Manipulator clamp of laser cutting machine

Abstract

The invention discloses a manipulator clamp of a laser cutting machine, and relates to the technical field of laser cutting clamps. Comprising a basic frame, a clamping jaw module and a driving motor, a worm and a worm gear are rotationally arranged in the basic frame, and the worm is connected with the driving motor; a threaded hole is formed in the middle of the worm gear; the clamping jaw module comprises a fixed clamping jaw and a movable clamping jaw; the bottom of the fixed clamping jaw forms an upper clamping plate, and the bottom of the movable clamping jaw forms a lower clamping plate. A stud is welded to the top of the movable clamping jaw and connected into a threaded hole of the worm gear in a threaded mode. A first pressure sensor is arranged at the bottom of the upper clamping plate; a second pressure sensor is arranged at the top of the lower clamping plate; a laser displacement sensor is fixedly arranged on the top of the inner side of the foundation frame. The clamping force is adjustable, and the clamping device can adapt to products of different specifications; the product gravity is detected through the second pressure sensor, the adaptive clamping force is calculated in combination with product thickness data, and then feedback adjustment is performed through the first pressure sensor, so that the problems of deformation of thin and small products and falling of heavier products are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cutting clamp, in particular to a laser cutting machine mechanical hand clamp. BACKGROUND

[0002] The laser cutting machine is widely used in industrial production for high-precision cutting of metal and non-metal materials. After cutting, the product needs to be taken out from the cutting platform by the mechanical hand clamp. The existing mechanical hand clamp is driven by a cylinder, and the clamping force is determined by the gas pressure of the gas source, which cannot be flexibly adjusted according to the product specifications.

[0003] When facing products with small thickness and light weight, the fixed clamping force is easy to exceed the tolerance limit of the product, causing the product to deform and affecting the product precision. When facing products with heavy weight, the fixed clamping force may not be sufficient to stably grasp the product, and the product may fall, causing product damage and possibly triggering equipment failure or safety hazards. Therefore, there is an urgent need for a mechanical hand clamp that can flexibly adjust the clamping force and adapt to different specifications of products to solve the shortcomings of the prior art. SUMMARY

[0004] The main purpose of the present application is to provide a laser cutting machine mechanical hand clamp to solve the above problems.

[0005] To achieve the above purpose, the present application provides a laser cutting machine mechanical hand clamp, comprising a base frame and a clamping jaw module. One side of the base frame is fixedly provided with a driving motor, and a worm and a worm wheel are rotatably arranged in the base frame and are in meshing engagement. The axis of the worm is horizontally arranged, and the axis of the worm wheel is vertically arranged. One end of the worm is connected to the output shaft of the driving motor through a shaft coupling. A threaded hole is formed in the middle of the worm wheel along its axis. The clamping jaw module comprises a fixed clamping jaw and a movable clamping jaw, both of which are in L-shaped structure. The bottom of the fixed clamping jaw is horizontally extended to form an upper clamping plate, and the bottom of the movable clamping jaw is horizontally extended to form a lower clamping plate. The lower clamping plate is located directly below the upper clamping plate, and the clamping surfaces of the upper and lower clamping plates are parallel. The top end of the fixed clamping jaw is detachably fixed to the bottom of the base frame by bolts. The top of the movable clamping jaw is welded with a stud, which is screwed into the threaded hole of the worm wheel. A square limiting sliding hole is formed in the bottom plate of the base frame, which is matched with the square cross section of the movable clamping jaw. The bottom of the upper clamping plate is provided with a first pressure sensor for detecting the clamping force of the product by the clamping jaw module; the top of the lower clamping plate is provided with a second pressure sensor for detecting the gravity of the product to be grabbed; and the inner top of the base frame is fixedly provided with a laser displacement sensor located directly above the stud for detecting the movement displacement of the movable clamping jaw.

[0006] Further, the bottom of the upper clamping plate is floatingly provided with an upper clamping block, and the top of the lower clamping plate is floatingly provided with a lower clamping block; the first pressure sensor is clamped between the upper clamping plate and the upper clamping block, and the second pressure sensor is clamped between the lower clamping plate and the lower clamping block.

[0007] Further, the upper clamping block and the lower clamping block are both made of flexible material, which is one of nylon, silica gel or rubber.

[0008] Further, the upper clamping block and the lower clamping block are both provided with four countersunk holes, and the bottom of the upper clamping plate and the top of the lower clamping plate are both screwed with light rod bolts matched with the countersunk holes.

[0009] Further, the driving motor is a servo motor or a stepping motor, and the driving motor is electrically connected with a controller, and the controller is signal-connected with the first pressure sensor, the second pressure sensor and the laser displacement sensor respectively.

[0010] Further, two first bearing supports and two second bearing supports are fixedly arranged in the base frame, and the two ends of the worm are connected with the two first bearing supports through bearings respectively, and the two ends of the worm wheel are connected with the two second bearing supports through bearings respectively.

