End effector for grabbing and overturning cylindrical workpiece and control method of end effector

Abstract

The invention provides an end effector for grabbing and overturning a cylindrical workpiece and a control method, and relates to the technical field of automatic assembly of the cylindrical workpiece, the end effector comprises a shell, a clamping jaw assembly and a rolling assembly, the rolling assembly comprises motors, a driving roller and a driven roller, the motors are arranged on a first clamping jaw and a second clamping jaw respectively, and the driving roller is arranged on the shell. The first end of the driving roller is connected with an output shaft of a motor, the driven rollers are in meshed connection with the driving roller through a gear set, and the gear set used for meshed connection is arranged between the driven rollers; a hydraulic cylinder in the clamping jaw assembly stretches out and draws back to drive a clamping jaw to move, the clamping jaw grabs or releases a cylindrical workpiece, high reliability and stability are achieved, the grabbing efficiency of the cylindrical workpiece is improved, a motor in the rolling assembly drives a driving roller to rotate, meanwhile, a driven roller is made to rotate through gear meshing, and the grabbing efficiency of the cylindrical workpiece is improved. By means of friction force between the rolling wheels and the surface of the cylindrical workpiece, the cylindrical workpiece rotates to a specified installation angle to be installed.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic assembly of cylindrical workpieces, and in particular relates to an end effector for grasping and flipping cylindrical workpieces and a control method thereof. Background Art

[0002] For larger cylindrical workpieces in various mechanical products, the entire assembly process of such workpieces includes a series of complex steps such as hoisting and manual adjustment of installation direction. During the current manual clamping and flipping operations, there are huge potential safety hazards. At the same time, the reliability and stability of equipment hoisting are also very critical.

[0003] In Chinese patent application CN201910171391.6, the invention patent discloses a pneumatic manipulator for clamping cylindrical bars. The robot comprises a cylinder, a base, a connecting block, a left connecting rod, a left clamping arm, a right connecting rod and a right clamping arm; the cylinder is fixed on the base, and the connecting block is fixed on the piston rod of the cylinder; the left connecting rod and the right connecting rod are symmetrically arranged at both ends of the connecting block, one end of the left connecting rod is hinged at the left end of the connecting block, and one end of the right connecting rod is hinged at the right end of the connecting block; the upper end of the left clamping arm is hingedly connected to the other end of the left connecting rod, and the upper end of the right clamping arm is hingedly connected to the other end of the right connecting rod, and the base is provided with a vertical positioning plate on one side of the connecting block, and the middle parts of the left clamping arm and the right clamping arm are respectively pivoted on the positioning plate through pins, a left clamping block is provided on the inner side of the lower end of the left clamping arm, and a right clamping block corresponding to the left clamping block is provided on the inner side of the lower end of the right clamping arm, and the left clamping block and the right clamping block are respectively provided with clamping grooves on the opposite sides of the two, and the left clamping block clamps the bar material by cooperating with the right clamping block. However, this patent application can only realize the clamping of cylindrical bars, and cannot realize the flipping or angle adjustment of the cylindrical bars.

[0004] Therefore, it is necessary to propose an end effector for grasping and flipping cylindrical workpieces. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an end effector for grasping and flipping cylindrical workpieces. The present invention drives the jaws to rotate by extending and retracting the hydraulic cylinder in the jaw assembly, so that the jaws can grasp or release the cylindrical workpiece. The invention has high reliability and stability, and improves the grasping efficiency of the cylindrical workpiece. The driving roller is driven to rotate by the motor in the rolling assembly, and the driven roller is rotated by the meshing of the gear set. The friction between the rollers and the surface of the cylindrical workpiece is relied upon to rotate the cylindrical workpiece to a specified installation angle for installation.

[0006] The present invention provides an end effector for grasping and flipping a cylindrical workpiece, which comprises a shell, a clamping jaw assembly and a rolling assembly, wherein the shell is provided with a flange connected to a robot, the clamping jaw assembly is located below the shell, and the rolling assembly is arranged on the clamping jaw assembly; the clamping jaw assembly comprises a hydraulic cylinder, a first clamping jaw, a second clamping jaw, a first gear and a second gear, the first clamping jaw and the second clamping jaw are rotatably connected to a mounting seat arranged on the shell through a pivot respectively, the fixed end of the hydraulic cylinder is hinged to the shell, the output end of the hydraulic cylinder is hinged to the outer wall surface of the first clamping jaw, the first gear is arranged at the upper end portion of the first clamping jaw, the second gear is arranged at the upper end portion of the second clamping jaw, and the first gear and the second gear are respectively connected to the outer wall surface of the first clamping jaw. Gear meshing connection; the rolling assembly includes a motor, a driving roller and a plurality of driven rollers, the motors are respectively arranged on each of the first clamp and the second clamp, the first end of the driving roller is connected to the output shaft of the motor, the driven roller is meshed with the driving roller through a gear set, and a gear set for meshing connection is provided between the driven rollers, the driving roller, the driven roller and the gear set are installed in the inner cavity of the first clamp and the second clamp, and the driving roller and the driven roller both protrude from the inner arc surface of the first clamp and the inner arc surface of the second clamp; when the motor drives the driving roller to rotate, the friction between the driving roller and the driven roller and the cylindrical workpiece is relied on to drive the cylindrical workpiece to rotate to a specified installation angle.

