Mobile composite robot tail end gripper capable of achieving workpiece handover and overturning inside gripper

Abstract

The invention discloses a mobile composite robot tail end gripper which comprises a visual camera, a laser displacement sensor, a mobile sliding table, a first rotating module, a second rotating module, a first part clamping jaw and a second part clamping jaw, the visual camera is installed on the side of the mobile sliding table, and the first rotating module and the second rotating module are installed below the mobile sliding table. The first part clamping jaw and the second part clamping jaw are connected to the first rotating module and the second rotating module correspondingly, and the laser displacement sensor is installed below the movable sliding table. Compared with the prior art, the workpiece overturning device has the advantages that the problem that a clamping jaw at the tail end of a robot needs to overturn the workpiece on the gripper is solved by connecting and overturning the workpiece in the gripper, the operation process is simplified, time waste is reduced, equipment utilization is optimized, and the machining takt is increased.

Description

Technical Field

[0001] The invention relates to the field of automated processing and manufacturing, and in particular to a mobile composite robot end gripper capable of realizing the handover and flipping of workpieces inside the gripper. Background Art

[0002] In modern automated processing, robots are usually linked with machine tools, and the end gripper of the mobile composite robot is used to pick up and place the workpiece, so as to realize the automatic loading and unloading of the machine tool. In the conventional automated processing, the workpiece needs to be clamped once in the same machine tool. After the workpiece is processed, the robot takes it out through the gripper and puts the unprocessed workpiece into the machine tool for further processing.

[0003] However, when the same machine tool needs to process the upper and lower surfaces of the same workpiece, it needs to be clamped twice. The existing technology usually has a flipping mechanism outside the machine tool. After the robot's end gripper takes out the workpiece, the external flipping mechanism flips the workpiece over and then puts it into the machine tool for a second clamping and processing.

[0004] In contrast, the operation of the prior art will cause the mobile composite robot end gripper to enter and exit the machine tool twice when picking up and placing the workpiece, which wastes a lot of time in the entire picking and placing process, cannot meet the customer's demand for processing rhythm, and affects production efficiency. Therefore, the prior art has defects such as complicated operation process, time waste, excessive equipment occupation, and unsatisfactory processing rhythm in the processing process that requires multiple clamping. Summary of the invention

[0005] In view of this, the present invention discloses a mobile composite robot end gripper that can realize the handover and flipping of workpieces inside the gripper. Through the handover action of the gripper inside the end gripper, the workpiece is exchanged inside the gripper and flipped, which solves the problem that the robot end gripper needs to flip the workpiece on the gripper twice, simplifies the operation process, reduces time waste, optimizes equipment utilization and improves processing rhythm. The technical solution of the present invention is implemented as follows:

[0006] The first aspect of the present invention discloses a mobile composite robot end gripper, comprising a visual camera, a laser displacement sensor, a mobile slide, a first rotating module, a second rotating module, a first part clamp and a second part clamp, wherein the visual camera is installed on the side of the mobile slide, the first rotating module and the second rotating module are installed below the mobile slide, the first part clamp and the second part clamp are respectively connected to the first rotating module and the second rotating module, the laser displacement sensor is installed below the mobile slide, the mobile slide drives the first rotating module and the second rotating module to move, the first rotating module drives the first part clamp to rotate, and the second rotating module drives the second part clamp to rotate.

[0007] Specifically, the robot end gripper also includes a slide mounting plate, a first rotating module mounting plate, a first clamp mounting plate, a second rotating module mounting plate, and a second clamp mounting plate; the mobile slide is fixed to the slide mounting plate, the first rotating module mounting plate is installed on the mobile slide, the first rotating module is fixed to the first rotating module mounting plate, the first clamp mounting plate is installed on the first rotating module, and the first part clamp is installed on the first clamp mounting plate; the second rotating module is fixed to the second rotating module mounting plate, the second clamp mounting plate is installed on the second rotating module, and the second part clamp is fixed to the second clamp mounting plate.

[0008] Specifically, the first part clamping jaw and the second part clamping jaw are asymmetric structures.

[0009] Specifically, a polyurethane gasket is installed at the lower end of the first part clamping jaw and the lower end of the second part clamping jaw.

