Adjustable positioning and clamping device of automatic loading and unloading manipulator

Abstract

The application provides a kind of adjustable positioning clamping device of automatic feeding and discharging manipulator, including fixed seat, protection base, rotary cylinder, rotary positioning platform and clamping adjusting disc, rotary cylinder drives clamping adjusting disc to rotate by transmission shaft, logarithmic spiral arc groove is provided on clamping adjusting disc, mirror image is provided with two jaw modules on rotary positioning platform, the guide pin of jaw module extends into logarithmic spiral arc groove, jaw plate is slidably connected to slider through dovetail groove, micro-difference adjusting screw connects slider and jaw plate and is fixed by lock nut, rotary positioning platform lower end is connected to driving motor through intermeshing sector gear and driving gear.The beneficial effects of the application are as follows: logarithmic spiral arc groove is used to realize fast forward and deceleration clamping of jaw module, micro-difference adjusting screw and dovetail groove are used to adjust jaw sliding path, gear transmission is used to adjust clamping angle, and the feeding and discharging requirements of different specifications and postures of workpieces are met.

Description

Technical Field

[0001] This invention mainly relates to the field of automated loading and unloading equipment technology, specifically to an adjustable positioning and clamping device for an automated loading and unloading robot. Background Technology

[0002] In automated production lines, loading and unloading robots are used to transfer workpieces from one station to another. The gripping device is the end effector of the robot, which directly determines the accuracy and efficiency of loading and unloading. Existing gripping devices typically use cylinders or motors to directly drive the opening and closing of the grippers, and the movement stroke of the grippers is fixed, making it difficult to adapt to the gripping requirements of workpieces of different specifications.

[0003] Some clamping devices adapt to different workpieces by changing the grippers, but the gripper changing process is time-consuming, affecting production cycle time. Other clamping devices use adjusting screws to adjust the gripper spacing, but the adjustment structure and the sliding path of the grippers are independent of each other, resulting in limited adjustment accuracy, and the grippers are prone to displacement during sliding after adjustment.

[0004] In situations where the clamping angle needs to be adjusted, existing clamping devices typically achieve this by rotating the entire robotic arm. The positioning accuracy is greatly affected by the accuracy of the robotic arm joints, and the structure is complex and costly. Summary of the Invention

[0005] 1. The technical problem that the invention aims to solve: This invention provides an adjustable positioning and clamping device for an automated loading and unloading robot. The relative movement of the gripper module is driven by a logarithmic spiral arc groove. The sliding distance between the gripper plate and the slider is adjusted by a dovetail groove and a micro-differential adjustment screw to achieve precise adjustment of the clamping stroke. The initial positioning angle of the gripper module is adjusted by the meshing transmission of the sector gear and the drive gear.

[0006] 2. Technical Solution: To achieve the above objectives, the technical solution provided by the present invention is: an adjustable positioning and clamping device for an automated loading and unloading robot, comprising a fixed base, a protective base, a rotary cylinder, a rotary positioning platform, and a clamping adjustment plate; The lower end of the protective base is rotatably connected to the fixed base via a rotating shaft, and the rotary cylinder is located at the upper end of the protective base; The rotary positioning platform is located above the rotary cylinder. The drive shaft of the rotary cylinder passes through the rotary positioning platform and is connected to the clamping adjustment plate. The clamping adjustment plate is provided with a logarithmic spiral arc groove. The rotary positioning platform is mirror-mounted with two gripper modules. Each gripper module includes a guide rail, a slider, a gripper plate, gripping claw fingers, two linkage arms, a hinge shaft, a drive cylinder, a cylinder mounting plate, a force sensor, and a guide pin. The guide rail is fixed to the rotary positioning platform, the slider is slidably connected to the guide rail, and the gripper plate is slidably connected to the slider through a dovetail groove; The clamping claw fingers are located at one end of the clamping claw plate near the clamping adjustment plate, and the two clamping claw fingers are connected by the linkage arm, with the hinge shaft provided at the connection point of the linkage arm; The push-pull end of the drive cylinder is provided with a ball joint rod, which is connected to the hinge shaft; The cylinder mounting plate is located on the upper end of the gripper plate, and a sliding groove is provided on the cylinder mounting plate, through which the hinge shaft passes. The force sensor is located inside the gripper plate; The guide pin is located at the bottom of the front end of the gripper plate and extends into the logarithmic spiral arc groove. The gripper module also includes a differential adjustment screw, one end of which is threadedly connected to the slider, and the other end passes through the gripper plate and is fixed by a locking nut. The clamping adjustment disc is equipped with limiting components around its perimeter. The lower end of the rotary positioning platform is provided with a sector gear and a drive gear. The sector gear is fixedly connected to the rotary positioning platform, and the drive gear meshes with the sector gear. The drive gear is connected to a drive motor.

