An electric control fixture for a transfer robot and a method of using the same

Abstract

The present invention belongs to the technical field of clamp devices, and discloses an electric-controlled clamp for a transfer robot and a method for using the same, wherein the electric-controlled clamp for the transfer robot comprises an installation box, and two clamping plates arranged in parallel are arranged on the front side of the installation box, and the two clamping plates are slidably connected to the installation box through a driving block assembly respectively, and a driving device for driving the driving block assembly and the clamping plates to move is installed in the installation box; the driving block assembly comprises a driving plate, and the driving plate is arranged inside the installation box, and special-shaped guide support blocks are fixedly installed on the upper and lower ends of the driving plate respectively, and the overall structure of the special-shaped guide support block is in the shape of an S-shaped plate, and the special-shaped guide support block is slidably connected to the upper and lower inner surfaces of the installation box, and the special-shaped guide support block extends away from the two sides of the driving plate to the outside of the installation box respectively, and the special-shaped guide support block is clearance-matched with the front side surface of the installation box; the present invention can stably clamp the workpiece.

Description

Technical Field

[0001] The present invention belongs to the technical field of clamp devices, and in particular, relates to an electric-controlled clamp for a transfer robot and a method of using the same. Background Art

[0002] With the increasing application of robotic equipment in industrial production, various types of robotic equipment have emerged. On automated production lines, it is often necessary to move products between two workstations. Transfer robots have been widely used due to their high positioning accuracy, stable working performance, flexible and diverse structures, etc.

[0003] The overall structure of an existing transfer robot includes a robot body, on the working end of which a clamp is fixedly installed. The clamp is used to clamp the workpiece to be transferred, and then the clamped workpiece is moved or assembled by driving the robot body, so that the workpiece enters the next step for processing, which greatly reduces the transfer efficiency of the workpiece and improves production efficiency.

[0004] There are many types of existing clamps. The Chinese invention patent with patent application number: CN201710638369.9 discloses an automatic self-centering clamp that can increase force when clamping, including a left-right symmetrical V-shaped clamp body that is flexibly connected and installed on a main body, positioned on the top by a pressure plate, and positioned on the side by a side top plate. A nut is fixed to the bottom of the clamp body, and the nut is sleeved on the positive and negative trapezoidal screws to achieve linkage; different specifications of pads are detachably installed on the upper and lower ends of the inner side of the clamp body; the positive and negative trapezoidal screws run through the bottom of the main body, the left side is connected to the hydraulic motor through a screw drive structure, and a fine-tuning structure is provided on the right side.

[0005] The above-mentioned existing clamps of this type are suitable for clamping workpieces, and the hydraulic motor drives the positive and negative trapezoidal screws to rotate. The rotation of the positive and negative trapezoidal screws drives the corresponding clamps to move in the directions of approaching each other through the two nut sleeves connected by threads, so as to achieve the clamping operation of the workpiece. However, the overall structure of the existing clamps of this type is complex, and the force applied by the clamps to the workpiece will be transmitted to the nut sleeves through the clamps, resulting in wear between the nut sleeves and the positive and negative trapezoidal screws after long-term work, thereby reducing the service life of the clamp and affecting normal use. In addition, the existing clamps of this type can only perform centering clamping on the workpiece, and cannot accurately fine-tune the radial position of the workpiece, and cannot adaptively adjust the clamping force, thereby reducing the use effect. Summary of the invention

[0006] The main technical problem to be solved by the present invention is to provide an electric-controlled clamp for a transfer robot and a method of using the same, which can clamp the workpiece and can stably support the clamping plate, reduce the reaction force on the clamping plate transmitted to the slide rail and the drive device, and extend the service life. The overall structure is simple and easy to use. The clamped workpiece can be radially adjusted to achieve precise adjustment of the position of the workpiece, and the clamping torque can be adaptively adjusted according to the material of the clamped workpiece.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] An electric control clamp for a transfer robot comprises a mounting box, wherein two clamping plates arranged in parallel are arranged on the front side of the mounting box, the two clamping plates are slidably connected to the mounting box through a driving block assembly respectively, and a driving device for driving the driving block assembly and the clamping plates to move is installed in the mounting box;

[0009] The drive block assembly includes a drive plate, which is arranged inside the mounting box, and special-shaped guide support blocks are fixedly installed on the upper and lower ends of the drive plate, respectively. The overall structure of the special-shaped guide support block is an S-shaped plate, and the special-shaped guide support block is slidably connected to the upper and lower inner surfaces of the mounting box, and the two sides of the special-shaped guide support block away from the drive plate extend to the outside of the mounting box respectively, and the special-shaped guide support block and the front side of the mounting box are clearance-matched.