[0007] Preferably, the jaw assemblies are arranged in at least two groups, and the centers of the jaw assemblies are symmetrically arranged below the shell, and the rolling assemblies are arranged in at least four groups, and every two groups of rolling assemblies are mirror-symmetrically arranged on the first jaw and the second jaw.

[0008] Preferably, the second end of the driving roller is rotatably connected to the first clamping jaw and the second clamping jaw respectively.

[0009] Preferably, the driven rollers are arranged at equal intervals in the inner cavities of the first jaw and the second jaw, and the two ends of the driven rollers are rotatably connected to the two sides of the first jaw and the two sides of the second jaw respectively, and the two adjacent driven rollers are meshed and connected via a gear set.

[0010] Preferably, both the first clamping jaw and the second clamping jaw are arc-shaped structures.

[0011] Preferably, a resin layer is attached to the surfaces of the driving roller and the driven roller.

[0012] A second aspect of the present invention provides a control method for an end effector for grasping and flipping a cylindrical workpiece, comprising the following steps:

[0013] S1, connect the flange on the shell to the end connector of the robot, control the hydraulic cylinder to contract, drive the first clamping jaw of the clamping jaw assembly to move, and drive the second clamping jaw through the meshing connection of the first gear and the second gear, so that the first clamping jaw and the second clamping jaw are in an open state;

[0014] S2, the robot carries the end effector to the grasping position, controls the hydraulic cylinder to drive the first clamping jaw and the second clamping jaw to close, grasps the cylindrical workpiece, and provides a locking force for the cylindrical workpiece through the meshing of the hydraulic cylinder, the first gear and the second gear;

[0015] S3. After the clamping is completed, the robot carries the end effector and the cylindrical workpiece to a certain height, adjusts the speed and torque of each motor according to the angle that the cylindrical workpiece needs to be adjusted, and drives the driving roller to rotate through each motor at the same time. Relying on the friction between the driving roller and the driven roller and the cylindrical workpiece, the cylindrical workpiece is driven to rotate to the specified installation angle;

[0016] S4. The robot carries the end effector and the cylindrical workpiece to the installation position, controls the hydraulic cylinder to drive the first clamp and the second clamp of the clamp assembly to open, and releases the cylindrical workpiece.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The end effector for grasping and flipping a cylindrical workpiece of the present invention drives the jaws to rotate by extending and retracting the hydraulic cylinder in the jaw assembly, and realizes opening and locking of the jaws through gear meshing connection to grasp or release the cylindrical workpiece. It has high reliability and stability, and improves the grasping efficiency of the cylindrical workpiece.

[0019] 2. The end effector of the present invention for grasping and flipping a cylindrical workpiece rotates a driving roller through a motor in a rolling assembly, and simultaneously rotates a driven roller through a meshing connection of a gear set, and relies on the friction between each roller and the surface of the cylindrical workpiece to realize the rotation of the cylindrical workpiece to a specified installation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the end effector used for grasping and flipping a cylindrical workpiece according to the present invention;

[0021] Figure 2 It is an isometric structural schematic diagram of the present invention;

[0022] Figure 3 It is a front view structural schematic diagram of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the clamping jaw assembly and the rolling assembly in the present invention;

[0024] Figure 5It is a schematic diagram of the structure of grabbing a cylindrical workpiece according to the present invention.

[0025] Main reference numerals:

[0026] Shell 1, flange 11, mounting seat 12, clamping jaw assembly 2, hydraulic cylinder 21, first clamping jaw 22, second clamping jaw 23, first gear 24, second gear 25, rolling assembly 3, motor 31, driving roller 32, driven roller 33. DETAILED DESCRIPTION

[0027] In order to fully describe the technical content, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0028] like Figures 1 to 4 As shown, the end effector for grasping and flipping a cylindrical workpiece of the present invention comprises a housing 1, a clamping jaw assembly 2 and a rolling assembly 3. The housing 1 is provided with a flange 11 connected to a robot, the clamping jaw assembly 2 is located below the housing 1, and the rolling assembly 3 is arranged on the clamping jaw assembly 2;