[0007] Furthermore, the limiting component includes a fixed bracket, an adjusting screw, a positioning shaft, and a guide wheel. The fixed bracket is fixed to the rotary positioning platform, the adjusting screw is horizontally inserted through the fixed bracket, the positioning shaft is rotatably connected to the adjusting screw, and the guide wheel is located at the end of the positioning shaft, abutting against the outer circumferential surface of the clamping adjustment disc.

[0008] Furthermore, one end of each of the two linkage arms is hinged to one of the two clamping claws, and the other end of each of the two linkage arms is hinged to the hinge shaft, which passes through the sliding groove.

[0009] Furthermore, the force sensor is embedded inside the gripper plate, with the detection end of the force sensor facing the gripper finger side.

[0010] Furthermore, the end of the differential adjustment screw connected to the slider is provided with a first external thread, the slider is provided with a threaded hole that mates with the first external thread, the other end of the differential adjustment screw is provided with a smooth rod section, the smooth rod section passes through the gripper plate, and the locking nut is screwed onto the end of the smooth rod section.

[0011] Furthermore, there are two logarithmic spiral arc grooves, which are mirror images of each other with the center of the clamping adjustment plate as the center of symmetry. Each logarithmic spiral arc groove is provided with a guide pin.

[0012] Furthermore, the rotary cylinder is mounted on the protective base, the fixed seat is provided with a rotating shaft, and the lower end of the protective base is sleeved on the rotating shaft.

[0013] 3. Beneficial effects: Compared with the prior art, the technical solution provided by this invention has the following advantages: The logarithmic spiral groove on the clamping adjustment plate engages with the guide pin to convert the rotational motion of the clamping adjustment plate into radial linear motion of the gripper module along the guide rail. The logarithmic spiral curve causes the guide pin to generate rapid radial displacement in the initial stage of the clamping adjustment plate's rotation, and the displacement decreases as it approaches the workpiece, achieving the motion characteristics of rapid advance and deceleration clamping, and reducing clamping impact; The gripper plate is slidably connected to the slider via a dovetail groove. The differential adjustment screw connects the slider and the gripper plate. Tightening the differential adjustment screw can change the relative position between the gripper plate and the slider, thereby adjusting the initial position of the guide pin at the front end of the gripper plate in the logarithmic spiral arc groove. This allows the overall sliding path of the gripper module to adapt to workpieces of different sizes. After adjustment, it is fixed by locking the nut. The structure is simple and the adjustment accuracy is high. The rotary positioning platform achieves rotary positioning through the meshing transmission of a sector gear and a drive gear at its lower end. The drive motor drives the gear to rotate, which in turn drives the sector gear and the rotary positioning platform to rotate, adjusting the initial positioning angle of the gripper module to adapt to the loading and unloading requirements of workpieces with different postures. The limiting components around the clamping adjustment plate abut against the outer circumference of the clamping adjustment plate through guide wheels to ensure the radial positioning accuracy when the clamping adjustment plate rotates.

[0014] It should be noted that the structures not described in this invention are not related to the design points and improvement directions of this invention, and are the same as or can be implemented using existing technologies, and will not be elaborated here. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle; Figure 3 This is a partial structural diagram of the present invention; Figure 4 This is another partial structural schematic diagram of the present invention; Figure 5 This is an exploded view of the gripper module of the present invention; Figure 6This is a schematic diagram of the limiting component structure of the present invention.

[0016] Figure label: 1. Fixed base; 2. Protective base; 3. Rotary cylinder; 4. Drive shaft; 5. Rotary positioning platform; 6. Clamping adjustment plate; 7. Logarithmic spiral arc groove; 8. Gripper module; 9. Guide rail; 10. Slider; 11. Gripper plate; 12. Dovetail groove; 13. Clamping claw finger; 14. Linkage arm; 15. Hinge shaft; 16. Drive cylinder; 17. Ball joint rod; 18. Cylinder mounting plate; 19. Sliding groove; 20. Force sensor; 21. Guide pin; 22. Micro-differential adjustment screw; 23. Locking nut; 24. Limiting component; 25. Fixed bracket; 26. Adjusting screw; 27. Positioning shaft; 28. Guide wheel; 29. ​​Sector gear; 30. Drive gear; 31. Drive motor. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description of the invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be more thorough and complete.

