Automatic clamping mechanism

Abstract

The invention relates to an automatic clamping mechanism which comprises a mechanical arm and a clamping unit installed on the mechanical arm, the clamping unit comprises a supporting frame, a foam clamping module, a variable-pitch module, a product clamping module and a camera positioning module, the supporting frame is installed on the mechanical arm, the foam clamping module and the variable-pitch module are installed on the supporting frame, and the camera positioning module is installed on the product clamping module. The product clamping module and the camera positioning module are mounted on the variable-pitch module, the manipulator is used for driving the clamping unit to run to a preset position, the foam clamping module is used for clamping foam, the variable-pitch module is used for adjusting the position of the product clamping module, the product clamping module is used for clamping a product, and the camera positioning module is used for positioning the product. The camera positioning module is used for photographing the product to determine the position of the product. The clamping mechanism can realize the operations of automatic positioning, automatic adjustment, automatic and accurate clamping of products and foam, accurate feeding and the like, so that the yield and the production efficiency of the products are improved.

Description

Technical Field

[0001] This application relates to automated assembly technology, specifically to an automatic gripping mechanism. Background Technology

[0002] The loading and unloading mechanism is mainly a device that transports materials produced in the previous process to the next process for processing. Traditional gripping mechanisms generally require manual assistance for loading and have problems such as slow loading speed, poor overall mechanism mobility, and inconvenient adjustment. The material gripping process can also easily cause product defects, resulting in low handling efficiency and yield. Summary of the Invention

[0003] To overcome the above-mentioned defects, this application provides an automatic gripping mechanism that can automatically position, adjust, and accurately grip products and foam, as well as accurately feed materials, thereby improving product yield and production efficiency.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] An automatic gripping mechanism includes a robotic arm and a gripping unit mounted on the robotic arm. The gripping unit includes a support frame, a foam clamping module, a variable-distance module, a product clamping module, and a camera positioning module. The support frame is mounted on the robotic arm, the foam clamping module and the variable-distance module are mounted on the support frame, and the product clamping module and the camera positioning module are mounted on the variable-distance module. The robotic arm drives the gripping unit to a preset position. The foam clamping module grips foam, the variable-distance module adjusts the position of the product clamping module, the product clamping module grips a product, and the camera positioning module takes a picture of the product to determine its position.

[0006] Optionally, the foam clamping module includes a first gripper cylinder, a slide rail, and a first gripper. The first gripper cylinder and the slide rail are fixedly installed on the support frame, the first gripper is slidably installed on the slide rail, the first gripper cylinder is connected to the first gripper, and the first gripper cylinder can drive the first gripper to slide along the slide rail.

[0007] Optionally, an anti-slip block is fixedly provided on the inner side of the first gripper cylinder, a first photoelectric sensor is fixedly installed on the first gripper cylinder, and two sets of foam clamping modules are provided on the support frame.

[0008] Optionally, the variable pitch module includes a servo motor, a variable pitch mover, and a guide rail. The guide rail is fixedly mounted on the support frame, the variable pitch mover is slidably mounted on the guide rail, the servo motor is fixedly mounted on the guide rail, the servo motor is connected to the variable pitch mover, and the servo motor can drive the variable pitch mover to move along the guide rail. The product clamping module is fixedly mounted on the variable pitch mover, and a positioning sensor is fixedly mounted on the guide rail.

[0009] Optionally, the product clamping module includes a mounting base, a rotary cylinder, a second gripper cylinder, and a second gripper. The rotary cylinder is fixedly mounted on the variable pitch module, the mounting base is mounted on the rotary cylinder, and the second gripper cylinder is mounted on the mounting base. The rotary cylinder can drive the second gripper cylinder to rotate, the second gripper cylinder is connected to the second gripper, and the second gripper cylinder can drive the second gripper to clamp or release the product.

[0010] Optionally, an anti-slip pad is fixed to the inner side of the second gripper, a second photoelectric sensor is fixedly installed on the second gripper, and multiple pitch movers are slidably installed on the pitch module.

[0011] Optionally, the camera mounting module includes a mounting bracket, a camera, a camera bracket, and a protective cover. The mounting bracket is fixedly mounted on the variable-range module, the camera bracket is fixedly mounted on the mounting bracket, the camera is fixedly mounted on the camera bracket, and the protective cover is fixedly mounted on the mounting bracket, and the protective cover is used to protect the camera.

[0012] Optionally, the camera bracket is provided with mounting holes, the camera is mounted in the mounting holes, and two parallel strip plates are fixedly provided on the camera bracket. The strip plates are provided with grooves, and the strip plates are placed on the mounting bracket. Screws are inserted into the grooves to fix the strip plates to the mounting bracket.