[0010] The following is a further optimization of the above technical solution by the present invention:

[0011] The overall structure of the installation box includes two top plates which are parallel and spaced apart from each other, the left and right ends of the two top plates are respectively fixedly connected with side plates, the two top plates and the two side plates form a square frame, and the same rear side plate is fixedly installed on the rear sides of the top plates and the side plates.

[0012] Further optimization: the overall structure of the special-shaped guide support block includes a main body plate, the lower end of the main body plate is integrally connected with a mounting plate, the mounting plate and the main body plate are vertically arranged, and the upper end of the main body plate is integrally connected with a C-shaped mounting block.

[0013] Further optimization: a plurality of first connecting holes arranged at intervals are opened on the mounting plate at a position close to the main plate, a plurality of second connecting holes arranged at intervals are opened vertically in the driving plate, the first connecting hole on the special-shaped guide support block and the corresponding second connecting hole are coaxially arranged, and fastening bolts are passed through the first connecting hole and the corresponding second connecting hole to fix the two special-shaped guide support blocks on the upper and lower ends of the driving plate.

[0014] Further optimization: the two top plates of the installation box are respectively fixedly installed with guide rails on one side surface close to each other, and the installation plate is fixedly installed with a guide slider, and the guide slider is slidably connected with the guide rails; a mating surface is provided on one side of the main plate close to the installation plate, and after the special-shaped guide support block is slidably installed on the corresponding top plate, the mating surface and the front side surface of the top plate are clearance-matched;

[0015] The sliding surface of the guide rail is arranged perpendicularly to the matching surface.

[0016] Further optimization: A driven support block is slidably installed on one side of the special-shaped guide support block on the two top plates, and the overall structure of the driven support block is the same as the overall structure of the special-shaped guide support block; a sliding plate is arranged in front of the driving plate, and connecting blocks are integrally connected to one side surface of the sliding plate close to the special-shaped guide support block and the driven support block, and the connecting blocks are fixedly connected to the corresponding C-shaped mounting blocks; the clamping plate is fixedly installed on the sliding plate.

[0017] Further optimization: the side of the sliding plate close to the special-shaped guide support block is arranged at intervals with the main plate and the driving plate and is provided with an installation gap, a blocking plate is provided in the installation gap, and both sides of the blocking plate are fixedly connected to the corresponding side plates respectively;

[0018] The upper and lower sides of the blocking plate are respectively connected integrally with bent plates, and the bent plates are respectively arranged in the middle of the corresponding C-shaped mounting blocks.

[0019] Further optimization: the driving device includes two servo electric cylinders fixedly installed in the mounting box, and connecting frames are fixedly installed on the telescopic ends of the two servo electric cylinders, and the connecting frames are fixedly connected to the corresponding driving plates respectively. The two servo electric cylinders are used to drive the two driving plates to move.

[0020] Further optimization: The servo electric cylinder is controlled by a control system, which includes a main controller, and the output and input ends of the main controller are bidirectionally connected to a touch screen; the output end of the main controller is connected to a servo drive module, and the output end of the servo drive module is connected to the control ends of the two servo electric cylinders; the input end of the main controller is connected to a feedback acquisition module, and the signal acquisition ends of the two servo electric cylinders are respectively connected to the feedback acquisition module.

[0021] The present invention also provides a method for using an electric-controlled clamp for a transfer robot. Based on the above-mentioned electric-controlled clamp for a transfer robot, the method comprises the following steps:

[0022] Step 1: The electric-controlled clamp is fixedly mounted on the working end of the transfer robot; the transfer robot is used to drive the electric-controlled clamp to move in multiple directions; in the initial state, the telescopic end of the servo electric cylinder extends to drive the corresponding drive plate to move, so that the distance between the two clamping plates is adjusted to the maximum;

[0023] Step 2: When the workpiece needs to be clamped, the two clamping plates are first moved to the two sides of the workpiece clamping position, and then the main controller sends a control signal to control the servo electric cylinder to start through the servo drive module. At this time, the servo electric cylinder starts to retract its telescopic end to drive the corresponding drive plate to move. The drive plate drives the sliding plate and the clamping plate to move in a direction close to each other through the sliding cooperation of the special-shaped guide support block and the driven support block with the top plate. The two clamping plates are used to clamp the workpiece;

[0024] Step 3: The feedback acquisition module of the control system collects the feedback signal of the servo electric cylinder in real time and uploads it to the main controller. At this time, the main controller is used to obtain the clamping force of the two clamping plates when performing the clamping operation; when the clamping force is equal to the preset clamping force threshold, the main controller controls the servo electric cylinder to stop working, so as to realize adaptive adjustment and control of the clamping torque of the workpiece;

[0025] Step 4: The transfer robot drives the electric-controlled fixture and the clamped workpiece to move to the placement station. When the radial position of the workpiece needs to be precisely adjusted, the two servo electric cylinders are first controlled to work synchronously, so that the two servo electric cylinders drive the two clamping plates to move synchronously in the same direction. The two clamping plates drive the workpiece to move, and the radial position of the workpiece is precisely adjusted.