[0010] Specifically, the robot end gripper also includes a first fixed plate, a second fixed plate, a first fixed connecting plate, a second fixed connecting plate, and a third fixed connecting plate. The first fixed plate is connected to the third fixed connecting plate, and the first fixed connecting plate and the second fixed connecting plate are connected to both sides of the movable slide.

[0011] Specifically, the robot end gripper also includes a support block, a reinforcing rib, a sensor mounting plate, and a gripper connecting plate.

[0012] The second aspect of the present invention discloses a control method for a mobile composite robot end gripper, comprising the following steps:

[0013] S1. The mobile composite robot sets up a material warehouse, and the workpiece to be processed is placed in the material warehouse;

[0014] S2, the mobile composite robot performs a processing action through the robot end gripper;

[0015] S3, the robot end gripper takes out the workpiece to be processed from the material warehouse and moves it to the processing machine tool;

[0016] Specifically, the processing machine tool sends out a material picking signal, and the robot end gripper detects the material warehouse. If there are parts to be processed in the material warehouse and they are out of position, the workpiece is skipped and the status of the next workpiece to be processed is detected. Until there are parts to be processed in the material warehouse and they are not out of position, the second part gripper takes out the workpiece to be processed, moves it to the processing machine tool, and confirms the fixture position of the processing machine tool.

[0017] S4, the robot end gripper places the workpiece to be processed into the first processing station and the second processing station of the processing machine tool for processing;

[0018] The specific steps are as follows:

[0019] S4.1, the robot end gripper enters the processing machine tool, adjusts the positions of the first part gripper and the second part gripper, the first part gripper takes out the workpiece of the first processing station, and the second part gripper does not interfere with the fixture of the processing machine tool;

[0020] S4.2, the second part clamp places the workpiece to be processed into the first processing station, and the first part clamp does not interfere with the fixture of the processing machine tool, and adjusts the position;

[0021] S4.3, the movable slide extends, the first part clamp and the second part clamp dock the workpiece, the workpiece is docked and the position is adjusted, and then the movable slide retracts;

[0022] S4.4, the first part clamp takes out the finished workpiece in the second processing station, and the second part clamp does not interfere with the fixture of the processing machine tool, and adjusts the position;

[0023] S4.5. The second part clamp places the turned workpiece into the second processing station, and the first part clamp does not interfere with the fixture of the processing machine tool.

[0024] S5. After the processing is completed, the robot end gripper puts the processed workpiece into the material warehouse.

[0025] The advantages of the present invention are as follows:

[0026] (1) The present invention effectively solves the problem that the traditional robot end gripper needs to flip the workpiece on the gripper. By configuring a laser displacement sensor, a visual camera, a double-hand gripper, a dual servo rotation module and an electric slide, the function of automatically flipping the workpiece is realized, which significantly improves the operating efficiency and accuracy.

[0027] (2) The robot end gripper of the present invention is equipped with a laser displacement sensor, a visual camera, a double-hand gripper, a dual-servo rotation module and an electric slide table, which can adapt to more and wider application scenarios and meet the complex interactive working conditions of the robot and the machine tool fixture. Its multifunctional configuration greatly enhances the flexibility and adaptability of the system.

[0028] (3) The present invention has the functions of detecting the presence of a workpiece, determining whether the workpiece is in place, visual positioning, and flipping the workpiece on the end clamp. The presence of a workpiece and its placement are detected by a laser displacement sensor, and precise positioning is performed using a visual camera to ensure the accuracy and reliability of the workpiece during automated processing.

[0029] (4) The robot end gripper of the present invention adopts a precise structural design, including a visual camera, a laser displacement sensor, an electric gripper, an electric slide and a rotating module. Through reasonable modular design, not only the workpiece can be turned over in the machine tool, but also the weight distribution and stability of the gripper are optimized to ensure smooth and accurate operation.

[0030] (5) The present invention greatly reduces the time wasted in the process of workpiece flipping and clamping through the automatic flipping function and high-precision detection and positioning, and improves the processing efficiency. At the same time, the polyurethane gasket is used to increase the friction force to ensure the stability of the workpiece during the clamping process, further improving the reliability and production efficiency of the overall system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is a structural diagram of a mobile composite robot end gripper disclosed by the present invention;

[0033] Figure 2 This is the detection logic of the laser displacement sensor in the present invention.

