioning pins 71 cooperate with the positioning holes 641 on the strap clamping block 64; the platform body 72 is provided with a floating plate 73 and a centering clamping mechanism, the floating plate 73 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 the floating support.

[0054] In this embodiment, the positioning pin 71 can extend and retract vertically to pass through the positioning hole 641 on the strap clamp 64 for circumferential positioning of the product. The floating plate 73 is located at the center of the base body 72 and is used to support the bottom support plate 63 in the auxiliary tooling. The floating plate 73 can move and rotate horizontally to facilitate positioning adjustments after the product is placed on the positioning base. After coarse positioning, the product is temporarily clamped by a central clamping mechanism to prevent the risk of product tipping. It should be noted that the floating mounting structure of the floating plate 73 on the base body is existing technology for adjusting coarse positioning.

[0055] During the gripping process, the product is positioned on the floating plate 73 of the positioning platform. The centering clamping mechanism ensures that the product is completely fixed. After the robotic arm has completed its measurement and adjustment and connected to the gripping fixture, the centering clamping mechanism is released. The product can then move and rotate horizontally on the floating plate 73. The robotic arm is raised and, within a certain measurement error range, "scoops up" the product. During this process, even if there is a certain error in the measurement and adjustment alignment, the U-shaped groove 21 on the gripping fixture has an automatic guiding correction function. In conjunction with the floating plate 73 of the positioning platform, the product is gripped smoothly.

[0056] According to some embodiments of this application, the centering clamping mechanism includes clamping brackets 74 and forward and reverse rotary screws 75. There are two clamping brackets 74, which are symmetrically slidably disposed on the base body 72. The forward and reverse rotary screws 75 are rotatably disposed on the base body 72 and cooperate with the two clamping brackets 74 to drive the two clamping brackets 74 to move synchronously relative to each other or opposite to each other.

[0057] In this embodiment, the clamping surface of the clamping bracket 74 can be configured as a V-shaped structure to clamp the circular outer circumference. When the screw is rotated by the crank handle 76 located at one end of the rotary screw 75, the two clamping brackets 74 respectively engage with the two sections of positive and negative threads on the rotary screw 75. Therefore, the two clamping brackets 74 can move synchronously relative to each other or away from each other on the base body 72, thereby realizing the clamping and releasing of the product.

[0058] According to some embodiments of this application, the locking mechanism further includes lateral limiting screws 8, which are symmetrically arranged at both ends of the clamping beam 1. After being screwed in, the lateral limiting screws 8 extend into the U-shaped groove 21 and abut against the end face of the strap clamping block 64. The direction of movement of the lateral limiting screws 8 when screwed in is perpendicular to the extension and retraction direction of the cylinder safety pin 52. By pressing the end face of the strap clamping block 64 against the lateral limiting screws 8, the displacement of the product in the left-right direction is limited (viewed from the centerline when the clamping beam 1 is in a horizontal state).

[0059] According to some embodiments of this application, the locking mechanism further includes upper and lower limit bolts (not shown in the figure). These upper and lower limit bolts are positioned on the locking safety pin 42 after it extends into the U-shaped groove 21. After being screwed in, the upper and lower limit bolts abut against the side of the strap clamp 64 to completely restrict product movement. By tightening the upper and lower limit bolts against the side of the strap clamp 64, the vertical displacement of the product is restricted (when the clamp beam 1 is in a horizontal state).

[0060] Specifically, the locking safety pin 42 is provided with upper and lower limit threaded holes 421 that are adapted to the upper and lower limit bolts (not shown in the figure). The axis of the upper and lower limit threaded holes 421 is perpendicular to the extension and retraction sliding direction of the locking safety pin 42. Therefore, after the upper and lower limit bolts are screwed in, they will press against the side of the strap clamp 64.

[0061] The gripping system operates as follows: The auxiliary fixture is installed on product A; the product is hoisted onto the positioning platform, and the product alignment is adjusted by the positioning pin 71 engaging with the positioning hole 641 on the strap clamp 64; the centering clamping mechanism on the positioning platform is then locked; the end of the robotic arm connects to the quick-change module 3 located on the upper surface of the center of the fixture beam 1 and moves to the workpiece gripping position; the lower surface of the U-shaped groove 21 of the connecting block base 2 at the end of the fixture beam 1 engages with the surface of the strap clamp 64 of the auxiliary fixture, releasing the centering clamping mechanism on the positioning platform, and the robotic arm lifts and grips the product; subsequently, the servo motor 41 rotates, and the locking safety pin 42 extends into the U-shaped groove. Inside the slot 21, when the trigger bracket 47 reaches the sensing position of the locking limit switch 48, the servo motor 41 stops; the drive cylinder 51 pressurizes, 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 drive cylinder 51 stops moving forward when it reaches its maximum stroke; the lateral limit screws 8 located at both ends of the clamp beam 1 are manually tightened to press against the end face of the strap clamp 64, and the upper and lower limit bolts are screwed into the upper and lower limit threaded holes 421 on the locking safety pin 42, and the sides of the strap clamp 64 are pressed against by the upper and lower limit bolts to complete the auxiliary clamp limit; the robotic arm can carry the product to any space required position.