[0026] Step 5: When the workpiece needs to be placed, the two servo electric cylinders work synchronously to drive the two clamping plates to move away from each other, thereby loosening and stably placing the workpiece.

[0027] The present invention adopts the above technical solution and has the following beneficial effects:

[0028] 1. In the present invention, the servo electric cylinder is started to extend or retract its telescopic end to drive the two driving plates to move, and the driving plate drives the sliding plate and the clamping plate to move, so as to realize the clamping operation, the releasing operation or the radial position precise adjustment operation of the workpiece. The special-shaped guide support blocks and the driven support blocks at the upper and lower ends of the driving plate are respectively slidably connected with the corresponding top plate through the cooperation of the guide slider and the guide rail, so as to improve the stability of the sliding plate when sliding, so that the clamping plate can move smoothly and is convenient to use.

[0029] 2. In the present invention, the special-shaped guide support block and the driven support block are respectively connected to the top plate by the cooperation of the guide rail and the guide slider, thereby improving the stability of the clamping plate during movement. When the clamping plate performs the clamping operation, the reaction force on the clamping plate will be transmitted to the special-shaped guide support block and the driven support block through the sliding plate. At this time, the matching surfaces on the special-shaped guide support block and the driven support block can be slidably connected with the front side of the top plate, thereby realizing the transmission of the reaction force to the installation box, avoiding the reaction force from being directly transmitted to the guide rail and to the servo electric cylinder through the driving plate, causing the servo electric cylinder to wear due to uneven force, thereby improving the stability of the overall structure during operation and extending its service life.

[0030] 3. The feedback acquisition module of the control system in the present invention is used to collect the feedback signal of the servo electric cylinder in real time and upload it to the main controller. At this time, the main controller can obtain the clamping force of the two clamping plates when performing the clamping operation; the clamping force preset threshold is set according to the material of the workpiece to be clamped, and the clamping force on the clamping plate is collected in real time through the feedback acquisition module, so that the clamping force is compared with the clamping force preset threshold and the servo electric cylinder is controlled to start and stop, so as to realize adaptive adjustment and control of the clamping torque, which is convenient to use.

[0031] 4. The present invention adopts the above technical scheme, which is ingenious in conception and reasonable in structure. It can clamp the workpiece and stably support the clamping plate, reduce the reaction force on the clamping plate transmitted to the slide rail and the drive device, and extend the service life. The overall structure is simple and easy to use. It can radially adjust the clamped workpiece to achieve precise adjustment of the position of the workpiece, and can adaptively adjust the clamping torque according to the material of the clamped workpiece.

[0032] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0034] Figure 2 A rear perspective view of the overall structure in an embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram of the structure of the driving device in an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the guide rail in an embodiment of the present invention;

[0037] Figure 5 It is a schematic diagram of the structure of the clamping plate in an embodiment of the present invention;

[0038] Figure 6A schematic diagram of the structure of a driving block assembly in an embodiment of the present invention;

[0039] Figure 7 Schematic diagram of the structure of the special-shaped guide support block in the embodiment of the present invention;

[0040] Figure 8 A cross-sectional view of the driving block assembly in an embodiment of the present invention;

[0041] Fig. 9 Schematic diagram of a control system in an embodiment of the present invention.

[0042] In the figure: 1-installation box; 101-top plate; 102-side plate; 103-rear side plate; 104-guide rail; 105-sealing plate; 106-bending plate; 107-flange; 2-clamping plate; 201-reinforcement plate; 202-anti-skid plate; 3-driving block assembly; 4-driving plate; 401-second connecting hole; 5-special-shaped guide support block; 501-main body plate; 502-mounting plate; 503-C-shaped mounting block; 504-matching surface; 505-mounting hole; 506-first connecting hole; 507-guide slider; 508-threaded blind hole; 6-driven support block; 7-sliding plate; 701-connecting block; 702-through hole; 8-servo electric cylinder; 801-connecting frame. DETAILED DESCRIPTION

[0043] like Figure 1-9 As shown: An electric-controlled clamp for a transfer robot includes a mounting box 1, and two parallel-arranged clamping plates 2 are arranged on the front side of the mounting box 1. The two clamping plates 2 are slidingly connected to the mounting box 1 through a driving block assembly 3, and a driving device for driving the driving block assembly 3 and the clamping plates 2 to move is installed in the mounting box 1.