[0034] In the above drawings, the meanings of the reference numerals are as follows:

[0035] 1. Visual camera;

[0036] 2. Laser displacement sensor;

[0037] 3. Mobile slide;

[0038] 4. Electric gripper;

[0039] 5. The first fixing plate;

[0040] 6. The third fixed connecting plate;

[0041] 7. A first fixed connecting plate;

[0042] 8. A second fixed connecting plate;

[0043] 9. Slide mounting plate;

[0044] 10. First rotating module mounting plate;

[0045] 11. Second fixing plate;

[0046] 12. Support block;

[0047] 13. Strengthen the ribs;

[0048] 14. First clamping jaw mounting plate;

[0049] 15. Second clamping jaw mounting plate;

[0050] 16. Second rotating module mounting plate;

[0051] 17. First part clamping jaw;

[0052] 18. Second part clamping jaw;

[0053] 19. Sensor mounting plate;

[0054] 20. Clamping jaw connecting plate;

[0055] 21. Polyurethane gasket;

[0056] 22. A first rotating module;

[0057] 23. A second rotating module; DETAILED DESCRIPTION

[0058] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specific implementation methods are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0060] In the description of the specific implementation methods of the present invention, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0061] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present invention may be combined with other embodiments.

[0062] In the description of the embodiments of the present invention, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0063] It should be noted that, for the convenience of description, in the following embodiments, all identical technical features are marked with the same symbols.

[0064] In modern automated processing, robots are usually linked with machine tools, and the end gripper of the mobile composite robot is used to pick up and place the workpiece, so as to realize the automatic loading and unloading of the machine tool. In the conventional automated processing process, the same machine tool only needs to be clamped once. After the workpiece is processed, the robot takes it out through the gripper and puts the unprocessed workpiece into the machine tool for further processing.

[0065] However, when the same machine tool needs to process the upper and lower surfaces of the same workpiece and needs to be clamped twice to meet the processing requirements, the prior art usually uses a robot end gripper to take out the workpiece and then provides a flipping mechanism outside the machine tool to flip the workpiece and then put it into the machine tool for a second clamping and processing. This method will cause the mobile composite robot end gripper to enter and exit the machine tool twice when picking up and placing the workpiece, thereby wasting a lot of time in the entire material picking and placing process, failing to meet customer requirements for processing rhythm, and affecting production efficiency. Therefore, in the processing process that requires multiple clamping, the prior art has the defects of complicated operation procedures, time waste, excessive equipment occupation, and unsatisfactory processing rhythm.

[0066] In view of this, the present invention discloses a mobile composite robot end gripper and a control method, which solves the problem that the robot end gripper needs to flip the workpiece on the gripper, simplifies the operation process, reduces time waste, optimizes equipment utilization and improves processing rhythm.

[0067] like Figure 1As shown, the first aspect of the present invention discloses a mobile composite robot end gripper, including a visual camera 1, a laser displacement sensor 2, a mobile slide 3, a first rotating module 22, a second rotating module 23, a first part clamp 17 and a second part clamp 18, the visual camera 1 is installed on the side of the mobile slide 3, the first rotating module 22 and the second rotating module 23 are installed below the mobile slide 3, the first part clamp 17 and the second part clamp 18 are respectively connected to the first rotating module 22 and the second rotating module 23, and the laser displacement sensor 2 is installed below the mobile slide 3.

[0068] Through the above settings, the laser displacement sensor 2 detects whether the workpiece exists and whether the workpiece is placed in place, and the visual camera 1 accurately positions it in the fixture. The electric clamp 4, the moving slide 3, the first rotating module 22, and the second rotating module 23 realize the flipping of the workpiece in the machine tool.

[0069] In the present invention, the robot end gripper also includes a slide mounting plate 9, a first rotating module mounting plate 10, a first clamp mounting plate 14, a second rotating module mounting plate 16, and a second clamp mounting plate 15; the mobile slide 3 is fixed to the slide mounting plate 9, the first rotating module mounting plate 10 is installed on the mobile slide 3, the first rotating module 22 is fixed to the first rotating module mounting plate 10, the first clamp mounting plate 14 is installed on the first rotating module 22, and the first part clamp 17 is installed on the first clamp mounting plate 14; the second rotating module 23 is fixed to the second rotating module mounting plate 16, the second clamp mounting plate 15 is installed on the second rotating module 23, and the second part clamp 18 is fixed to the second clamp mounting plate 15.