[0013] The beneficial effects of this application are: the camera positioning module is used to accurately position the product, the variable pitch module is used to accurately adjust the position of the product clamping module, the product clamping module is used to clamp the product, and the foam clamping module is used to clamp the foam. Therefore, this application can realize automatic positioning, automatic adjustment, automatic and accurate clamping of products and foam, as well as accurate feeding, thereby improving the product yield and production efficiency. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the automatic gripping mechanism in this application;

[0015] Figure 2 This is one of the structural schematic diagrams of the clamping unit in this application;

[0016] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0017] Figure 4 for Figure 2 Enlarged view of point B in the middle;

[0018] Figure 5 for Figure 2 Enlarged view of point C in the middle;

[0019] Figure 6 This is the second schematic diagram of the clamping unit in this application;

[0020] Figure 7 This is an exploded view of the foam clamping module in this application;

[0021] Figure 8 This is an exploded view of the product clamping module in this application;

[0022] Figure 9 This is an exploded view of the camera positioning module in this application;

[0023] In the diagram: 100-robotic arm, 200-gripping unit, 210-support frame, 211-mounting component, 220-foam clamping module, 221-first gripper cylinder, 222-slide rail, 223-first gripper, 224-anti-slip block, 225-first photoelectric sensor, 230-variable pitch module, 231-servo motor, 232-variable pitch mover, 233-guide rail, 240-product clamping module, 241-mounting base, 242-rotary cylinder, 243-second gripper cylinder, 244-second gripper, 245-anti-slip pad, 246-second photoelectric sensor, 250-camera positioning module, 251-mounting bracket, 252-camera, 253-camera bracket, 254-mounting hole, 255-strip plate, 256-strip groove, 257-protective cover, 258-fixing block. Detailed Implementation

[0024] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the embodiments of this application. Obviously, the embodiments described in this application are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of the terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0027] Example: Figure 1-9 As shown, an automatic gripping mechanism includes a robotic arm 100 and a gripping unit 200 mounted on the robotic arm 100. The gripping unit 200 includes a support frame 210, a foam clamping module 220, a variable-distance module 230, a product clamping module 240, and a camera positioning module 250. The support frame 210 is mounted on the robotic arm 100. The foam clamping module 220 and the variable-distance module 230 are mounted on the support frame 210. The product clamping module 240 and the camera positioning module 250 are mounted on the variable-distance module 230. The robotic arm 100 drives the gripping unit 200 to a preset position. The foam clamping module 220 is used to grip foam. The variable-distance module 230 is used to adjust the position of the product clamping module 240. The product clamping module 240 is used to grip a product. The camera positioning module 250 is used to take a picture of the product to determine its position.

[0028] The robotic arm 100 can be a four-axis or six-axis robotic arm, and the support frame 210 is fixedly installed on the robotic arm 100 via the mounting component 211. When gripping a product, the robotic arm 100 first drives the gripping unit 200 to a preset position, such as near the product. Then, the camera positioning module 250 takes a picture of the product to accurately locate its position. The variable pitch module 230 adjusts the position of the product clamping module 240 according to the product information from the camera positioning module 250. Finally, after the product clamping module 240 grips the product, the robotic arm 100 delivers the product to the processing station. When gripping foam, the robotic arm 100 drives the gripping unit 200 to the vicinity of the foam. After the foam clamping module 220 grips the foam, the robotic arm 100 delivers the foam to the loading station. In this application, the camera positioning module 250 is used to accurately position the product, the variable pitch module 230 is used to accurately adjust the position of the product clamping module 240, the product clamping module 240 is used to clamp the product, and the foam clamping module 220 is used to clamp the foam. Therefore, this application can realize automatic positioning, automatic adjustment, automatic and accurate clamping of products and foam, and accurate feeding, thereby improving the product yield and production efficiency.

[0029] like Figure 2 , Figure 3 and Figure 7 The foam clamping module 220 includes a first gripper cylinder 221, a slide rail 222, and a first gripper 223. The first gripper cylinder 221 and the slide rail 222 are fixedly installed on the support frame 210. The first gripper 223 is slidably installed on the slide rail 222. The first gripper cylinder 221 is connected to the first gripper 223, and the first gripper cylinder 221 can drive the first gripper 223 to slide along the slide rail 222.

[0030] An anti-slip block 224 is fixedly provided on the inner side of the first gripper cylinder 221. A first photoelectric sensor 225 is fixedly installed on the first gripper cylinder 221. Two sets of foam clamping modules 220 are provided on the support frame 210. The two sets of foam clamping modules 220 are located on both sides of the support frame 210. When the first photoelectric sensor 225 senses the foam, the two first gripper cylinders 221 drive the two first grippers 223 to move towards the position close to the foam at the same time until the two first grippers 223 clamp the foam. In order to improve the clamping force of the first grippers 223 on the foam, an anti-slip block 224 is provided on the inner side of the first gripper 223.

