Material separating robot clamping jaw

Abstract

The invention discloses a material distributing body robot clamping jaw which comprises a material distributing body positioning assembly, the material distributing body positioning assembly comprises a vertically-arranged first telescopic module, a flexible air cylinder is arranged at the moving end of the first telescopic module, and a positioning block is arranged at the moving end of the flexible air cylinder; the first telescopic module can drive the flexible air cylinder and the positioning block to move up and down and press-fit and position the material distributing body placed on the workbench. The number of the material distributing body clamping jaw assemblies is at least two, each material distributing body clamping jaw assembly comprises a moving part, a clamp part and a screwing clamping part, the moving parts can drive the clamp parts and the screwing clamping parts to move transversely and vertically, and the clamp parts are located at the bottoms of the screwing clamping parts. The material distributing body assembling device is convenient to operate, can accurately and efficiently assemble a material distributing body, and is convenient for actual use.

Description

Technical Field

[0001] This invention relates to the field of manufacturing and assembly technology, and in particular to a material-separating robot gripper. Background Technology

[0002] The material distributor assembly is a crucial connecting component of specialized equipment. During assembly, one material distributor and three sets of M10 nuts and washers need to be installed and tightened on the magnetic cover. Currently, the assembly process for the material distributor and the M10 nuts and washers is entirely manual. The process involves picking up the material distributor, manually aligning its three holes with the three double-ended studs on the magnetic cover and installing it, then manually pre-installing the three sets of M10 nuts and washers onto the studs, and finally tightening the three sets of nuts and washers sequentially using a ratchet wrench. With high daily production demands, this requires frequent, repetitive operations. The simple, repetitive actions result in low assembly efficiency, making it difficult to meet societal needs. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned shortcomings by providing a material-separating robot gripper that enables efficient and precise assembly.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a material separating robot gripper, comprising: The material distribution positioning component includes a vertically arranged first telescopic module, a flexible cylinder is provided at the moving end of the first telescopic module, and a positioning block is provided at the moving end of the flexible cylinder. The first telescopic module can drive the flexible cylinder and the positioning block to move up and down and press and position the material distribution component placed on the worktable. The material separating body gripper assembly has at least two components. The material separating body gripper assembly includes a moving component, a clamping component, and a twisting clamping component. The moving component can drive the clamping component and the twisting clamping component to move laterally and vertically. The clamping component is located at the bottom of the twisting clamping component. The clamping component can move to approach and clamp the nut washer, and it can also move above the material distribution body. The twisting clamping component can rotate the nut washer after it has moved to the corresponding position.

[0005] Furthermore, the moving component includes a translation cylinder, and the moving end of the translation cylinder is provided with a second telescopic module. The translation cylinder can drive the second telescopic module to move laterally. The clamping component and the twisting clamping component are both provided at the moving end of the second telescopic module. The second telescopic module can drive the clamping component and the twisting clamping component to move up and down.

[0006] Furthermore, the clamping component includes a nut gripper cylinder disposed at the moving end of the second telescopic module, and the moving end of the nut gripper cylinder is provided with a gripper body.

[0007] Furthermore, the tightening clamping component includes an electric screwdriver disposed at the moving end of the second telescopic module, and a gear box is disposed at the moving end of the electric screwdriver.

[0008] Furthermore, the gear box includes a housing, in which a first gear, a second gear, and a third gear are rotatably arranged in sequence and mesh with each other. The electric screwdriver can drive the first gear to rotate, and the interior of the third gear has a snap-fit ​​groove adapted to the nut to be installed.

[0009] Furthermore, the number of the material distributing gripper assemblies is three, and each of the three material distributing gripper assemblies is equipped with a transmission component. The translation cylinders on the three material distributing gripper assemblies can drive each clamping component and the twisting clamping component to move towards the side of the material distributing positioning component, and the transmission components on it engage with each other.

[0010] Furthermore, the transmission assembly includes a first locking block and a second locking block disposed on both sides of the corresponding electric screwdriver.

[0011] Furthermore, it also includes a visual inspection module, which comprises an aperture, a lens, and a camera arranged sequentially.