[0044] The driving block assembly 3 includes a driving plate 4, which is arranged inside the installation box 1. Special-shaped guide support blocks 5 are fixedly installed on the upper and lower ends of the driving plate 4. The overall structure of the special-shaped guide support block 5 is an S-shaped plate, and the special-shaped guide support block 5 is slidingly connected to the upper and lower inner surfaces of the installation box 1. The two sides of the special-shaped guide support block 5 away from the driving plate 4 extend to the outside of the installation box 1 respectively, and the special-shaped guide support block 5 is clearance-matched with the front side of the installation box 1.

[0045] The overall structure of the installation box 1 includes two top plates 101 which are parallel and spaced apart from each other. The left and right ends of the two top plates 101 are respectively fixedly connected with side plates 102. The two top plates 101 and the two side plates 102 form a square frame. The same rear side plate 103 is fixedly installed on the rear sides of the top plates 101 and the side plates 102.

[0046] In this embodiment, the connections between the two top plates 101, the two side plates 102 and the rear side plate 103 are all detachably fixedly connected by bolts.

[0047] The overall structure of the special-shaped guide support block 5 includes a main body plate 501 , the lower end of the main body plate 501 is integrally connected with a mounting plate 502 , the mounting plate 502 and the main body plate 501 are arranged vertically, and the upper end of the main body plate 501 is integrally connected with a C-shaped mounting block 503 .

[0048] The overall structure of the C-shaped mounting block 503 is a “C”-shaped plate structure formed by bending a metal plate multiple times. The upper end surface of the C-shaped mounting block 503 is a plane and is arranged parallel to the mounting plate 502 .

[0049] A plurality of first connection holes 506 are formed on the mounting plate 502 near the main plate 501 . The plurality of first connection holes 506 are arranged at intervals and penetrate the upper and lower end surfaces of the mounting plate 502 .

[0050] A plurality of second connection holes 401 are vertically opened in the driving plate 4 . The plurality of second connection holes 401 are arranged at intervals, and the second connection holes 401 penetrate the upper and lower end surfaces of the driving plate 4 .

[0051] The special-shaped guide support blocks 5 at the upper and lower ends of the driving plate 4 are symmetrically arranged, and the first connecting holes 506 on the two special-shaped guide support blocks 5 are coaxially arranged with the corresponding second connecting holes 401, and fastening bolts are passed through the first connecting holes 506 and the corresponding second connecting holes 401 to achieve the two special-shaped guide support blocks 5 being fixedly installed on the upper and lower ends of the driving plate 4 respectively.

[0052] The two top plates 101 of the installation box 1 are fixedly installed with guide rails 104 on one side surface close to each other, and the installation plate 502 of the special-shaped guide support block 5 is fixedly installed with guide sliders 507 at positions corresponding to the guide rails 104, and the guide sliders 507 are slidably connected to the guide rails 104.

[0053] With this design, the special-shaped guide support blocks 5 at the upper and lower ends of the driving plate 4 are slidably connected to the corresponding top plate 101 through the cooperation of the guide slider 507 and the guide rail 104. The cooperation between the guide slider 507 and the guide rail 104 can improve the stability of the special-shaped guide support block 5 during sliding, so that the driving block assembly 3 can move smoothly and is easy to use.

[0054] In this embodiment, the mounting plate 502 is provided with a plurality of mounting holes 505 which are arranged at intervals. Screws are passed through the mounting holes 505 and the guide slider 507 is fixedly mounted on the mounting plate 502 by the screws, which facilitates assembly and installation.

[0055] The main body plate 501 is provided with a mating surface 504 on one side close to the mounting plate 502 . After the special-shaped guide support block 5 is slidably mounted on the corresponding top plate 101 , the mating surface 504 and the front side surface of the top plate 101 are in clearance fit.

[0056] In this embodiment, the sliding surface of the guide rail 104 is arranged perpendicular to the mating surface 504. Such a design can facilitate the sliding of the special-shaped guide support block 5 on the top plate 101, and the reaction force on the drive plate 4 can be supported through the cooperation between the mating surface 504 and the front side of the top plate 101, thereby preventing the reaction force from being transmitted to the drive device.

[0057] The side of the C-shaped mounting block 503 away from the mounting plate 502 is flush with the side of the main plate 501 away from the mounting plate 502. A plurality of threaded blind holes 508 are provided on the side of the C-shaped mounting block 503 away from the mounting plate 502. The plurality of threaded blind holes 508 are arranged at intervals.

[0058] A driven support block 6 is slidably mounted on one side of the special-shaped guide support block 5 on the two top plates 101 . The overall structure of the driven support block 6 is the same as that of the special-shaped guide support block 5 .

