Robot gripper and system

Abstract

The utility model discloses a robot gripper and a system. The robot gripper comprises a mounting support frame, a first clamping mechanism, a second clamping mechanism, a first driving mechanism and a second driving mechanism, the first clamping mechanism and the second clamping mechanism are installed on the installation supporting frame in a spaced mode. The first clamping mechanism comprises a first clamping arm, a first rotating shaft and a first clamping assembly. The first clamping assembly is installed at the end, away from the installation supporting frame, of the first clamping arm through the first rotating shaft. The second clamping mechanism comprises a second clamping arm, a second rotating shaft and a second clamping assembly. The second clamping assembly is installed at the end, away from the installation supporting frame, of the second clamping arm through the second rotating shaft. The first clamping arm and / or the second clamping arm are / is slidably mounted on the mounting support frame; the first driving mechanism is in transmission connection with the first clamping arm and / or the second clamping arm; the second driving mechanism is in transmission connection with the first rotating shaft and / or the second rotating shaft. According to the invention, the robot gripper grabs the blank and automatically turns over the blank.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to a robot gripper and system. Background Art

[0002] After the surface of the diesel engine cylinder head blank is shot peened, a certain amount of steel grit will remain inside the blank due to the irregular inner cavity. In order to reduce the impact of these steel grits on the subsequent painting and other processes of the blank, a blank sand removal process is added in the actual production. This process requires the cylinder head blank to be turned over. The current production process to achieve blank turning is to manually use a crane with a special hoist to hoist the cylinder head for blank cleaning. This production method cannot achieve automatic blank turning. The blank needs to be manually tilted and sanded. After sand cleaning, it needs to be manually hoisted to the blank pre-processing station. This production method has problems such as high labor intensity of manual work and low level of automation. Utility Model Content

[0003] The present application discloses a robot gripper and system, which can solve the problems of high labor intensity and low automation level of manual work in the traditional existing technology.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] A robot gripper, comprising: a mounting support frame, a first clamping mechanism, a second clamping mechanism, a first driving mechanism, and a second driving mechanism;

[0006] The first clamping mechanism and the second clamping mechanism are installed at intervals on the mounting support frame; the first clamping mechanism includes a first clamping arm, a first rotating shaft and a first clamping assembly, and the first clamping assembly is rotatably installed on the end of the first clamping arm away from the mounting support frame through the first rotating shaft; the second clamping mechanism includes a second clamping arm, a second rotating shaft and a second clamping assembly, and the second clamping assembly is rotatably installed on the end of the second clamping arm away from the mounting support frame through the second rotating shaft; the first clamping arm and / or the second clamping arm are slidably installed on the mounting support frame;

[0007] The first driving mechanism is in transmission connection with the first clamping arm and / or the second clamping arm, and is used for driving the first clamping arm to move relative to the second clamping arm so as to adjust the gap between the first clamping arm and the second clamping arm;

[0008] The second driving mechanism is drivingly connected to the first rotating shaft and / or the second rotating shaft, and is used to drive the first clamping assembly and / or the second clamping assembly to rotate around the axis of the first rotating shaft and / or the second rotating shaft.

[0009] The robot gripper of the present application includes a mounting support frame, a first clamping mechanism, a second clamping mechanism, a first driving mechanism and a second driving mechanism, wherein the mounting support frame, the first driving mechanism and the second driving mechanism belong to the main body of the gripper, and the main body of the gripper mainly plays the role of adjusting the distance between the first clamping arm and the second clamping arm and outputting the rotational power, etc. The mounting support frame is the skeleton of the entire gripper, and provides installation and activity space for other driving parts, actuators, connectors, etc. Specifically, the first clamping mechanism, the second clamping mechanism, the first driving mechanism and the second driving mechanism are directly or indirectly mounted on the mounting support frame. The first driving mechanism is connected to the first clamping arm and / or the second clamping arm in a transmission manner, and is used to drive the first clamping arm to slide relative to the second clamping arm along the mounting support frame to change the distance between the first clamping arm and the second clamping arm, thereby realizing the distance adjustment between the first clamping assembly and the second clamping assembly. The second driving mechanism is connected to the first rotating shaft and / or the second rotating shaft in a transmission manner, and is used to transmit the rotational power to the first rotating shaft and / or the second rotating shaft, so that the first rotating shaft drives the first clamping assembly to rotate, and the second rotating shaft drives the second clamping assembly to rotate.