[0018] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," "provided with," and "located in" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] See attached document Figure 1-6 An adjustable positioning and clamping device for an automated loading and unloading robot includes a fixed base 1, a protective base 2, a rotary cylinder 3, a transmission shaft 4, a rotary positioning platform 5, a clamping adjustment plate 6, a logarithmic spiral arc groove 7, two gripper modules 8, a limit component 24, a sector gear 29, a drive gear 30, and a drive motor 31.

[0022] The fixed base 1 serves as the installation foundation for the entire device. A rotating shaft is provided on the fixed base 1. The lower end of the protective base 2 is sleeved on the rotating shaft and rotatably connected to the fixed base 1. The rotary cylinder 3 is located on the protective base 2. The output end of the rotary cylinder 3 is connected to the drive shaft 4. The drive shaft 4 vertically extends upward through the rotary positioning platform 5 and is connected to the clamping adjustment plate 6. The rotary cylinder 3 drives the drive shaft 4 to rotate, and the drive shaft 4 drives the clamping adjustment plate 6 to rotate.

[0023] The rotary positioning platform 5 is a circular plate structure, horizontally positioned above the rotary cylinder 3. The clamping adjustment plate 6 is a disc-shaped structure, located above the rotary positioning platform 5. The clamping adjustment plate 6 has two logarithmic spiral arc grooves 7, which are mirror images of each other with the center of the clamping adjustment plate 6 as the center of symmetry. The center lines of the logarithmic spiral arc grooves 7 satisfy the polar coordinate equation r=a・e^(bθ), where b is the spiral extension coefficient.

[0024] Two gripper modules 8 are mirror images of each other on the rotary positioning platform 5, located on both sides of the clamping adjustment plate 6. Each gripper module 8 includes a guide rail 9, a slider 10, a gripper plate 11, a dovetail groove 12, a gripping claw finger 13, two linkage arms 14, a hinge shaft 15, a drive cylinder 16, a ball joint rod 17, a cylinder mounting plate 18, a sliding groove 19, a force sensor 20, a guide pin 21, a differential adjustment screw 22, and a locking nut 23.

[0025] The guide rail 9 is fixed on the rotary positioning platform 5. The length of the guide rail 9 extends radially along the clamping adjustment plate 6. The slider 10 is slidably connected to the guide rail 9 and can slide back and forth along the guide rail 9. The gripper plate 11 is slidably connected to the slider 10 through the dovetail groove 12. The dovetail groove 12 includes a convex rail provided on the slider 10 and a groove provided at the bottom of the gripper plate 11. The convex rail and the groove cooperate to allow the gripper plate 11 to slide relative to the slider 10 along the convex rail. The guiding direction of the dovetail groove 12 is consistent with the guiding direction of the guide rail 9.

[0026] The gripping claw fingers 13 are located at one end of the gripping claw plate 11 near the center of the gripping adjustment disk 6. The two gripping claw fingers 13 are arranged vertically opposite each other. One end of the two linkage arms 14 is hinged to the two gripping claw fingers 13 respectively, and the other end of the two linkage arms 14 is hinged to the hinge shaft 15. The drive cylinder 16 is fixed on the gripping claw plate 11. The push-pull end of the drive cylinder 16 is provided with a ball head rod 17. The end of the ball head rod 17 is provided with a ball head. The hinge shaft 15 is provided with a ball head seat, and the ball head is embedded in the ball head seat. The cylinder mounting plate 18 is located at the upper end of the gripping claw plate 11. The cylinder mounting plate 18 is provided with a sliding groove 19 extending radially along the gripping adjustment disk 6. The hinge shaft 15 passes through the sliding groove 19 and can slide back and forth along the sliding groove 19.

[0027] When the drive cylinder 16 pushes or pulls the ball joint rod 17, the ball joint rod 17 drives the hinge shaft 15 to move along the sliding groove 19. The hinge shaft 15 drives the two clamping claw fingers 13 to open and close through the two linkage arms 14, thereby clamping or releasing the workpiece. The ball joint connection between the ball joint rod 17 and the hinge shaft 15 allows for a certain angular deviation when the hinge shaft 15 moves in the sliding groove 19, thus avoiding jamming.

[0028] Force sensor 20 is embedded inside gripper plate 11. The detection end of force sensor 20 faces the gripper finger 13 and is used to detect the gripping force of gripper finger 13 when it grips the workpiece in real time.