[0059] A sliding plate 7 is arranged in front of the driving plate 4 . The height of the sliding plate 7 is greater than the height of the installation box 1 . The sliding plate 7 is fixedly connected to the corresponding special-shaped guide support block 5 and driven support block 6 .

[0060] In this embodiment, a connecting block 701 is integrally connected to one side surface of the sliding plate 7 close to the special-shaped guide support block 5 and the driven support block 6 , and the connecting block 701 is in abutment with the corresponding C-shaped mounting block 503 .

[0061] The connecting block 701 is provided with a plurality of through holes 702, which are arranged at intervals, and the through holes 702 respectively penetrate the corresponding sides of the connecting block 701 and the sliding plate 7; the through holes 702 are coaxially arranged with the corresponding threaded blind holes 508, and bolts are passed through the through holes 702, and the bolts are threadedly connected with the corresponding threaded blind holes 508.

[0062] With this design, by inserting bolts into the through holes 702 and threading the bolts into the corresponding threaded blind holes 508 , the sliding plate 7 can be fixedly mounted on the corresponding special-shaped guide support block 5 and driven support block 6 , which is convenient for assembly and installation.

[0063] After the sliding plate 7 is fixedly installed on the corresponding special-shaped guide support block 5 and the driven support block 6, the connecting block 701 cooperates with the C-shaped mounting block 503, so that the side of the sliding plate 7 close to the special-shaped guide support block 5 is spaced apart from the main plate 501 and the driving plate 4 and an installation gap is set, and a sealing plate 105 is set in the installation gap, and the two sides of the sealing plate 105 are fixedly connected to the corresponding side plates 102 on the mounting box 1 by bolts.

[0064] The upper and lower sides of the blocking plate 105 are respectively connected with a bending plate 106 in one piece. The bending plate 106 and the blocking plate 105 are arranged vertically, and the connection between the bending plate 106 and the blocking plate 105 is a smooth transition. The bending plates 106 are respectively arranged in the middle of the corresponding C-shaped mounting blocks 503.

[0065] The clamping plates 2 are fixedly mounted on the sliding plates 7 , and a plurality of reinforcing plates 201 are fixedly mounted on the sides of the two clamping plates 2 that are away from each other. The plurality of reinforcing plates 201 are arranged at intervals, and the reinforcing plates 201 are in the shape of right-angled triangles. One side of the reinforcing plates 201 is fixedly connected to the corresponding sliding plate 7 .

[0066] With such a design, the movement of the sliding plate 7 drives the movement of the clamping plate 2 , and the reinforcing plate 201 can improve the connection effect between the clamping plate 2 and the sliding plate 7 , thereby improving the overall structural strength of the clamping plate 2 .

[0067] The clamping plate 2 and the reinforcing plate 201 are respectively provided with a plurality of weight-reducing holes, which can reduce the overall weight of the clamping plate 2 and the reinforcing plate 201 while ensuring the overall structural strength of the clamping plate 2 and the reinforcing plate 201, thereby improving the use effect.

[0068] The anti-skid plates 202 are fixedly mounted on the side surfaces of the two clamping plates 2 close to each other, and the anti-skid grooves arranged in a crisscross pattern are respectively provided on the side surfaces of the two anti-skid plates 202 close to each other.

[0069] In this embodiment, the anti-skid plate 202 is made of a PU board or a rubber board.

[0070] In this embodiment, the anti-slip plate 202 is detachably mounted on the clamping plate 2 by bolts, which is convenient for assembly and installation, and convenient for replacement of the anti-slip plate 202 .

[0071] With this design, when the two driving plates 4 move toward each other, the sliding cooperation between the special-shaped guide support block 5 and the driven support block 6 and the two top plates 101 can improve the stability of the driving plate 4 during movement. The movement of the driving plate 4 drives the sliding plate 7 to move, and the movement of the sliding plate 7 drives the corresponding clamping plate 2 to move.

[0072] When the two clamping plates 2 move toward each other, the two clamping plates 2 can clamp the workpiece; when the two clamping plates 2 move away from each other, the two clamping plates 2 can release the clamped workpiece to achieve stable placement of the workpiece.

[0073] When the two clamping plates 2 move synchronously in the same direction, they can drive the clamped workpiece to move, thereby achieving precise adjustment of the radial position of the workpiece and facilitating the positioning and placement of the clamped workpiece.

[0074] The driving device includes two servo electric cylinders 8 fixedly installed in the installation box 1, and connecting frames 801 are fixedly installed on the telescopic ends of the two servo electric cylinders 8. The connecting frames 801 are fixedly connected to the corresponding driving plates 4 respectively. The two servo electric cylinders 8 are used to drive the two driving plates 4 to move.

[0075] In this embodiment, the mounting ends of the servo electric cylinder 8 are fixedly mounted on the corresponding two side plates 102 and the rear side plate 103 .