[0010] The present application uses a first driving mechanism to make the first clamping arm and / or the second clamping arm slide horizontally to adjust the gap between the first clamping assembly and the second clamping assembly, and uses a second driving mechanism to make the first clamping assembly and / or the second clamping assembly rotate, thereby realizing the robot gripper grasping the blank and the automatic flipping of the blank, solving the problems of high labor intensity and low automation level of manual operation in traditional technologies.

[0011] In some embodiments, the first driving mechanism includes a linear drive and a linear guide rail, and the first clamping arm is slidably mounted on the mounting support frame through the linear guide rail;

[0012] The linear drive is fixed to the mounting support frame and is transmission-connected to the first clamping arm, and is used to drive the first clamping arm to slide along the extension direction of the linear guide rail.

[0013] In some embodiments, the first driving mechanism further includes a push-pull rod and a transfer rod;

[0014] One end of the push-pull rod is transmission-connected to the linear drive, and the other end is transmission-connected to the transfer rod. One end of the transfer rod away from the push-pull rod is transmission-connected to the first clamping arm.

[0015] In some embodiments, the first drive mechanism further comprises a first synchronous transmission assembly, the first synchronous transmission assembly comprising a central gear, a first rack and a second rack;

[0016] The central gear is fixed on the mounting support frame, the first rack is fixed on the first clamp arm, the second rack is fixed on the second clamp arm, and the second clamp arm is slidably mounted on the mounting support frame through the linear guide rail; the first rack and the second rack are both meshed with the central gear for transmission.

[0017] In some embodiments, the second driving mechanism includes a rotational drive, and the rotational drive is drivingly connected to the first rotating shaft and / or the second rotating shaft.

[0018] In some embodiments, the second drive mechanism further includes a first transmission assembly and / or a second transmission assembly;

[0019] The first transmission assembly and / or the second transmission assembly comprises a driving sprocket, a driven sprocket and a chain, wherein the driving sprocket is fixedly arranged at one end of the first clamp arm and / or the second clamp arm close to the mounting support frame, and the driven sprocket is fixedly arranged at one end of the first clamp arm and / or the second clamp arm away from the mounting support frame; wherein:

[0020] The driving sprocket is transmission connected to the rotary drive, the driven sprocket is transmission connected to the driving sprocket through the chain, and the driven sprocket is transmission connected to the first rotating shaft and / or the second rotating shaft.

[0021] In some embodiments, the second drive mechanism further comprises a second synchronous transmission assembly, wherein the second synchronous transmission assembly comprises a spline shaft and a spline sleeve;

[0022] The spline shaft is transmission-connected to the rotary drive;

[0023] The first transmission assembly and / or the second transmission assembly is in transmission connection with the spline shaft via the spline sleeve, and the first transmission assembly and / or the second transmission assembly can enable the first clamp arm and / or the second clamp arm to slide axially relative to the spline shaft via the spline sleeve.

[0024] In some embodiments, the first clamping assembly and / or the second clamping assembly comprises a first driving portion, a clamping bracket, a first clamping plate and a second clamping plate;

[0025] The clamping bracket is fixed to the first rotating shaft and / or the second rotating shaft;

[0026] The first clamping plate and / or the second clamping plate are slidably mounted on the clamping bracket, and the first driving part is transmission-connected with the first clamping plate and / or the second clamping plate for driving the first clamping plate to approach or move away from the second clamping plate.

[0027] In some embodiments, the robotic gripper further comprises a plurality of position detection sensors;

[0028] The plurality of position detection sensors are arranged at intervals along a first direction, and are used to detect the position of the first clamp arm and / or the second clamp arm along the first direction, wherein the first direction is an arrangement direction of the first clamp arm and the second clamp arm.