[0029] The clamping jaw assembly 2 includes a hydraulic cylinder 21, a first clamping jaw 22, a second clamping jaw 23, a first gear 24 and a second gear 25. The fixed end of the hydraulic cylinder 21 is hinged to the housing 1, the outer wall surface of the first clamping jaw 22 is hinged to the output end of the hydraulic cylinder 21, the first gear 24 is arranged at the upper end of the first clamping jaw 22, the second gear 25 is arranged at the upper end of the second clamping jaw 23, and the first gear 24 and the second gear 25 are meshed and connected. In addition to being connected to the housing 1 by the hydraulic cylinder 21 connected to the first clamping jaw 22, the first clamping jaw 22 and the second clamping jaw 23 are also connected to the housing 1 through the mounting seat 12, and the first clamping jaw 22 and the second clamping jaw 23 are connected to the mounting seat 12 by pivot rotation.

[0030] The rolling assembly 3 includes a motor 31 , a driving roller 32 and a plurality of driven rollers 33 . Each of the first clamping jaw 22 and the second clamping jaw 23 is provided with a motor 31 .

[0031] In a preferred embodiment, the jaw assembly 2 is provided with two or more groups at intervals on the housing 1, and the adjacent first jaws 22 provided with the hydraulic cylinder 21 are provided on the opposite side of the housing 1. Such a setting is convenient for simultaneously controlling the hydraulic cylinder 21 and avoiding interference caused by providing more hydraulic cylinders 21, so as to better clamp and lock the workpiece. The jaw assembly 2 can be provided with three, four or more groups according to the needs of the workpiece, so as to evenly bear the clamping force of the workpiece.

[0032] Each group of jaw assemblies 2 is arranged below the shell 1 in a centrally symmetrical manner. At this time, the rolling assembly 3 includes a driving roller 32, a driven roller 33 and a gear set located between the driving roller 32 and the driven roller 33, which are arranged in the first jaw 22 and the second jaw 23. The driving roller 32 and the driven roller 33 protrude from the inner arc surface of the first jaw 22 and the second jaw 23 respectively. When the motor 31 drives the driving roller 32 to rotate, the friction between the driving roller 32 and the driven roller 33 and the cylindrical workpiece is used to drive the cylindrical workpiece to rotate to a specified installation angle. The driving roller 32 is connected to the output shaft of the motor 31, and the driven roller 33 is meshed with the driving roller 32 through a gear or a gear set, and the second end of the driving roller 32 is rotatably connected with the first clamping jaw 22 and the second clamping jaw 23 respectively; the driven roller 33 is arranged in the first clamping jaw 22 and the second clamping jaw 23 in an equidistant manner, and the two ends of the driven roller 33 are rotatably connected with the two sides of the first clamping jaw 22 and the two sides of the second clamping jaw 23 respectively. Two adjacent driven rollers 33 are meshed with each other through a gear set, so that the rollers can provide a friction force suitable for rotation to the cylindrical workpiece when the angle is adjusted by rotation; the surfaces of the driving roller 32 and the driven roller 33 are both attached with a resin layer, which not only increases the clamping force, but also forms a surface protection for the cylindrical workpiece.

[0033] The first clamping jaw 22 and the second clamping jaw 23 are both arc-shaped. The clamping jaw assembly 2 is not limited to driving the movement of the first clamping jaw 22 by the hydraulic cylinder 21, and the first clamping jaw 22 and the second clamping jaw 23 are not limited to using gears to transmit movement and power.

[0034] like Figure 5 As shown, the control method of the end effector for grasping and flipping a cylindrical workpiece of the present invention comprises the following steps:

[0035] S1, connect the flange 11 on the housing 1 to the end connector of the robot, control the hydraulic cylinder 21 to contract, drive the first clamping jaw 22 of the clamping jaw assembly 2 to move, and drive the second clamping jaw 23 through the meshing connection of the first gear 24 and the second gear 25, so that the first clamping jaw 22 and the second clamping jaw 23 are in an open state;

[0036] S2, the robot carries the end effector to the grasping position, controls the hydraulic cylinder 21 to drive the first clamping jaw 22 and the second clamping jaw 23 to close, clamps the cylindrical workpiece, and provides a locking force for the cylindrical workpiece through the meshing of the hydraulic cylinder 21, the first gear 24 and the second gear 25;

[0037] S3. After the clamping is completed, the robot carries the end effector and the cylindrical workpiece to a certain height, adjusts the speed and torque of each motor 31 according to the angle of the cylindrical workpiece to be adjusted, and drives the driving roller 32 to rotate through each motor 31 at the same time, and relies on the friction between the driving roller 32 and the driven roller 33 and the cylindrical workpiece to drive the cylindrical workpiece to rotate to the specified installation angle;

[0038] S4, the robot carries the end effector and the cylindrical workpiece to the installation position, controls the hydraulic cylinder 21 to drive the first clamping jaw 22 and the second clamping jaw 23 of the clamping jaw assembly 2 to open, releases the cylindrical workpiece, and the installation is completed.