[0076] In addition to the present embodiment, the driving device may also adopt a screw and nut assembly, wherein the screw and nut assemblies are two groups, and the two groups of screw and nut assemblies are arranged in parallel and at intervals, the screw is arranged along the moving direction of the driving plate 4, the screw is rotatably installed in the mounting box 1, the nut is threadedly connected to the screw, and the nut is fixedly connected to the corresponding driving plate 4, and a servo motor for driving the screw to rotate is installed on the outer surface of the mounting box 1.

[0077] With such a design, the servo motor is used to drive the screw to rotate, the nut is threadedly connected to the screw, the screw rotates to drive the nut to move, and the nut drives the drive plate 4 to move, which is convenient to use.

[0078] In this embodiment, the servo electric cylinder 8 is controlled by a control system, which includes a main controller. The output and input ends of the main controller are bidirectionally connected to a touch screen, which is used to display the control parameters and detection parameters in the main controller and to input and modify the control parameters in the main controller.

[0079] The output end of the main controller is connected to a servo drive module, and the output end of the servo drive module is connected to the control ends of two servo electric cylinders 8 .

[0080] The main controller outputs a control signal to control the servo drive module to work. At this time, the servo drive module is used to control the two servo electric cylinders 8 to work synchronously, so that the telescopic ends of the two servo electric cylinders 8 extend or retract.

[0081] The input end of the main controller is connected to a feedback acquisition module, and the signal acquisition ends of the two servo electric cylinders 8 are respectively connected to the feedback acquisition modules.

[0082] The feedback acquisition module is used to acquire the working state of the servo electric cylinder 8 in real time. The working state of the servo electric cylinder 8 includes torque information on the telescopic rod, real-time displacement information and real-time working state.

[0083] With this design, the two servo electric cylinders 8 work synchronously so that their telescopic ends retract and drive the two drive plates 4 to move, so that the two clamping plates 2 perform the clamping operation. At this time, the feedback acquisition module collects the feedback signal of the servo electric cylinder 8 in real time and uploads it to the main controller. The main controller can then obtain the clamping force of the two clamping plates 2 when performing the clamping operation.

[0084] In this embodiment, the feedback acquisition module collects the feedback signal of the servo electric cylinder 8 in real time, so that the main controller can obtain the clamping force on the two clamping plates 2. This is a prior art and will not be described in detail here.

[0085] The main controller is provided with a preset clamping force threshold value. The clamping force collected in real time by the feedback acquisition module is compared with the preset clamping force threshold value. When the clamping force is equal to the preset clamping force threshold value, the main controller controls the two servo electric cylinders 8 to stop working through the servo drive module.

[0086] In this embodiment, a preset threshold value of the clamping force is set according to the material of the workpiece to be clamped, and the clamping force on the clamping plate 2 is collected in real time through the feedback acquisition module. The clamping force is compared with the preset threshold value of the clamping force and the servo electric cylinder 8 is controlled to start and stop, so that adaptive adjustment and control of the clamping torque can be achieved, which is convenient for use.

[0087] In this embodiment, the main controller may be one of an integrated circuit, a PLC main controller and a single chip microcomputer.

[0088] A flange 107 is fixedly mounted on the rear side surface of the rear side plate 103, and the flange 107 and bolts are used to fix the electric control fixture on the working end of the transfer robot, which is convenient for assembly and installation.

[0089] like Figure 1-9 As shown, the present invention also provides a method for using an electric-controlled clamp for a transfer robot. Based on the above-mentioned electric-controlled clamp for a transfer robot, the method for using includes the following steps:

[0090] Step 1: fix the electric-controlled clamp on the working end of the transfer robot; the transfer robot is used to drive the electric-controlled clamp to move in multiple directions; in the initial state, the telescopic end of the servo electric cylinder 8 extends to drive the corresponding drive plate 4 to move, so that the distance between the two clamping plates 2 is adjusted to the maximum.

[0091] Step 2. When it is necessary to clamp the workpiece, first move the two clamping plates 2 to the two sides of the workpiece clamping position, and then the main controller sends a control signal to control the servo electric cylinder 8 to start through the servo drive module. At this time, the servo electric cylinder 8 starts to retract its telescopic end to drive the corresponding drive plate 4 to move. The drive plate 4 drives the sliding plate 7 and the clamping plate 2 to move through the sliding cooperation of the special-shaped guide support block 5 and the driven support block 6 with the top plate 101, so that the two clamping plates 2 move in a direction close to each other, and then the two clamping plates 2 are connected to the workpiece through the anti-slip plate 202, so as to realize the clamping operation of the workpiece.