[0062] The crawling system in this application embodiment has at least the following advantages:

[0063] 1. Enables gripping of large cylindrical (conical) products with few gripping features. A C-type gripping fixture with a larger central space is designed, using a U-shaped groove to support the product. Compared to traditional gripping or suction cup fixtures used in industrial production lines, the larger central space is more conducive to gripping large components, making it more suitable for the aforementioned special products. The lifting method is safer and more reliable than gripping or sucking methods, and requires fewer gripping features.

[0064] 2. Achieves flexible gripping and coarse positioning of products, with high error adaptability and versatility. With the help of a positioning platform and auxiliary tooling, the product can be roughly positioned and aligned during loading. The robotic arm carries the gripping fixture to lift the product from the bottom. Due to the uncertainty of the tape assembly installation, the relative position and posture of the auxiliary tooling and the product are inconsistent each time the product is loaded. At this time, the tape clamping block of the auxiliary tooling cooperates with the U-shaped groove of the connecting block base, and the product will move on the floating plate to adapt to the lifting position of the gripping fixture, eliminating minor installation errors, and finally being smoothly gripped by the gripping fixture. The auxiliary tooling is simple to design and manufacture, and tape clamping blocks with different positioning holes and locking holes can be designed to suit multiple product models.

[0065] 3. Achieves dual safety locking for product gripping, providing a high level of security. Utilizing both electric and pneumatic locking methods, the product is guaranteed to be absolutely connected to the gripping fixture. A servo motor lock restricts the product's vertical movement, while a drive cylinder lock allows for horizontal adjustment after servo motor locking. The auxiliary tooling's strap clamping block's cross-sectional shape mates with the gripping fixture's U-shaped groove to achieve front-to-back locking.

[0066] 4. Ensure secure fixation during product movement. The design incorporates lateral limit screws and upper and lower limit bolts to guarantee complete product fixation. The lateral limit screws restrict lateral displacement, while the upper and lower limit bolts restrict vertical displacement, thus preventing wobbling during product movement and rotation.

[0067] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment 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 within the scope of protection of the present invention.

Claims

1. A precision safety gripping system for products with variable posture, characterized in that, The device includes auxiliary tooling, a positioning platform, and a gripping fixture. The auxiliary tooling includes a strap clamping block, which is used to connect to a strap assembly disposed on the outer periphery of the product. There are two strap clamping blocks, which are symmetrically connected to the outer side of the strap assembly. The positioning platform is used to achieve coarse positioning and temporary clamping after the product is installed with the auxiliary tooling. The gripping fixture includes a clamping beam and a locking mechanism. The clamping beam has a C-shaped structure, and there are two locking mechanisms, which are respectively disposed at both ends of the clamping beam. The locking mechanism is used to position and lock the strap clamping block. 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 beam, and a U-shaped groove is provided on the connecting block base, which is adapted to the bag strap clamping block; the motor locking module and the cylinder locking module are both disposed on the connecting block base, and the motor locking module and the cylinder locking module are used to position and lock the bag strap clamping block that enters the U-shaped groove; The motor locking module includes a servo motor and a locking safety pin. The locking safety pin is slidably connected to the connecting block base. The servo motor is used to drive the locking safety pin to extend into or retract from the U-shaped groove. 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. The driving cylinder is used to drive the cylinder safety pin to extend into or retract from the U-shaped groove.

2. The precision safety gripping system for products with variable pose according to claim 1, characterized in that, The strap clamp and the strap assembly are detachably connected by bolts.

3. The precision safety gripping system for products with variable pose according to claim 1, characterized in that, The bag strap clamp is provided with a positioning hole and a locking hole respectively. The positioning hole is arranged along the product axis, and 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.

4. The precision safety gripping system for products with variable pose according to claim 1, characterized in that, The positioning platform includes positioning pins and a platform body; there are two positioning pins, which are symmetrically arranged on both sides of the platform body, and the positioning pins cooperate with the positioning holes on the strap clamping block; the platform 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 achieve the centering clamping function after the floating support.

5. The precision safety gripping system for products with variable pose according to claim 4, characterized in that, The centering clamping mechanism includes clamping brackets and forward and reverse screws. There are two clamping brackets, which are symmetrically slidably disposed on the base body. The forward and reverse screws are rotatably disposed on the base body and cooperate with the two clamping brackets to drive the two clamping brackets to move synchronously relative to each other or in opposite directions.

6. The precision safety gripping system for products with variable pose according to claim 1, characterized in that, The locking mechanism also includes lateral limiting screws, which are symmetrically arranged at both ends of the clamp beam. After being screwed in, the lateral limiting screws extend into the U-shaped groove and abut against the end face of the strap clamp block.

7. The precision safety gripping system for products with variable pose according to claim 6, characterized in that, The locking mechanism also includes upper and lower limit bolts. The upper and lower limit bolts are set 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 bag strap clamp to completely restrict the movement of the product.

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