[0011] The present application has the following advantages: The clamping force can be adjusted to adapt to different specifications of products; the product gravity is detected by the second pressure sensor, the adaptive clamping force is calculated combined with the product thickness data, and the first pressure sensor is fed back to adjust, so as to avoid the problems of deformation of thin and small products and falling of heavy products.

[0012] The transmission precision of the worm and gear meshing structure is high, the cooperation of the stud and the threaded hole can ensure the stable movement of the movable clamping jaw; at the same time, the worm and gear mechanism has the self-locking characteristic, so that even if the power is cut off, the worm wheel will not rotate reversely, which can prevent the product from falling and improve the safety.

[0013] The floating clamping block made of flexible material can not only avoid scratching the surface of the product, but also buffer the clamping force, protect the pressure sensor and prolong the service life of the clamp.

[0014] The laser displacement sensor detects the displacement of the movable clamping jaw in real time, the opening size of the clamping jaw can be accurately controlled, excessive closing or insufficient opening is avoided, and the clamping efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole schematic view of the mechanical hand clamp of the laser cutting machine.

[0016] Figure 2 It is an internal schematic view of the basic frame of the mechanical hand clamp of the laser cutting machine.

[0017] Figure 3 It is a partial sectional view of the clamping jaw module of the mechanical hand clamp of the laser cutting machine.

[0018] Wherein, 1-basic frame; 2-clamping jaw module; 3-driving motor; 11-laser displacement sensor; 12-second bearing support; 13-worm wheel; 14-worm; 15-first bearing support; 16-square limiting sliding hole; 21-fixed clamping jaw; 22-movable clamping jaw; 211-upper clamping plate; 212-upper clamping block; 213-first pressure sensor; 221-lower clamping plate; 222-lower clamping block; 223-stud; 224-second pressure sensor; 225-counterbore; 226-light rod bolt. DETAILED DESCRIPTION

[0019] In order to achieve the above-mentioned purposes and effects, the technical means and structure adopted by the present application are described in detail in combination with the preferred embodiments of the present application, the characteristics and functions of which are described in combination with the drawings.

[0020] As shown in Figures 1-2 The present application provides a mechanical hand clamp of a laser cutting machine, which comprises a basic frame 1 and a clamping jaw module 2. A driving motor 3 is fixedly arranged on one side of the basic frame 1, a worm 14 and a worm wheel 13 are rotatably arranged in the basic frame 1 and are in meshing relationship, the axis of the worm 14 is horizontally arranged, the axis of the worm wheel 13 is vertically arranged, one end of the worm 14 is connected with the output shaft of the driving motor 3 through a shaft coupling, and a threaded hole is formed in the middle of the worm wheel 13 along the axial direction. The clamping jaw module 2 comprises a fixed clamping jaw 21 and a movable clamping jaw 22, both of which are L-shaped structures; the bottom of the fixed clamping jaw 21 extends horizontally to form an upper clamping plate 211, the bottom of the movable clamping jaw 22 extends horizontally to form a lower clamping plate 221, the lower clamping plate 221 is located directly below the upper clamping plate 211, and the clamping surfaces of the upper clamping plate 211 and the lower clamping plate 221 are parallel; the top end of the fixed clamping jaw 21 is detachably fixed to the bottom of the base frame 1 by bolts; the top of the movable clamping jaw 22 is welded with a threaded stud 223, which is screwed into the threaded hole of the worm gear 13; a square limiting sliding hole 16 is formed in the bottom plate of the base frame 1, which is matched with the square cross section of the movable clamping jaw 22. A first pressure sensor 213 is arranged at the bottom of the upper clamping plate 211, which is used to detect the clamping force of the clamping jaw module 2 on the product; a second pressure sensor 224 is arranged at the top of the lower clamping plate 221, which is used to detect the weight of the product when it contacts the lower clamping plate, providing basic data for clamping force adjustment; a laser displacement sensor 11 is fixedly arranged at the inner top of the base frame 1, which is located directly above the threaded stud 223 and can detect the movement displacement of the threaded stud 223 (i.e. the movable clamping jaw 22), combined with the preset product thickness data, to control the opening size of the clamping jaw module, avoiding excessive closing of the clamping jaw to damage the product.

[0021] An upper clamping block 212 is arranged at the bottom of the upper clamping plate 211 in a floating manner, and a lower clamping block 222 is arranged at the top of the lower clamping plate 221 in a floating manner; the first pressure sensor 213 is clamped between the upper clamping plate 211 and the upper clamping block 212, and the second pressure sensor 224 is clamped between the lower clamping plate 221 and the lower clamping block 222; the floating structure can buffer the clamping impact force and avoid damage to the sensor due to rigid contact.

[0022] The upper clamping block 212 and the lower clamping block 222 are made of flexible materials such as nylon, silica gel and rubber, which can increase the friction force with the product and improve the clamping stability, and also avoid surface scratches caused by rigid contact between the clamping jaw and the product.

[0023] Four counterbores 225 are arranged on the upper clamping block 212 and the lower clamping block 222, and light rod bolts 226 matched with the counterbores 225 are screwed to the bottom of the upper clamping plate 211 and the top of the lower clamping plate 221.