[0031] like Figure 2 and Figure 6As shown, the variable pitch module 230 includes a servo motor 231, a variable pitch mover 232, and a guide rail 233. The guide rail 233 is fixedly mounted on the support frame 210, the variable pitch mover 232 is slidably mounted on the guide rail 233, the servo motor 231 is fixedly mounted on the guide rail 233, the servo motor 231 is connected to the variable pitch mover 232, and the servo motor 231 can drive the variable pitch mover 232 to move along the guide rail 233. The product clamping module 240 is fixedly mounted on the variable pitch mover 232, and a positioning sensor 234 is fixedly mounted on the guide rail 233. When the robot arm 100 drives the gripping unit 200 to run, the positioning sensor 234 is used to guide the robot arm 100 to the end position of its operation. The variable pitch mover 232 is connected to the servo motor 231 through a transmission module, which can be a synchronous pulley and a synchronous belt. The variable pitch mover 232 is fixedly mounted on the synchronous belt. When the servo motor 231 is running, the synchronous belt can drive the variable pitch mover 232 to move linearly along the guide rail 233, thereby adjusting the position of the product clamping module 240 on the variable pitch mover 232 and realizing the precise positioning of the product clamping module 240 with a large stroke.

[0032] like Figure 2 , Figure 4 and Figure 8 As shown, the product clamping module 240 includes a mounting base 241, a rotary cylinder 242, a second gripper cylinder 243, and a second gripper 244. The rotary cylinder 242 is fixedly mounted on the pitch-changing module 230, that is, the rotary cylinder 242 is fixedly mounted on the pitch-changing mover 232. The mounting base 241 is mounted on the rotary cylinder 242, and the second gripper cylinder 243 is mounted on the mounting base 241. The rotary cylinder 242 can drive the second gripper cylinder 243 to rotate. The second gripper cylinder 243 is connected to the second gripper 244, and the second gripper cylinder 243 can drive the second gripper 244 to clamp or release the product. The rotary cylinder 242 is used to drive the second gripper cylinder 243 to rotate to adjust the position of the second gripper 244, so that the second gripper 244 can accurately grasp the product. The second gripper cylinder 243 is fixedly provided with two second grippers 244. The second gripper cylinder 243 can control the two second grippers 244 to move toward the product to clamp the product; or to move away from the product to release the product.

[0033] An anti-slip pad 245 is fixed to the inner side of the second gripper 244, and a second photoelectric sensor 246 is fixedly installed on the second gripper 244. Multiple pitch-changing movers 232 are slidably installed on the pitch-changing module 230. Optionally, four pitch-changing movers 232 are installed on the guide rail 233, and a product clamping module 240 is installed on each pitch-changing mover 232, allowing for the simultaneous clamping of four products and improving product clamping efficiency. The second photoelectric sensor 246 can sense the position of the product, and the anti-slip pad 245 is used to increase the clamping force of the second gripper 244 on the product.

[0034] like Figure 2 , Figure 5 and Figure 9 As shown, the camera mounting module 250 includes a mounting bracket 251, a camera 252, a camera support 253, and a protective cover 257. The mounting bracket 251 is fixedly mounted on the variable-pitch module 230, that is, the mounting bracket 251 is fixedly mounted on the guide rail 233. The camera support 253 is fixedly mounted on the mounting bracket 251, and the camera 252 is fixedly mounted on the camera support 253. The protective cover 257 is fixedly mounted on the mounting bracket 251 and is used to protect the camera 252. The camera 252 is fixedly mounted on the mounting bracket 251 via the camera support 253, and the protective cover 257 protects the camera 252 from damage.

[0035] like Figure 9 As shown, the camera bracket 253 has mounting holes 254, and the camera 252 is mounted in the mounting holes 254. Two parallel strip plates 255 are fixedly mounted on the camera bracket 253. The strip plates 255 have grooves 256 formed in them. The strip plates 255 are placed on the mounting bracket 251, and screws are inserted into the grooves 256 to fix them to the mounting bracket 251. The grooves 256 allow adjustment of the screw positions, thereby adjusting the position between the camera bracket 253 and the mounting bracket 251 to accommodate cameras of different sizes. Optionally, a fixing block 258 is fixedly mounted on the mounting bracket 251.

[0036] The operation process of this application includes the following steps:

[0037] Step 1: When gripping the product, the robotic arm 100 first drives the gripping unit 200 to a preset position, that is, near the product, and uses the position sensor 234 for positioning.