[0039] The present invention drives the jaws to rotate by extending and retracting the hydraulic cylinder 21 in the jaw assembly 2, thereby realizing the jaws grasping or releasing the cylindrical workpiece, has high reliability and stability, and improves the grasping efficiency of the cylindrical workpiece. The motor 31 in the rolling assembly 3 drives the driving roller 32 to rotate, and the driven roller 33 is rotated by the gear meshing connection. The friction between the rollers and the surface of the cylindrical workpiece is relied on to realize the rotation of the cylindrical workpiece to the specified installation angle for installation.

[0040] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An end effector for grasping and flipping cylindrical workpieces, characterized in that: It includes a shell, a clamping claw assembly and a rolling assembly, the shell is provided with a flange connected to the robot, the clamping claw assembly is located below the shell, and the rolling assembly is arranged on the clamping claw assembly; The clamping jaw assembly comprises a hydraulic cylinder, a first clamping jaw, a second clamping jaw, a first gear and a second gear, the first clamping jaw and the second clamping jaw are rotatably connected to a mounting seat arranged on the housing through a pivot respectively, the fixed end of the hydraulic cylinder is hinged to the housing, the output end of the hydraulic cylinder is hinged to the outer wall surface of the first clamping jaw, the first gear is arranged at the upper end of the first clamping jaw, the second gear is arranged at the upper end of the second clamping jaw, and the first gear and the second gear are meshed and connected; The rolling assembly includes a motor, a driving roller and a plurality of driven rollers. The motor is respectively arranged on each of the first clamp and the second clamp. The first end of the driving roller is connected to the output shaft of the motor. The driven roller is meshed with the driving roller through a gear set, and a gear set for meshing connection is provided between the driven rollers. The driving roller, the driven roller and the gear set are installed in the inner cavity of the first clamp and the second clamp, and the driving roller and the driven roller both protrude from the inner arc surface of the first clamp and the inner arc surface of the second clamp. When the motor drives the driving roller to rotate, the cylindrical workpiece is driven to rotate to a specified installation angle by relying on the friction between the driving roller and the driven roller and the cylindrical workpiece.

2. The end effector for grasping and flipping cylindrical workpieces according to claim 1, characterized in that: The clamping jaw assemblies are arranged in at least two groups, and the centers of the clamping jaw assemblies are symmetrically arranged below the shell. The rolling assemblies are arranged in at least four groups, and every two groups of rolling assemblies are mirror-symmetrically arranged on the first clamping jaw and the second clamping jaw.

3. The end effector for grasping and flipping cylindrical workpieces according to claim 1, characterized in that: The second end of the driving roller is rotatably connected to the first clamping jaw and the second clamping jaw respectively.

4. The end effector for grasping and flipping cylindrical workpieces according to claim 1, characterized in that: The driven rollers are arranged in the inner cavities of the first clamp and the second clamp at equal intervals, and the two ends of the driven rollers are rotatably connected to the two sides of the first clamp and the two sides of the second clamp respectively, and the two adjacent driven rollers are meshed and connected through a gear set.

5. The end effector for grasping and flipping cylindrical workpieces according to claim 1, characterized in that: The first clamping jaw and the second clamping jaw are both arc-shaped structures.

6. The end effector for grasping and flipping cylindrical workpieces according to claim 1, characterized in that: A resin layer is attached to the surfaces of the driving roller and the driven roller.

7. A control method for an end effector for grasping and flipping a cylindrical workpiece according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, connect the flange on the shell to the end connector of the robot, control the hydraulic cylinder to contract, drive the first clamping jaw of the clamping jaw assembly to move, and drive the second clamping jaw through the meshing connection of the first gear and the second gear, so that the first clamping jaw and the second clamping jaw are in an open state; S2, the robot carries the end effector to the grasping position, controls the hydraulic cylinder to drive the first clamping jaw and the second clamping jaw to close, grasps the cylindrical workpiece, and provides a locking force for the cylindrical workpiece through the meshing of the hydraulic cylinder, the first gear and the second gear; S3. After the clamping is completed, the robot carries the end effector and the cylindrical workpiece to a certain height, adjusts the speed and torque of each motor according to the angle that the cylindrical workpiece needs to be adjusted, and drives the driving roller to rotate through each motor at the same time. Relying on the friction between the driving roller and the driven roller and the cylindrical workpiece, the cylindrical workpiece is driven to rotate to the specified installation angle; S4. The robot carries the end effector and the cylindrical workpiece to the installation position, controls the hydraulic cylinder to drive the first clamp and the second clamp of the clamp assembly to open, and releases the cylindrical workpiece.

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