[0012] The beneficial effects of this invention are reflected in: In this invention, after the clamping components on at least two material-separating gripper assemblies grip the nut and electric screwdriver, the corresponding turning and clamping components on each material-separating gripper assembly move simultaneously. After they approach each other, they can grip and clamp the material-separating body. When assembly is required, the first telescopic module drives the flexible cylinder and positioning block to descend and press and position the material-separating body on the worktable. Subsequently, the moving component drives the clamping components and the turning and clamping components to move accordingly. At this time, each clamping component clamps the nut and washer and moves to above the corresponding installation position of the material-separating body. Finally, the turning and clamping component is above the nut, and its moving end rotates and descends, so that the nut is screwed into the installation position of the material-separating body, realizing the nut locking installation of the material-separating body. The overall mechanism movement is mainly controlled by PLC, so that the whole is automated. The device is easy to operate and can accurately and efficiently assemble the material-separating body for practical use. Attached Figure Description

[0013] Figure 1 This is a perspective view of the present invention; Figure 2 This is a first structural side view of the present invention; Figure 3 In this invention Figure 2 A magnified view of part A shown; Figure 4This is a partial cross-sectional view of the gearbox in this invention; Figure 5 This is a side view of the second structure of the present invention.

[0014] In the picture: 1. Material separating body positioning assembly; 101. First telescopic module; 102. Flexible cylinder; 103. Positioning block; 104. Outlet tube; 2. Material separating body gripper assembly; 201. Translation cylinder; 202. Second telescopic module; 203. Nut gripper cylinder; 204. Gripper body; 205. Electric screwdriver; 206. Gear box; 2061. Box body; 2062. First gear; 2063. Second gear; 2064. Third gear; 3. Transmission assembly; 301. First locking block; 302. Second locking block; 4. Vision inspection module; 401. Aperture; 402. Lens; 403. Camera. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figure 1-5 This invention discloses a material-splitting robot gripper, including a material-splitting positioning component 1. The material-splitting positioning component 1 includes a vertically arranged first telescopic module 101. A flexible cylinder 102 is installed at the moving end of the first telescopic module 101, and a positioning block 103 is installed at the moving end of the flexible cylinder 102. A cable outlet tube 104 for cable routing is installed on the side of the first telescopic module 101 away from the flexible cylinder 102. In use, the first telescopic module 101 can drive the flexible cylinder 102 and the positioning block 103 to move up and down. When it descends, it can press and position the material-splitting body placed on the worktable.

[0017] When the first telescopic module 101 of the material distribution positioning system is pressed down, the flexible cylinder 102 is in the closed state, so it can bring the positioning block 103 down and insert the positioning block 103 into the central hole of the material distribution body to achieve positioning of the material distribution body.

[0018] In one embodiment, the first telescopic module 101 may be a cylinder structure. The device also includes a material dispensing gripper assembly 2, of which there are at least two. The material dispensing gripper assembly 2 includes a moving part, a clamping part, and a twisting clamping part. The moving part can drive the clamping part and the twisting clamping part to move laterally and vertically. The clamping part is located at the bottom of the twisting clamping part. In use, the clamping part can move to approach and clamp the nut washer. It can also move to the top of the material dispensing part. The twisting clamping part can drive the nut washer to rotate after it moves to the corresponding position.

[0019] In practice, after the clamping components on at least two material distribution gripper assemblies 2 grasp the nuts and electric screwdrivers, the corresponding turning clamping components on each material distribution gripper assembly 2 move simultaneously. After they approach each other, they can grasp and clamp the material distribution. When assembly is required, the first telescopic module 101 drives the flexible cylinder 102 and the positioning block 103 to descend and press and position the material distribution on the worktable. Then, the moving component drives the clamping component and the turning clamping component to move accordingly. At this time, each clamping component clamps the nut and the washer and moves to the position above the corresponding installation position of the material distribution. Finally, the turning clamping component rotates and descends above the nut, so that the nut is screwed into the installation position of the material distribution, realizing the nut locking installation of the material distribution. The overall mechanism movement is mainly controlled by PLC, so that the whole is automated. The device is easy to operate and can accurately and efficiently assemble the material distribution, which is convenient for practical use.