[0029] The present application also provides a robot system, including a robot, a robot quick-mount flange, a visual inspection device, and the robot gripper;

[0030] The robot is mounted on the mounting support frame of the robot gripper through the robot quick-mount flange;

[0031] The robot and the visual detection device are both connected to the robot gripper signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of a robot gripper provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of a partial structure of a robot gripper provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of a first clamping mechanism provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a first clamping assembly provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the structure of a robot system provided in an embodiment of the present application;

[0037] Figure 6 A workflow diagram of a robot system provided in an embodiment of the present application;

[0038] Icons: 1. Mounting support frame; 2. First clamping mechanism; 21. First clamping arm; 211. Detection nut mounting support; 22. First rotating shaft; 23. First clamping assembly; 231. First driving part; 232. Clamping bracket; 233. First clamping plate; 234. Second clamping plate; 24. Connecting support; 25. Clamping arm column; 26. Bearing seat; 27. Side mounting plate; 28. Bearing cover; 29. ​​Deep groove ball bearing; 3. Second clamping mechanism; 31. Second clamping arm; 32. Second rotating shaft; 33. Second clamping assembly; 4. First driving mechanism; 41. Linear drive; 411. Mounting seat; 42. Linear guide; 421. Stopper; 43. Push-pull rod; 44. Transfer rod; 45. First synchronous transmission assembly; 451. Center gear; 452. Second rack; 453. Second rack mounting plate; 454. Central rotating shaft; 455. Deep groove ball bearing; 5. Second driving mechanism; 51. Rotational drive; 511. Fixed plate; 52. First transmission assembly; 521. First driving sprocket; 522. First driven sprocket; 523. First chain; 524. Mounting seat; 525. Tensioning sprocket; 526. Tensioning sleeve; 527. Lower bearing seat; 528. Combined bearing; 53. Second transmission assembly; 531. Second driving sprocket; 532. Second driven sprocket; 533. Second chain; 54. Second synchronous transmission assembly; 541. Spline shaft; 542. Spline sleeve; 6. Position detection sensor; 7. Robot quick-release flange; 8. Visual detection device; A. Gripper main body. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" refers to two or more than two.

[0040] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0041] First, as Figure 1-Figure 4 As shown, the embodiment of the present application provides a robot gripper, comprising: a mounting support frame 1, a first clamping mechanism 2, a second clamping mechanism 3, a first driving mechanism 4 and a second driving mechanism 5;

[0042] The first clamping mechanism 2 and the second clamping mechanism 3 are installed at intervals on the mounting support frame 1; the first clamping mechanism 2 includes a first clamping arm 21, a first rotating shaft 22 and a first clamping assembly 23, and the first clamping assembly 23 is rotatably installed on the end of the first clamping arm 21 away from the mounting support frame 1 through the first rotating shaft 22; the second clamping mechanism 3 includes a second clamping arm 31, a second rotating shaft 32 and a second clamping assembly 33, and the second clamping assembly 33 is rotatably installed on the end of the second clamping arm 31 away from the mounting support frame 1 through the second rotating shaft 32; the first clamping arm 21 and / or the second clamping arm 31 are slidably installed on the mounting support frame 1;

[0043] The first driving mechanism 4 is in transmission connection with the first clamping arm 21 and / or the second clamping arm 31, and is used for driving the first clamping arm 21 to move relative to the second clamping arm 31 so as to adjust the gap between the first clamping arm 21 and the second clamping arm 31;

[0044] The second driving mechanism 5 is in driving connection with the first rotating shaft 22 and / or the second rotating shaft 32 , and is used for driving the first clamping assembly 23 and / or the second clamping assembly 33 to rotate around the axis of the first rotating shaft 22 and / or the second rotating shaft 32 .