[0092] Step three, the feedback acquisition module of the control system collects the feedback signal of the servo electric cylinder 8 in real time and uploads it to the main controller. At this time, the main controller is used to obtain the clamping force of the two clamping plates 2 when performing the clamping operation; when the clamping force is equal to the set clamping force preset threshold, the main controller controls the servo electric cylinder 8 to stop working, so as to realize adaptive adjustment and control of the clamping torque of the workpiece, which is convenient for use.

[0093] In the steps 2 and 3, the special-shaped guide support block 5 and the driven support block 6 are respectively slidably connected with the top plate 101 through the cooperation of the guide rail 104 and the guide slider 507, thereby improving the stability of the clamping plate 2 during movement. When the clamping plate 2 performs the clamping operation, the reaction force on the clamping plate 2 will be transmitted to the special-shaped guide support block 5 and the driven support block 6 through the sliding plate 7. At this time, the matching surfaces 504 on the special-shaped guide support block 5 and the driven support block 6 can be slidably connected with the front side surface of the top plate 101, thereby realizing the transmission of the reaction force to the installation box 1, avoiding the reaction force from being directly transmitted to the guide rail 104, and being transmitted to the servo electric cylinder 8 through the driving plate 4, causing the servo electric cylinder 8 to wear due to uneven force, thereby improving the stability of the overall structure during operation and extending its service life.

[0094] Step 4: The transfer robot then drives the electric-controlled clamp and the clamped workpiece to move to the placement station. When the radial position of the workpiece needs to be precisely adjusted, the two servo electric cylinders 8 are first controlled to work synchronously, so that the two servo electric cylinders 8 drive the two clamping plates 2 to move synchronously in the same direction. At this time, the two clamping plates 2 drive the workpiece to move, thereby achieving precise adjustment of the radial position of the workpiece.

[0095] Step 5: When the workpiece needs to be placed, the two servo electric cylinders 8 work synchronously, so that the two servo electric cylinders 8 drive the two clamping plates 2 to move away from each other, thereby releasing the clamped workpiece and achieving stable placement of the workpiece.

[0096] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. An electric-controlled clamp for a transfer robot, comprising a mounting box (1), wherein two clamping plates (2) arranged in parallel are arranged on the front side of the mounting box (1), characterized in that: The two clamping plates (2) are slidably connected to the mounting box (1) via the drive block assembly (3), respectively; a drive device for driving the drive block assembly (3) and the clamping plates (2) to move is installed in the mounting box (1); The driving block assembly (3) comprises a driving plate (4), the driving plate (4) being arranged inside the mounting box (1), and the upper and lower ends of the driving plate (4) are respectively fixedly mounted with special-shaped guide support blocks (5), the overall structure of the special-shaped guide support block (5) being in an S-shaped plate shape, and the special-shaped guide support block (5) is slidably connected to the upper and lower inner surfaces of the mounting box (1), the two sides of the special-shaped guide support block (5) away from the driving plate (4) respectively extend to the outside of the mounting box (1), and the special-shaped guide support block (5) and the front side surface of the mounting box (1) are clearance-matched; The overall structure of the installation box (1) comprises two top plates (101) which are parallel to each other and spaced apart from each other, and the left and right ends of the two top plates (101) are respectively fixedly connected to side plates (102); The overall structure of the special-shaped guide support block (5) comprises a main body plate (501), the lower end of the main body plate (501) is integrally connected to a mounting plate (502), the mounting plate (502) and the main body plate (501) are arranged vertically, and the upper end of the main body plate (501) is integrally connected to a C-shaped mounting block (503); The special-shaped guide support block (5) is fixedly mounted on the upper and lower ends of the driving plate (4) by means of fastening bolts passed through the mounting plate (502); A guide rail (104) is fixedly mounted on the side surfaces of the two top plates (101) of the installation box (1) that are close to each other, and a guide slider (507) is fixedly mounted on the installation plate (502), and the guide slider (507) is slidably connected to the guide rail (104); a mating surface (504) is provided on the side of the main body plate (501) close to the installation plate (502), and after the special-shaped guide support block (5) is slidably mounted on the corresponding top plate (101), the mating surface (504) and the front side surface of the top plate (101) are clearance-matched; The sliding surface of the guide rail (104) and the matching surface (504) are arranged vertically; A driven support block (6) is slidably mounted on one side of the special-shaped guide support block (5) on the two top plates (101); a sliding plate (7) is arranged in front of the driving plate (4); the sliding plate (7) is fixedly mounted on the special-shaped guide support block (5) and the driven support block (6); and the clamping plate (2) is fixedly mounted on the sliding plate (7).

2. The electric-controlled clamp for a transfer robot according to claim 1, characterized in that: The two top plates (101) and the two side plates (102) are enclosed to form a square frame shape, and the same rear side plate (103) is fixedly mounted on the rear side surfaces of the top plate (101) and the side plates (102).