[0020] In one embodiment, the moving component includes a translation cylinder 201, and a second telescopic module 202 is installed at the moving end of the translation cylinder 201. The second telescopic module 202 may be a cylinder structure.

[0021] In practice, the translation cylinder 201 can drive the second telescopic module 202 to move laterally. The clamping component and the screwing clamping component are both located at the moving end of the second telescopic module 202. The second telescopic module 202 can drive the clamping component and the screwing clamping component to move up and down, so that the clamping component can move to the corresponding work position to clamp the nut and washer and transport them to the top of the material distribution body. Meanwhile, the screwing clamping component can move at the same time and perform subsequent assembly work.

[0022] In one embodiment, the clamping component includes a nut gripper cylinder 203 mounted on the moving end of the second telescopic module 202, and a gripper body 204 is mounted on the moving end of the nut gripper cylinder 203.

[0023] In practice, the nut clamping cylinder 203 can drive the clamping ends of the clamping body 204 to move closer or further apart. When they move closer together, they can clamp the corresponding nut and washer, and when they move further apart, they can be released.

[0024] In one embodiment, the screwing clamping component includes an electric screwdriver 205 mounted on the moving end of the second telescopic module 202, and a gearbox 206 is mounted on the moving end of the electric screwdriver 205.

[0025] In one embodiment, the gear box 206 includes a box body 2061, in which a first gear 2062, a second gear 2063, and a third gear 2064 are rotatably mounted in sequence and mesh with each other. An electric screwdriver 205 can drive the first gear 2062 to rotate, and the third gear 2064 has a snap-fit ​​groove inside that is adapted to the nut to be installed.

[0026] In practice, after the clamping component holds the nut, the gear box 206 is located on top of the nut, and at this time, the snap-fit ​​groove on the third gear 2064 is aligned with the nut to be installed. By driving the gear box 206 down, the clamping component releases the nut until the nut to be installed is snapped into the snap-fit ​​groove. Then, the electric screwdriver 205 is started, which, together with the first gear 2062, the second gear 2063, and the third gear 2064, drives the nut to rotate synchronously, thereby enabling the nut to be installed on the material distribution body.

[0027] In one embodiment, there are three material distribution gripper assemblies 2. Each of the three material distribution gripper assemblies 2 is equipped with a transmission assembly 3. The translation cylinder 201 on the three material distribution gripper assemblies 2 can drive each clamping component and the twisting clamping component to move towards the side of the material distribution positioning assembly 1 and engage with each other on the transmission assembly 3.

[0028] With this design, one of the second telescopic modules 202 on each material distribution gripper assembly 2 has a power source. When they approach each other, the transmission components 3 on them engage with each other. When the power source is started, the material distribution gripper assembly 2 can work synchronously with the transmission components 3 to drive the other material distribution gripper assemblies 2.

[0029] In one embodiment, the transmission assembly 3 includes a first locking block 301 and a second locking block 302 disposed on both sides of the corresponding electric screwdriver 205.

[0030] In practice, when the gripper assemblies 2 of each material distribution body approach each other, the first locking block 301 and the second locking block 302 in the two adjacent transmission assemblies 3 engage with each other, thereby achieving synchronous transmission.

[0031] In one embodiment, the device further includes a vision inspection module 4, which includes an aperture 401, a lens 402, and a camera 403 arranged sequentially. The electrical control system consists of a system control unit and a positioning sensor, which can determine the position and angle of the shaft on the rotor sleeve. It can work with the electrical control system to realize the automatic operation of each mechanism. The way the electrical control system works with the vision inspection module 4 is common knowledge in the field, so its specific structure and working principle will not be described in detail here.