[0045] In one possible implementation, refer to Figure 1 The robot gripper of the embodiment of the present application includes a mounting support frame 1, a first clamping mechanism 2, a second clamping mechanism 3, a first drive mechanism 4 and a second drive mechanism 5, wherein the mounting support frame 1, the first drive mechanism 4 and the second drive mechanism 5 belong to the gripper main body component A, which mainly plays the role of adjusting the distance between the first clamping arm 21 and the second clamping arm 31 and the rotational power output, etc. The mounting support frame 1 is the skeleton of the entire gripper, providing installation and activity space for other drive components, actuators, connectors, etc. Specifically, refer to Figure 1 The first clamping mechanism 2, the second clamping mechanism 3, the first driving mechanism 4 and the second driving mechanism 5 are all directly or indirectly mounted on the mounting support frame 1. The first driving mechanism 4 is connected to the first clamping arm 21 in a transmission manner, and is used to drive the first clamping arm 21 to slide along the mounting support frame 1 to change the distance between the first clamping arm 21 and the second clamping arm 31, thereby realizing the distance adjustment between the first clamping assembly 23 and the second clamping assembly 33. The second driving mechanism 5 is connected to the first rotating shaft 22 in a transmission manner, and is used to transmit the rotational power to the first rotating shaft 22, so that the first rotating shaft 22 drives the first clamping assembly 23 to rotate, and further realizes the first clamping assembly 23 and the second clamping assembly 33 to rotate together.

[0046] The present application uses the first driving mechanism 4 to make the first clamping assembly 23 slide horizontally to approach or move away from the second clamping assembly 33, and uses the second driving mechanism 5 to make the first clamping assembly 23 rotate, thereby realizing the robot gripper grasping the blank and the automatic flipping of the blank, solving the problems of high labor intensity and low automation level of manual operation in traditional technology.

[0047] It should be noted that the first drive mechanism 4 of the embodiment of the present application can also be connected to the second clamp arm 31 in a transmission manner, so that the second clamp arm 31 slides close to or away from the first clamp arm 21 to change the distance between the two; the first drive mechanism 4 can also drive the first clamp arm 21 and the second clamp arm 31 at the same time, so that the two slide at the same time to change the distance. The second drive mechanism 5 can also be connected to the second rotating shaft 32 in a transmission manner, and the rotational power is transmitted to the second rotating shaft 32, so that the second rotating shaft 32 drives the second clamping assembly 33 to rotate, and further realizes the first clamping assembly 23 and the second clamping assembly 33 to rotate together; two second drive mechanisms 5 can also be set to drive the first rotating shaft 22 and the second rotating shaft 32 respectively so that the two rotate at the same time, so that the first clamping assembly 23 and the second clamping assembly 33 rotate at the same time.

[0048] In some embodiments, the first driving mechanism 4 includes a linear drive 41 and a linear guide rail 42, and the first clamping arm 21 is slidably mounted on the mounting support frame 1 through the linear guide rail 42;

[0049] The linear drive 41 is fixed to the mounting support frame 1 and is transmission-connected to the first clamping arm 21 , so as to drive the first clamping arm 21 to slide along the extending direction of the linear guide rail 42 .

[0050] In one possible implementation, refer to Figure 2 The linear drive 41 is fixedly mounted on the mounting support frame 1 through a mounting seat 411. The linear drive 41 is transmission-connected to the first clamping arm 21 so that the first clamping arm 21 slides along the linear guide rail 42 to move closer to or away from the second clamping arm 31. The size of the incoming blank is adapted by adjusting the distance between the first clamping arm 21 and the second clamping arm 31 to improve the versatility of the robot gripper.

[0051] It should be noted that the linear drive 41 may be an oil cylinder, an air cylinder, etc., and blocks 421 are provided on both sides of the linear guide rail 42 to prevent the first clamp arm 21 and the second clamp arm 31 from being separated from the linear guide rail 42 during the sliding process. In addition, the linear drive 41 may also be connected to the second clamp arm 31 in a transmission manner to drive the second clamp arm 31 to slide close to or away from the first clamp arm 21; it may also drive the first clamp arm 21 and the second clamp arm 31 to slide at the same time to adjust the distance between the first clamp arm 21 and the second clamp arm 31.

[0052] In some embodiments, the first driving mechanism 4 further includes a push-pull rod 43 and a transfer rod 44;

[0053] One end of the push-pull rod 43 is transmission-connected to the linear drive 41 , and the other end is transmission-connected to the transfer rod 44 . The end of the transfer rod 44 away from the push-pull rod 43 is transmission-connected to the first clamping arm 21 .