[0029] The guide pin 21 is located at the bottom front end of the gripper plate 11. The guide pin 21 extends downward into the logarithmic spiral arc groove 7. When the clamping adjustment plate 6 rotates, the groove wall of the logarithmic spiral arc groove 7 pushes the guide pin 21 to move along the groove. The guide pin 21 drives the gripper plate 11 and the slider 10 to make radial linear motion along the guide rail 9. Since the extreme diameter of the logarithmic spiral arc groove 7 increases with the increase of the extreme angle, when the clamping adjustment plate 6 rotates, the guide pin 21 moves rapidly radially in the inner section of the groove and decreases radially in the outer section, so that the gripper module 8 first quickly approaches the workpiece and then slowly clamps it.

[0030] The differential adjustment screw 22 is horizontally arranged along the guide rail 9. One end of the differential adjustment screw 22 is provided with a first external thread, and the slider 10 is provided with a threaded hole that mates with the first external thread. The end of the differential adjustment screw 22 is screwed into the threaded hole of the slider 10. The other end of the differential adjustment screw 22 is provided with a smooth rod section that passes through the gripper plate 11. The locking nut 23 is screwed onto the end of the smooth rod section. When the differential adjustment screw 22 is turned, the differential adjustment screw 22 moves axially relative to the slider 10. The smooth rod section pulls or pushes the gripper plate 11 to slide relative to the slider 10 along the dovetail groove 12, changing the relative position between the gripper plate 11 and the slider 10, thereby changing the initial position of the guide pin 21 in the logarithmic spiral arc groove 7, adjusting the overall sliding path of the gripper module 8. After adjustment, the locking nut 23 is tightened to fix the gripper plate 11 and the differential adjustment screw 22.

[0031] Multiple limiting components 24 are provided and are evenly distributed on the rotary positioning platform 5 along the outer periphery of the clamping adjustment disk 6. Each limiting component 24 includes a fixed bracket 25, an adjusting screw 26, a positioning shaft 27, and a guide wheel 28. The fixed bracket 25 is fixed on the rotary positioning platform 5. The adjusting screw 26 is horizontally inserted through the fixed bracket 25. The axis of the adjusting screw 26 extends radially along the clamping adjustment disk 6. The positioning shaft 27 is rotatably connected to the adjusting screw 26. The guide wheel 28 is located at the end of the positioning shaft 27 and abuts against the outer peripheral surface of the clamping adjustment disk 6. Tightening the adjusting screw 26 can adjust the radial position of the positioning shaft 27 and the guide wheel 28, so that the guide wheel 28 abuts against the clamping adjustment disk 6 with appropriate pressure, thereby radially limiting the rotation of the clamping adjustment disk 6.

[0032] The sector gear 29 is fixedly connected to the lower end face of the rotary positioning platform 5. The drive gear 30 meshes with the sector gear 29. The drive motor 31 is fixed on the protective base 2 or the fixed seat 1. The output shaft of the drive motor 31 is connected to the drive gear 30. The drive motor 31 drives the gear 30 to rotate. The drive gear 30 drives the sector gear 29 and the rotary positioning platform 5 to rotate around the central axis. The initial positioning angle of the two gripper modules 8 on the rotary positioning platform 5 is adjusted to adapt to the loading and unloading requirements of workpieces with different postures.

[0033] The working process of this embodiment is as follows: Based on the workpiece dimensions, the differential adjustment screw 22 is turned to adjust the relative position between the gripper plate 11 and the slider 10, so that the guide pin 21 is in the appropriate initial position within the logarithmic spiral arc groove 7, and the locking nut 23 is tightened to fix it. Based on the workpiece posture, the drive motor 31 drives the rotary positioning platform 5 to rotate to the set angle through the drive gear 30 and the sector gear 29, so that the gripper module 8 is aligned with the workpiece.

[0034] Rotary cylinder 3 drives transmission shaft 4 to rotate clamping adjustment plate 6. Logarithmic spiral arc groove 7 pushes guide pin 21. Two gripper modules 8 move synchronously towards the center along guide rail 9, quickly approaching the workpiece. After approaching the workpiece, guide pin 21 enters the outer section of logarithmic spiral arc groove 7, and the moving speed slows down. Drive cylinder 16 pushes ball head rod 17. Ball head rod 17 drives hinge shaft 15 to move forward along sliding groove 19. Two linkage arms 14 drive two gripping claw fingers 13 to close and clamp the workpiece. Force sensor 20 detects the clamping force in real time. When the clamping force reaches the set value, drive cylinder 16 stops pushing.