3. The electric-controlled clamp for a transfer robot according to claim 2, characterized in that: A plurality of first connection holes (506) arranged at intervals are provided on the mounting plate (502) at a position close to the main plate (501); a plurality of second connection holes (401) arranged at intervals are vertically provided in the driving plate (4); the first connection hole (506) on the special-shaped guide support block (5) and the corresponding second connection hole (401) are coaxially arranged; fastening bolts are passed through the first connection hole (506) and the corresponding second connection hole (401) to fix the two special-shaped guide support blocks (5) at the upper and lower ends of the driving plate (4).

4. The electric-controlled clamp for a transfer robot according to claim 3, characterized in that: The overall structure of the driven support block (6) is the same as the overall structure of the special-shaped guide support block (5); a connecting block (701) is integrally connected to a side surface of the sliding plate (7) close to the special-shaped guide support block (5) and the driven support block (6), and the connecting block (701) is fixedly connected to a corresponding C-shaped mounting block (503).

5. The electric-controlled clamp for a transfer robot according to claim 4, characterized in that: A side surface of the sliding plate (7) close to the special-shaped guide support block (5) is arranged at intervals with the main plate (501) and the drive plate (4) and is provided with an installation gap, a sealing plate (105) is provided in the installation gap, and two sides of the sealing plate (105) are respectively fixedly connected to corresponding side plates (102); The upper and lower sides of the blocking plate (105) are respectively integrally connected with bent plates (106), and the bent plates (106) are respectively arranged in the middle of the corresponding C-shaped mounting blocks (503).

6. The electric-controlled clamp for a transfer robot according to claim 5, characterized in that: The driving device comprises two servo electric cylinders (8) fixedly mounted in a mounting box (1); connecting frames (801) are respectively fixedly mounted on telescopic ends of the two servo electric cylinders (8); the connecting frames (801) are respectively fixedly connected to corresponding drive plates (4); and the two servo electric cylinders (8) are used to drive the two drive plates (4) to move.

7. The electric-controlled clamp for a transfer robot according to claim 6, characterized in that: The servo electric cylinder (8) is controlled by a control system, the control system comprising a main controller, the output end and input end of the main controller being bidirectionally connected to a touch screen; the output end of the main controller being connected to a servo drive module, the output end of the servo drive module being connected to control ends of the two servo electric cylinders (8); the input end of the main controller being connected to a feedback collection module, the signal collection ends of the two servo electric cylinders (8) being respectively connected to the feedback collection modules.

8. A method for using an electric-controlled clamp for a transfer robot, based on the electric-controlled clamp for a transfer robot according to claim 7, characterized in that: The method of use includes the following steps: Step 1: The electric-controlled clamp is fixedly mounted on the working end of the transfer robot; the transfer robot is used to drive the electric-controlled clamp to move in multiple directions; in the initial state, the telescopic end of the servo electric cylinder (8) extends to drive the corresponding drive plate (4) to move, so that the distance between the two clamping plates (2) is adjusted to the maximum; Step 2: When it is necessary to clamp the workpiece, first move the two clamping plates (2) to the two sides of the workpiece clamping position, then the main controller sends a control signal to control the servo electric cylinder (8) to start through the servo drive module, and then the servo electric cylinder (8) starts to retract its telescopic end to drive the corresponding drive plate (4) to move, and the drive plate (4) drives the sliding plate (7) and the clamping plate (2) to move in a direction close to each other through the sliding cooperation of the special-shaped guide support block (5) and the driven support block (6) with the top plate (101), and the two clamping plates (2) are used to clamp the workpiece; Step 3: The feedback acquisition module of the control system acquires the feedback signal of the servo electric cylinder (8) in real time and uploads it to the main controller. At this time, the main controller is used to obtain the clamping force of the two clamping plates (2) when performing the clamping operation; when the clamping force is equal to the preset clamping force threshold, the main controller controls the servo electric cylinder (8) to stop working, thereby realizing adaptive adjustment and control of the clamping torque of the workpiece; Step 4: The transfer robot drives the electric-controlled clamp and the clamped workpiece to move to the placement station. When the radial position of the workpiece needs to be precisely adjusted, the two servo electric cylinders (8) are first controlled to work synchronously, so that the two servo electric cylinders (8) drive the two clamping plates (2) to move synchronously in the same direction. The two clamping plates (2) drive the workpiece to move, and the radial position of the workpiece is precisely adjusted. Step 5: When it is necessary to place a workpiece, the two servo electric cylinders (8) work synchronously to drive the two clamping plates (2) to move away from each other, thereby loosening and stably placing the workpiece.

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