[0024] The driving motor 3 is a servo motor or a stepping motor, and the driving motor 3 is electrically connected with a controller, and the controller is signal connected with the first pressure sensor 213, the second pressure sensor 224 and the laser displacement sensor 11 respectively.

[0025] Two first bearing supports 15 and two second bearing supports 12 are fixedly installed inside the basic frame 1. The two ends of the worm gear 14 are respectively connected to the two first bearing supports 15 through bearings, and the two ends of the worm wheel 13 are respectively connected to the two second bearing supports 12 through bearings.

[0026] In the initial state, the drive motor 3 drives the worm gear 14 to rotate, causing the worm wheel 13 to drive the stud 223 to move downward. The moving gripper 22 moves down along the square limiting sliding hole 16 to the preset displacement, and the gripper module 2 is in the preset state, waiting to grab the product.

[0027] After the laser cutting machine completes the cutting, the robotic arm moves the clamp to one side of the product, so that the opening of the gripper module 2 is opposite to the product. Then, the robotic arm moves the clamp mechanically, so that the lower clamping plate 221 is below the product and the upper clamping plate 211 is above the product. Then, the controller controls the drive motor 3 to drive the worm gear 14 to rotate in the opposite direction, so that the worm wheel 13 drives the stud 223 to move upward, so that the lower clamping block 222 lifts the product. The second pressure sensor 224 detects the product's weight and transmits the data to the controller. The controller combines the pre-input product thickness data (or detects the product thickness through the laser displacement sensor) and calculates the required clamping force according to the preset algorithm (such as clamping force = product weight × (1.2~1.5), the specific coefficient is adjusted according to the product material).

[0028] When the product contacts the clamping block 212, the first pressure sensor 213 detects the clamping force and feeds it back to the controller in real time. When the clamping force reaches the calculated value, the controller controls the drive motor 3 to stop running, completing the product clamping. During unloading, the robot arm moves the clamp to the designated position, and the drive motor 3 moves the moving gripper 22 downward to release the product.

[0029] The above description is only a preferred embodiment of the present invention and not all embodiments. Anyone should know that structural changes made under the guidance of the present invention, and any technical solutions that are the same as or similar to the present invention, are within the protection scope of the present invention.

Claims

1. A robotic gripper for a laser cutting machine, characterized in that, Includes the basic framework and gripper module; A drive motor is fixedly installed on one side of the basic frame. A worm and a worm wheel are rotatably installed inside the basic frame. The axis of the worm is horizontal and the axis of the worm wheel is vertical. One end of the worm is connected to the output shaft of the drive motor through a coupling. A through threaded hole is opened in the middle of the worm wheel along its axis. The gripper module includes a fixed gripper and a movable gripper, both of which are L-shaped. The bottom of the fixed gripper extends horizontally to form an upper clamping plate, and the bottom of the movable gripper extends horizontally to form a lower clamping plate. The lower clamping plate is located directly below the upper clamping plate, and the clamping surfaces of the upper and lower clamping plates are parallel. The top of the fixed gripper is detachably fixed to the bottom of the base frame by bolts. A stud is welded to the top of the movable gripper, and the stud is screwed into the threaded hole of the worm gear. A square limiting sliding hole adapted to the square cross-section of the movable gripper is provided on the bottom plate of the base frame. A first pressure sensor is provided at the bottom of the upper clamping plate, which is used to detect the clamping force of the gripper module on the product; a second pressure sensor is provided at the top of the lower clamping plate, which is used to detect the gravity of the product to be gripped; a laser displacement sensor is fixedly provided at the top inner side of the base frame, which is located directly above the stud and is used to detect the movement displacement of the moving gripper.

2. The robotic gripper for a laser cutting machine as described in claim 1, characterized in that, An upper clamping block is floatingly disposed at the bottom of the upper clamping plate, and a lower clamping block is floatingly disposed at the top of the lower clamping plate; the first pressure sensor is clamped between the upper clamping plate and the upper clamping block, and the second pressure sensor is clamped between the lower clamping plate and the lower clamping block.

3. The robotic gripper for a laser cutting machine as described in claim 2, characterized in that, Both the upper clamping block and the lower clamping block are made of flexible material, which is one of nylon, silicone or rubber.

4. The robotic gripper for a laser cutting machine as described in claim 2, characterized in that, Both the upper and lower clamping blocks are provided with four countersunk holes, and the bottom of the upper clamping plate and the top of the lower clamping plate are screwed with smooth bolts that are compatible with the countersunk holes.

5. A robotic gripper for a laser cutting machine as described in any one of claims 1-4, characterized in that, The drive motor is a servo motor or a stepper motor, and the drive motor is electrically connected to a controller, which is connected to the first pressure sensor, the second pressure sensor and the laser displacement sensor respectively.

6. The robotic gripper for a laser cutting machine as described in claim 1, characterized in that, Two first bearing supports and two second bearing supports are fixedly installed within the basic frame. The two ends of the worm are connected to the two first bearing supports via bearings, and the two ends of the worm wheel are connected to the two second bearing supports via bearings.

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