[0054] In one possible implementation, refer to Figure 2 The linear drive 41 transmits power to the transfer rod 44 through the push-pull rod 43, and then transmits it to the first clamping arm 21 connected to the transfer rod 44, so that the first clamping arm 21 slides along the linear guide rail 42, thereby adjusting the distance between the first clamping arm 21 and the second clamping arm 31. The first clamping arm 21 is also provided with a connecting support 24 for connecting the transfer rod 44 and the clamping arm column 25.

[0055] It should be noted that the linear drive 41 can also be connected to the second clamping arm 31 through the push-pull rod 43 and the adapter rod 44, and can also be connected to the first clamping arm 21 and the second clamping arm 31 at the same time to adjust the distance between the two, which will not be repeated here.

[0056] In some embodiments, the first driving mechanism 4 further includes a first synchronous transmission assembly 45, and the first synchronous transmission assembly 45 includes a central gear 451, a first rack (not shown in the figure) and a second rack 452;

[0057] The central gear 451 is fixed to the mounting support frame 1 , the first rack is fixed to the first clamp arm 21 , the second rack 452 is fixed to, and the second clamp arm 31 is slidably mounted on the mounting support frame 1 through a linear guide rail 42 ; the first rack and the second rack 452 are both meshed with the central gear 451 for transmission.

[0058] In one possible implementation, refer to Figure 2 , the first rack is fixedly mounted on the first clamp arm 21 through the first rack mounting plate (not shown in the figure), the second rack 452 is fixedly mounted on the second clamp arm 31 through the second rack mounting plate 453, the center gear 451 is mounted on the mounting support frame 1 through the center shaft 454 and the deep groove ball bearing 455, and the first rack and the second rack 452 are driven by meshing with the center gear 451. Specifically, when the linear drive 41 is connected to the first clamp arm 21 through the push-pull rod 43 and the transfer rod 44, the linear drive 41 causes the first clamp arm 21 to slide along the linear guide rail 42, and at the same time, the first rack on the first clamp arm 21 meshes with the center gear 451 to move relative to each other, and the center gear 451 meshes with the second rack 452 to drive the second clamp arm 31 to slide along the linear guide rail 42, thereby ensuring the synchronization of the movement of the clamp arms on both sides, and avoiding the problem of damage to the robot caused by eccentricity and weight when the gripper grabs the blank.

[0059] In some embodiments, the second driving mechanism 5 includes a rotation drive 51 , which is drivingly connected to the first rotating shaft 22 and / or the second rotating shaft 32 .

[0060] In one possible implementation, refer to Figure 2 The rotation drive 51 is installed on the mounting support frame 1 through the fixing plate 511. The rotation drive 51 can directly drive the first rotating shaft 22 or the second rotating shaft 32 to rotate, so that the first clamping arm 21 or the second clamping arm 31 rotates to realize the automatic flipping of the blank. In addition, the rotation drive 51 can also drive the first rotating shaft 22 and the second rotating shaft 32 to rotate respectively at the same time to better realize the flipping of the blank. Among them, the rotation drive 51 can be a motor, etc.

[0061] In some embodiments, the second driving mechanism 5 further includes a first transmission assembly 52 and / or a second transmission assembly 53;

[0062] The first transmission assembly 52 and / or the second transmission assembly 53 include a driving sprocket, a driven sprocket and a chain, the driving sprocket is fixedly arranged at one end of the first clamp arm 21 and / or the second clamp arm 31 close to the mounting support frame 1, and the driven sprocket is fixedly arranged at one end of the first clamp arm 21 and / or the second clamp arm 31 away from the mounting support frame 1; wherein:

[0063] The driving sprocket is drivingly connected to the rotary drive 51 , the driven sprocket is drivingly connected to the driving sprocket via a chain, and the driven sprocket is drivingly connected to the first rotating shaft 22 and / or the second rotating shaft 32 .

[0064] In one possible implementation, refer to Figure 3 The first transmission assembly 52 includes a first driving sprocket 521, a first driven sprocket 522 and a first chain 523. Specifically, the rotation drive 51 transmits the rotation torque to the first driving sprocket 521, the first driving sprocket 521 transmits the rotation power to the first driven sprocket 522 through the first chain 523, and the first driven sprocket 522 transmits the power to the first clamping assembly 23 through the first rotating shaft 22, and finally the first clamping assembly 23 drives the blank to rotate around the axis of the first rotating shaft 22, and the second clamping assembly 33 also rotates around the second rotating shaft 32, so that the blank is automatically turned over.