[0038] Step 2: The camera positioning module 250 takes pictures of the product to accurately locate its position, and the variable pitch module 230 adjusts the position of the product clamping module 240 according to the product information from the camera positioning module 250.

[0039] Step 3: The second gripper cylinder 243 in the product clamping module 240 drives the second gripper 244 to clamp the product, and finally the robot arm 100 sends the product to the processing position.

[0040] Step 4: When gripping the foam, the robot arm 100 drives the gripping unit 200 to the vicinity of the foam. After the first gripper cylinder 221 in the foam clamping module 220 drives the first gripper 223 to grip the foam, the robot arm 100 delivers the foam to the loading position.

[0041] It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this patent application shall be determined by the appended claims.

Claims

1. An automatic gripping mechanism, characterized by: The utility model provides a kind of mechanical hand (100) and the gripper unit (200) installed on the mechanical hand (100), the gripper unit (200) includes support frame (210), foam clamping module (220), variable distance module (230), product clamping module (240) and camera positioning module (250), the support frame (210) is installed on the mechanical hand (100), the foam clamping module (220) and the variable distance module (230) are installed on the support frame (210), the product clamping module (240) and the camera positioning module (250) are installed on the variable distance module (230), the mechanical hand (100) is used to drive the gripper unit (200) to run to preset position, the foam clamping module (220) is used to clamp foam, the variable distance module (230) is used to adjust the position of the product clamping module (240), the product clamping module (240) is used to clamp product, the camera positioning module (250) is used to photograph the product to determine the position of the product.

2. The automatic gripping mechanism according to claim 1, characterized in that: The foam clamping module (220) includes a first jaw cylinder (221), a slide rail (222), and a first jaw (223). The first jaw cylinder (221) and the slide rail (222) are fixedly installed on the support frame (210). The first jaw (223) is slidingly installed on the slide rail (222). The first jaw cylinder (221) is connected to the first jaw (223), and the first jaw cylinder (221) can drive the first jaw (223) to slide along the slide rail (222).

3. The automatic gripping mechanism according to claim 2, characterized in that: The inside of the first jaw cylinder (221) is fixedly provided with an anti-skid block (224). A first photoelectric sensor (225) is fixedly installed on the first jaw cylinder (221). The support frame (210) is provided with two sets of foam clamping modules (220).

4. The automatic gripping mechanism according to claim 1, characterized in that: The variable distance module (230) includes a servo motor (231), a variable distance mover (232), and a guide rail (233). The guide rail (233) is fixedly installed on the support frame (210). The variable distance mover (232) is slidingly installed on the guide rail (233). The servo motor (231) is fixedly installed on the guide rail (233). The servo motor (231) is connected to the variable distance mover (232), and the servo motor (231) can drive the variable distance mover (232) to move along the guide rail (233). The product clamping module (240) is fixedly installed on the variable distance mover (232). A position sensor (234) is fixedly installed on the guide rail (233).

5. The automatic gripping mechanism according to claim 1, characterized in that: The product clamping module (240) comprises a mounting base (241), a rotating cylinder (242), a second clamping jaw cylinder (243) and a second clamping jaw (244), the rotating cylinder (242) is fixedly installed on the variable distance module (230), the mounting base (241) is installed on the rotating cylinder (242), the second clamping jaw cylinder (243) is installed on the mounting base (241), the rotating cylinder (242) can drive the second clamping jaw cylinder (243) to rotate, the second clamping jaw cylinder (243) is connected to the second clamping jaw (244), and the second clamping jaw cylinder (243) can drive the second clamping jaw (244) to clamp or release the product.

6. The automatic gripping mechanism according to claim 5, characterized in that: The inner side of the second clamping jaw (244) is fixed with an anti-skid pad (245), a second photoelectric sensor (246) is fixedly installed on the second clamping jaw (244), and a plurality of variable distance movers (232) are slidingly installed on the variable distance module (230).

7. The automatic gripping mechanism according to claim 1, characterized in that: The camera mounting module (250) comprises a mounting bracket (251), a camera (252), a camera bracket (253) and a protective cover (257), the mounting bracket (251) is fixedly installed on the variable distance module (230), the camera bracket (253) is fixedly installed on the mounting bracket (251), the camera (252) is fixedly installed on the camera bracket (253), and the protective cover (257) is fixedly installed on the mounting bracket (251) and used for protecting the camera (252).

8. The automatic gripping mechanism according to claim 7, characterized in that: The camera bracket (253) is provided with a mounting hole (254), the camera (252) is installed in the mounting hole (254), two parallel strip plates (255) are fixedly arranged on the camera bracket (253), strip grooves (256) are formed in the strip plates (255), the strip plates (255) are arranged on the mounting bracket (251), and screws are penetrated into the strip grooves (256) to fix the strip plates (255) on the mounting bracket (251).

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