[0070] In some embodiments, the movable slide 3 drives the first rotating module 22 and the second rotating module 23 to move, the first rotating module 22 drives the first part clamp 17 to rotate, and the second rotating module 23 drives the second part clamp 18 to rotate.

[0071] In some embodiments, the first part clamping jaw 17 and the second part clamping jaw 18 are asymmetrical structures, so that the first part clamping jaw 17 and the second part clamping jaw 18 can clamp the workpiece at the same time.

[0072] In some embodiments, a polyurethane gasket 21 is installed at the lower end of the first part clamp 17 and the lower end of the second part clamp 18, while there is no gasket at the upper end, to ensure that the friction force is increased by the polyurethane gasket 21 when the clamp clamps the parts, thereby ensuring the clamping stability and positioning the side without the gasket to ensure positioning accuracy.

[0073] In some embodiments, the robot end gripper further includes a first fixed plate 5 and a third fixed connecting plate 6, and the first fixed plate 5 is connected to the third fixed connecting plate 6 to ensure that the load offset distance of the mobile composite robot relative to the end gripper is the shortest.

[0074] In some embodiments, the first fixed connecting plate 7 and the second fixed connecting plate 8 are connected to both sides of the movable slide 3 so as to reduce the center of gravity offset of the end clamp to the shortest.

[0075] In some embodiments, the robot end gripper further includes a second fixing plate 11 , a support block 12 , a reinforcing rib 13 , a sensor mounting plate 19 , and a gripper connecting plate 20 .

[0076] The second aspect of the present invention discloses a control method for a mobile composite robot end gripper, comprising the following steps:

[0077] S1. The mobile composite robot sets up a material warehouse, and the workpiece to be processed is placed in the material warehouse;

[0078] S2, the mobile composite robot receives and executes the processing instruction, and performs the processing action through the robot end gripper;

[0079] S3, the robot end gripper takes out the workpiece to be processed from the material warehouse and moves it to the processing machine tool;

[0080] Specifically, the processing machine tool sends out a material picking signal, and the robot's end gripper detects the material warehouse. If there is a workpiece to be processed in the material warehouse and it is out of position, the workpiece is skipped and the status of the next workpiece to be processed is detected. Until there is a workpiece to be processed in the material warehouse and it is not out of position, the second part clamp 18 takes out the workpiece to be processed, moves it to the processing machine tool, and confirms the fixture position of the processing machine tool.

[0081] like Figure 2 As shown, the detection logic of the laser displacement sensor 2 is as follows:

[0082] After the machine tool material picking signal is sent, the mobile composite robot moves to its position and detects whether there is a workpiece to be processed on the composite robot material warehouse through the laser displacement sensor 2. If there is no workpiece, the mobile composite robot moves to the next position. If there is a workpiece, it detects whether the workpiece is in place. If the workpiece is not in place, the mobile composite robot skips the workstation. If the workpiece is in place, the second part clamp 18 takes out the workpiece to be processed on the composite robot material warehouse, moves it to the machine tool calibration plate position, and locates it through the visual camera 1 to confirm the position of the machine tool fixture.

[0083] S4, the robot end gripper places the workpiece to be processed into the first processing station and the second processing station of the processing machine tool for processing;

[0084] The specific steps are as follows:

[0085] S4.1. The robot end gripper enters the processing machine tool, adjusts the positions of the first part gripper 17 and the second part gripper 18, and the first part gripper 17 takes out the workpiece at the first processing station, and the second part gripper 18 does not interfere with the fixture of the processing machine tool;

[0086] S4.2, the second part clamp 18 places the workpiece to be processed into the first processing station, while the first part clamp 17 does not interfere with the fixture of the processing machine tool, and adjusts the position;

[0087] S4.3, the movable slide 3 is extended, the first part clamp 17 and the second part clamp 18 are docked with the workpiece, the workpiece is docked and the position is adjusted, and then the movable slide 3 is retracted;

[0088] S4.4, the first part clamp 17 takes out the finished part in the second processing station, and the second part clamp 17 does not interfere with the fixture of the processing machine tool, and adjusts the position;

[0089] S4.5. The second part clamp 18 places the turned workpiece into the second processing station, while the first part clamp 17 does not interfere with the fixture of the processing machine tool.

[0090] S5. After processing is completed, the robot end gripper puts the processed parts into the material warehouse.