[0032] The assembly of the material separating robot's gripper can achieve the following sequence of actions: S1. The nut gripper cylinder 203 in the material distribution gripper assembly 2 retracts, causing the gripper body 204 to clamp the nuts and washers in the nut and washer feeding system. S2. The translation cylinder 201 in the material distribution gripper assembly 2 extends, so that the upper part of the gear box 206 grips the material distribution body. S3. The first telescopic module 101 of the material distribution positioning system 1 is pressed down, and at this time the flexible cylinder 102 is closed to position the material distribution body. S4. When each material distribution gripper assembly 2 moves closer to each other, the corresponding first locking block 301 of each transmission assembly 3 is inserted into the corresponding second locking block 302. The second telescopic module 202 in the material distribution gripper system 2 is pressed down, and at this time the electric screwdriver 205 rotates to drive the nuts and washers held by the gripper body 204 into the bolts of the rotor sleeve. S5. After the material distribution body is installed, the moving end of the first telescopic module 101 in the material distribution body positioning component 1 rises, the flexible cylinder 102 is inflated, the electric screwdriver 205 stops rotating, the gripper body 204 opens, the translation cylinder 201 retracts, and the first telescopic module 101 rises. S6. The device enters the next cycle.

[0033] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0035] Additionally, "multiple" refers to two or more.

[0036] The above description 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 within the protection scope of the present invention.

Claims

1. A material separating robot gripper, characterized in that, include: The material distribution positioning assembly (1) includes a vertically arranged first telescopic module (101), a flexible cylinder (102) is provided at the moving end of the first telescopic module (101), and a positioning block (103) is provided at the moving end of the flexible cylinder (102). The first telescopic module (101) can drive the flexible cylinder (102) and the positioning block (103) to move up and down and press and position the material distribution body placed on the worktable. The material dispensing gripper assembly (2) has at least two components. The material dispensing gripper assembly (2) includes a moving component, a clamping component, and a twisting clamping component. The moving component can drive the clamping component and the twisting clamping component to move laterally and vertically. The clamping component is located at the bottom of the twisting clamping component. The clamping component can move to approach and clamp the nut washer, and it can also move above the material distribution body. The twisting clamping component can rotate the nut washer after it has moved to the corresponding position.

2. The material-separating robot gripper according to claim 1, characterized in that: The moving component includes a translation cylinder (201), and a second telescopic module (202) is provided at the moving end of the translation cylinder (201). The translation cylinder (201) can drive the second telescopic module (202) to move laterally. The clamping component and the twisting clamping component are both provided at the moving end of the second telescopic module (202). The second telescopic module (202) can drive the clamping component and the twisting clamping component to move up and down.

3. The material-separating robot gripper according to claim 2, characterized in that: The clamping component includes a nut gripper cylinder (203) disposed at the moving end of the second telescopic module (202), and the moving end of the nut gripper cylinder (203) is provided with a gripper body (204).

4. The material-separating robot gripper according to claim 2, characterized in that: The screwing clamping component includes an electric screwdriver (205) disposed at the moving end of the second telescopic module (202), and a gear box (206) is disposed at the moving end of the electric screwdriver (205).

5. The material-separating robot gripper according to claim 4, characterized in that: The gearbox (206) includes a box body (2061), in which a first gear (2062), a second gear (2063), and a third gear (2064) are rotatably arranged in sequence and mesh with each other. The electric screwdriver (205) can drive the first gear (2062) to rotate. The third gear (2064) has a snap-fit ​​groove inside that is adapted to the nut to be installed.

6. The material-splitting robot gripper according to claim 4, characterized in that: The number of the material distribution gripper assemblies (2) is three. Each of the three material distribution gripper assemblies (2) is equipped with a transmission assembly (3). The translation cylinder (201) on the three material distribution gripper assemblies (2) can drive each clamping component and the twisting clamping component to move towards the side of the material distribution positioning assembly (1) and engage with each other on the transmission assembly (3).

7. The material-separating robot gripper according to claim 6, characterized in that: The transmission assembly (3) includes a first locking block (301) and a second locking block (302) disposed on both sides of the corresponding electric screwdriver (205).

8. The material-separating robot gripper according to claim 1, characterized in that: It also includes a visual inspection module (4), which includes an aperture (401), a lens (402) and a camera (403) arranged in sequence.

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