[0065] Another possible implementation method is to refer to Figure 1 , the second transmission assembly 53 also includes a second driving sprocket 531, a second driven sprocket 532 and a second chain 533. Specifically, the rotation drive 51 can also be connected to the second driving sprocket 531, and transmit the rotation torque to the second rotating shaft 32, so that the second rotating shaft 32 drives the second clamping assembly 33 to rotate around the second rotating shaft 32. In addition, the rotation drive 51 can be set to two, which are connected to the first driven sprocket 522 and the second driven sprocket 532 respectively, so that the first rotating shaft 22 and the second rotating shaft 32 simultaneously drive the first clamping assembly 23 and the second clamping assembly 33 to rotate, so as to achieve better flipping of the blank.

[0066] In addition, a tensioning sprocket 525 is provided in the middle of the first transmission assembly 52 and / or the second transmission assembly 53, and a tensioning sleeve 526 is provided in the lower position. The tensioning sprocket 525 is installed on the mounting seat 524 to prevent the chain from loosening and falling off, and reduce the wear of the sprocket and chain.

[0067] In some embodiments, the second driving mechanism 5 further includes a second synchronous transmission assembly 54, and the second synchronous transmission assembly 54 includes a spline shaft 541 and a spline sleeve 542;

[0068] The spline shaft 541 is in transmission connection with the rotary drive 51;

[0069] The first transmission assembly 52 and / or the second transmission assembly 53 are connected to the spline shaft 541 through the spline sleeve 542, and the first transmission assembly 52 and / or the second transmission assembly 53 can make the first clamp arm 21 and / or the second clamp arm 31 slide axially relative to the spline shaft 541 through the spline sleeve 542.

[0070] In one possible implementation, refer to Figure 2 and Figure 3 , the rotation drive 51 transmits the rotation torque to the spline shaft 541, and the spline shaft 541 transmits the rotation torque to the first driving sprocket 521 of the first transmission component 52 and the second driving sprocket 531 of the second transmission component 53 through the spline sleeve 542, and finally transmits it to the first rotating shaft 22 and the second rotating shaft 32, so as to realize the simultaneous rotation of the first clamping component 23 and the second clamping component 33, and better realize the automatic flipping of the blank. In addition, the deep groove ball bearing 29, the bearing seat 26 and the bearing cover 28 are matched between the spline shaft 541 and the spline sleeve 542, the deep groove ball bearing 29 is installed on the bearing seat 26, and the bearing cover 28 is installed on the side mounting plate 27. The first rotating shaft 22 and the second rotating shaft 32 are partially provided with a lower bearing seat 527 and a combined bearing 528, and the combined bearing 528 is installed on the lower bearing seat 527.

[0071] It should be noted that before the blank is automatically flipped, depending on the size of the blank, the first clamping arm 21 and / or the second clamping arm 31 are required to slide along the linear guide rail 42 under the action of the linear drive 41. In this case, the spline sleeve 542 can drive the first transmission assembly 52 and / or the second transmission assembly 53 to slide axially along the spline shaft 541 to achieve horizontal movement of the first clamping mechanism 2 and the second clamping mechanism 3 before the blank is flipped, thereby grabbing the blank.

[0072] In some embodiments, the first clamping assembly 23 and / or the second clamping assembly 33 includes a first driving portion 231 , a clamping bracket 232 , a first clamping plate 233 and a second clamping plate 234 ;

[0073] The clamping bracket 232 is fixed to the first rotating shaft 22 and / or the second rotating shaft 32;

[0074] The first clamping plate 233 and / or the second clamping plate 234 are slidably mounted on the clamping bracket 232 , and the first driving portion 231 is transmission-connected with the first clamping plate 233 and / or the second clamping plate 234 for driving the first clamping plate 233 to approach or move away from the second clamping plate 234 .