[0091] It should be pointed out that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile composite robot end gripper, characterized in that: include: A visual camera, a laser displacement sensor, a movable slide, a first rotating module, a second rotating module, a first part clamp and a second part clamp; The visual camera is installed on the side of the movable slide, the first rotating module and the second rotating module are installed below the movable slide, the first part clamp and the second part clamp are connected to the first rotating module and the second rotating module respectively, and the laser displacement sensor is installed below the movable slide; The movable slide drives the first rotating module and the second rotating module to move, the first rotating module drives the first part clamping jaw to rotate, and the second rotating module drives the second part clamping jaw to rotate.

2. The mobile composite robot end gripper according to claim 1, characterized in that: The robot end gripper also includes a slide mounting plate, a first rotating module mounting plate, a first gripper mounting plate, a second rotating module mounting plate, and a second gripper mounting plate; The movable slide is fixed to the slide mounting plate, the first rotating module mounting plate is mounted on the movable slide, the first rotating module is fixed to the first rotating module mounting plate, the first clamp mounting plate is mounted on the first rotating module, and the first part clamp is mounted on the first clamp mounting plate; the second rotating module is fixed to the second rotating module mounting plate, the second clamp mounting plate is mounted on the second rotating module, and the second part clamp is fixed to the second clamp mounting plate.

3. The mobile composite robot end gripper according to claim 2, characterized in that: The first part clamping jaw and the second part clamping jaw are asymmetrical structures.

4. The mobile composite robot end gripper according to claim 3, characterized in that: A polyurethane gasket is installed at the lower end of the first part clamping jaw and the lower end of the second part clamping jaw.

5. The mobile composite robot end gripper according to claim 4, characterized in that: The robot end gripper also includes a first fixing plate, a second fixing plate, a first fixing connecting plate, a second fixing connecting plate, and a third fixing connecting plate; The first fixed plate is connected to the third fixed connecting plate, and two sides of the movable slide are connected to the first fixed connecting plate and the second fixed connecting plate.

6. The mobile composite robot end gripper according to claim 5, characterized in that: The robot end gripper also includes a support block, a reinforcing rib, a sensor mounting plate, and a gripper connecting plate.

7. A control method for a mobile composite robot end gripper according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. The mobile composite robot sets up a material warehouse, and the workpiece to be processed is placed in the material warehouse; S2, the mobile composite robot performs a processing action through the robot end gripper; S3, the robot end gripper takes out the workpiece to be processed from the material warehouse and moves it to the processing machine tool; S4, the robot end gripper places the workpiece to be processed into the first processing station and the second processing station of the processing machine tool for processing; S5. After the processing is completed, the robot end gripper puts the processed workpiece into the material warehouse.

8. The control method of the end gripper of a mobile composite robot according to claim 7, characterized in that: S3, the robot end gripper takes out the workpiece to be processed from the material warehouse and moves it to the processing machine tool. The specific steps are as follows: S3.

1. The processing machine tool sends out a material picking signal, and the robot end gripper detects the material warehouse. If there are parts to be processed in the material warehouse and they are out of position, the workpiece is skipped and the status of the next workpiece to be processed is detected. Until there are parts to be processed in the material warehouse and they are not out of position, the second part gripper takes out the workpiece to be processed and moves it to the processing machine tool to confirm the fixture position of the processing machine tool.

9. A control method for a mobile composite robot end gripper according to claim 8, characterized in that: S4, the robot end gripper places the workpiece to be processed into the first processing station and the second processing station of the processing machine tool for processing, and the specific steps are as follows: S4.1, the robot end gripper enters the processing machine tool, adjusts the positions of the first part gripper and the second part gripper, the first part gripper takes out the workpiece of the first processing station, and the second part gripper does not interfere with the fixture of the processing machine tool; S4.2, the second part clamp places the workpiece to be processed into the first processing station, and the first part clamp does not interfere with the fixture of the processing machine tool, and adjusts the position; S4.3, the movable slide extends, the first part clamp and the second part clamp dock the workpiece, the workpiece is docked and the position is adjusted, and then the movable slide retracts; S4.4, the first part clamp takes out the finished workpiece in the second processing station, and the second part clamp does not interfere with the fixture of the processing machine tool, and adjusts the position; S4.

5. The second part clamp places the turned workpiece into the second processing station, and the first part clamp does not interfere with the fixture of the processing machine tool.

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