[0035] When releasing the workpiece, the drive cylinder 16 pulls the ball head rod 17, the hinge shaft 15 moves backward along the sliding groove 19, and the linkage arm 14 drives the gripper fingers 13 to open; the rotary cylinder 3 reverses, the clamping adjustment plate 6 rotates in the opposite direction, and the logarithmic spiral arc groove 7 drives the guide pin 21 and the gripper module 8 to retract outward along the guide rail 9, releasing the workpiece.

[0036] The above-described embodiments are merely illustrative of certain implementations of the present invention, and are described in a relatively specific and detailed manner. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An adjustable positioning and clamping device for an automated loading and unloading robot, comprising a fixed base (1), a protective base (2), a rotary cylinder (3), a rotary positioning platform (5), and a clamping adjustment plate (6), characterized in that: The lower end of the protective base (2) is rotatably connected to the fixed base (1) via a rotating shaft, and the rotary cylinder (3) is located at the upper end of the protective base (2); The rotary positioning platform (5) is located above the rotary cylinder (3). The drive shaft (4) of the rotary cylinder (3) passes through the rotary positioning platform (5) and is connected to the clamping adjustment plate (6). The clamping adjustment plate (6) is provided with a logarithmic spiral arc groove (7). The rotary positioning platform (5) is mirrored with two gripper modules (8). Each gripper module (8) includes a guide rail (9), a slider (10), a gripper plate (11), gripper fingers (13), two linkage arms (14), a hinge shaft (15), a drive cylinder (16), a cylinder mounting plate (18), a force sensor (20), and a guide pin (21). The guide rail (9) is fixed on the rotary positioning platform (5), the slider (10) is slidably connected to the guide rail (9), and the gripper plate (11) is slidably connected to the slider (10) through the dovetail groove (12); The clamping claw fingers (13) are located at one end of the clamping claw plate (11) near the clamping adjustment plate (6). The two clamping claw fingers (13) are connected by the linkage arm (14), and the hinge shaft (15) is provided at the connection point of the linkage arm (14). The push-pull end of the drive cylinder (16) is provided with a ball head rod (17), which is connected to the hinge shaft (15); The cylinder mounting plate (18) is located on the upper end of the gripper plate (11), and a sliding groove (19) is provided on the cylinder mounting plate (18), and the hinge shaft (15) passes through the sliding groove (19); The force sensor (20) is located inside the gripper plate (11); The guide pin (21) is located at the bottom of the front end of the gripper plate (11), and the guide pin (21) extends into the logarithmic spiral arc groove (7); The gripper module (8) also includes a differential adjustment screw (22), one end of which is threadedly connected to the slider (10), and the other end passes through the gripper plate (11) and is fixed by a locking nut (23); The clamping adjustment plate (6) is provided with limiting components (24) around its perimeter; The lower end of the rotary positioning platform (5) is provided with a sector gear (29) and a drive gear (30). The sector gear (29) is fixedly connected to the rotary positioning platform (5), and the drive gear (30) meshes with the sector gear (29). The drive gear (30) is connected to a drive motor (31).

2. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: The limiting component (24) includes a fixed bracket (25), an adjusting screw (26), a positioning shaft (27), and a guide wheel (28). The fixed bracket (25) is fixed on the rotary positioning platform (5). The adjusting screw (26) is horizontally inserted through the fixed bracket (25). The positioning shaft (27) is rotatably connected to the adjusting screw (26). The guide wheel (28) is located at the end of the positioning shaft (27) and abuts against the outer circumferential surface of the clamping adjustment disc (6).

3. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: One end of each of the two linkage arms (14) is hinged to one of the two clamping claws (13), and the other end of each of the two linkage arms (14) is hinged to the hinge shaft (15), which passes through the sliding groove (19).

4. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: The force sensor (20) is embedded inside the gripper plate (11), with the detection end of the force sensor (20) facing the gripper finger (13).

5. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: The differential adjustment screw (22) is connected to the slider (10) at one end with a first external thread. The slider (10) is provided with a threaded hole that mates with the first external thread. The other end of the differential adjustment screw (22) is provided with a smooth rod section. The smooth rod section passes through the gripper plate (11). The locking nut (23) is screwed onto the end of the smooth rod section.

6. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: The logarithmic spiral arc groove (7) has two sections, and the two logarithmic spiral arc grooves (7) are mirror images of each other with the center of the clamping adjustment plate (6) as the center of symmetry. Each logarithmic spiral arc groove (7) has a guide pin (21).

7. The adjustable positioning and clamping device for the automated loading and unloading robot according to claim 1, characterized in that: The rotary cylinder (3) is mounted on the protective base (2), and the fixed seat (1) is provided with a rotating shaft. The lower end of the protective base (2) is sleeved on the rotating shaft.

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