[0075] In one possible implementation, refer to Figure 4 The clamping bracket 232 is fixedly mounted on the first rotating shaft 22 so that the first rotating shaft 22 drives the first clamping assembly 23 to rotate. The first driving part 231 drives the first clamping plate 233 to move closer to or away from the second clamping plate 234 to achieve clamping and releasing of the blank. The first driving part 231 can be a hydraulic cylinder, etc., and the second clamping assembly 33 has the same structural features as the first clamping assembly 23, which will not be repeated here. In addition, the first clamping plate 233 and the second clamping plate 234 have anti-slip corrugations on their contact surfaces with the cylinder head blank to increase friction and prevent the cylinder head blank from slipping when flipping.

[0076] In some embodiments, the robot gripper further includes a plurality of position detection sensors 6;

[0077] A plurality of position detection sensors 6 are arranged at intervals along a first direction for detecting the position of the first clamping arm 21 and / or the second clamping arm 31 along the first direction, wherein the first direction is the arrangement direction of the first clamping arm 21 and the second clamping arm 31 .

[0078] In one possible implementation, refer to Figure 2 , multiple position detection sensors 6 are fixedly mounted on the mounting support frame 1, and a detection nut mounting support 211 is provided at one end of the first clamp arm 21 close to the mounting support frame 1. The first clamp arm 21 drives the detection nut to move along the linear guide rail 42, so that the detection nut approaches a certain position detection sensor 6 and triggers the position detection switch. Exemplarily, the position detection sensor 6 can be a proximity sensor. When the detection nut passes through the proximity sensor, the proximity sensor transmits a signal to the programmable logic controller of the robot. The programmable logic controller controls the linear drive 41 to move and stop, so that the linear drive 41 drives the first clamp arm 21 and the second clamp arm 31 to have controllable clamping length. The robot gripper of the present application can adjust the gripping position according to the different sizes of the blank, thereby improving the versatility of the robot gripper.

[0079] Compared with the robot gripper part of the prior art which is driven by a cylinder and clamped by a mechanical limit control, and whose clamping position is uncontrollable, the multiple position detection sensors 6 in the embodiment of the present application are installed at different positions, corresponding to cylinder head blanks of different models and sizes, and can realize grasping actions at different positions, with higher versatility.

[0080] Second, as Figure 5As shown, the present application also provides a robot system, including a robot, a robot quick-install flange 7, a visual inspection device 8, and the robot gripper of the first aspect;

[0081] The robot is mounted on the mounting support frame 1 of the robot gripper through the robot quick-mount flange 7;

[0082] The robot and the visual inspection device 8 are both connected to the robot gripper signal.

[0083] In one possible implementation, refer to Figure 5 , the robot is installed on one side of the robot quick-mount flange 7, and the robot gripper is installed on the other side of the robot quick-mount flange 7. The robot quick-mount flange 7 is a standard robot end tool unit, which can realize the automatic and rapid replacement of the robot end gripper. Specifically, the visual inspection device 8 includes an image collector and an information processor. The image collector is used to detect the incoming material status of the blank and image acquisition, and transmit the acquired results to the information processor. The information processor is used to further obtain the size and model of the blank, and send the data results to the programmable logic controller of the robot. According to the determined model of the blank, the programmable logic controller controls the robot to change the gripper type, and according to the determined size of the blank, further controls the gripping position of the robot gripper, and then controls the gripper to flip the blank and clean the sand. After cleaning the sand, it determines whether it needs to be flipped again according to the incoming material status, and finally moves to the next process station.

[0084] The robot system of the present application can realize technologies such as automatic flipping and sand cleaning of cylinder head blanks, flexible loading, compatible grasping of multiple models, quick change of grippers, and unified state of blanks after cleaning. It can solve the problems of high labor intensity, low automation level, and difficulty in compatibility with multiple models in traditional existing technologies.

[0085] In order to make the solution provided by the embodiment of the utility model easier to understand, the working process of the robot system is described in detail below through a specific embodiment. Figure 6 As shown, the process includes the following steps:

[0086] S601, the image collector of the visual inspection device collects images of the blank material and sends the images to the information processor;

[0087] S602, the information processor recognizes the image and compares the information in the image with the database to determine the model and size of the blank material;

[0088] S603, according to the determined blank material model, the programmable logic controller controls the robot to change the gripper type;

[0089] S604, the visual inspection device detects whether the blank material is facing up, if so, execute S606, if not, execute S605;

[0090] S605, the programmable logic controller controls the second driving mechanism of the robot gripper to adjust the angles of the first clamping assembly and the second clamping assembly to adapt to the incoming state of the blank;

[0091] S606, according to the determined size of the blank, the programmable logic controller controls the first driving mechanism of the robot gripper to adjust the gap between the first clamping arm and the second clamping arm, so that the first clamping assembly and the second clamping assembly clamp the blank;

[0092] S607, the programmable logic controller controls the first driving part of the robot gripper to clamp the blank;

[0093] S608, the programmable logic controller controls the second driving mechanism of the robot gripper to make the first clamping assembly and the second clamping assembly drive the blank to rotate, and perform flipping and sand cleaning;

[0094] S609, the visual inspection device detects again whether the blank is facing up, if so, execute S611, if not, execute S610;

[0095] S610, the programmable logic controller controls the second driving mechanism of the robot gripper to flip the blank again so that the front side of the blank faces upward;

[0096] S611, the programmable logic controller controls the robot gripper to move the blank to the next station.

[0097] In summary, the robot gripper and system of the present application have the following beneficial effects:

[0098] (1) The flipping and clamping structures are integrated into the robot gripper, which can not only realize product handling but also complete flipping actions. It has the advantages of automatic loading and flipping and sand cleaning process integration, and has higher production efficiency than the existing technology.

[0099] (2) The robot gripper uses a drive unit and a sensor to achieve multi-level adjustment of the clamping length. The clamping component is clamped by a hydraulic cylinder and can be flipped multiple times. At the same time, through visual inspection and data processing integration, it can meet the flexible matching of different incoming material postures, different sizes and models of products. It can be applied to the production of various cylinder head models, with stable clamping and strong versatility.

[0100] The structure in which the driving part cooperates with the sensor to realize multi-stage adjustment of the clamping length can be replaced by the servo control of the ball screw driven by the servo motor.

[0101] (3) The robot end and gripper part use robot quick-release flange, which has the advantage of quick replacement of the end gripper.

[0102] (4) The movement of the clamping arm components adopts a transmission form of one gear and two racks, so that the movement of the clamping arm components on both sides is consistent, which can avoid the problem of damage to the robot caused by the robot gripper grabbing the product with too much weight.

[0103] (5) There is no manual intervention in the whole process of clamping, transporting, flipping and cleaning sand, which greatly reduces labor intensity and improves the level of automation.

[0104] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A robot gripper, characterized in that: include: Install the support frame, the first clamping mechanism, the second clamping mechanism, the first driving mechanism and the second driving mechanism; The first clamping mechanism and the second clamping mechanism are installed at intervals on the mounting support frame; the first clamping mechanism includes a first clamping arm, a first rotating shaft and a first clamping assembly, and the first clamping assembly is rotatably installed on the end of the first clamping arm away from the mounting support frame through the first rotating shaft; the second clamping mechanism includes a second clamping arm, a second rotating shaft and a second clamping assembly, and the second clamping assembly is rotatably installed on the end of the second clamping arm away from the mounting support frame through the second rotating shaft; the first clamping arm and / or the second clamping arm are slidably installed on the mounting support frame; The first driving mechanism is in transmission connection with the first clamping arm and / or the second clamping arm, and is used for driving the first clamping arm to move relative to the second clamping arm so as to adjust the gap between the first clamping arm and the second clamping arm; The second driving mechanism is drivingly connected to the first rotating shaft and / or the second rotating shaft, and is used to drive the first clamping assembly and / or the second clamping assembly to rotate around the axis of the first rotating shaft and / or the second rotating shaft.

2. The robot gripper according to claim 1, characterized in that: The first driving mechanism includes a linear drive and a linear guide rail, and the first clamping arm is slidably mounted on the mounting support frame through the linear guide rail; The linear drive is fixed to the mounting support frame and is transmission-connected to the first clamping arm, and is used to drive the first clamping arm to slide along the extension direction of the linear guide rail.

3. The robot gripper according to claim 2, characterized in that: The first driving mechanism also includes a push-pull rod and a transfer rod; One end of the push-pull rod is transmission-connected to the linear drive, and the other end is transmission-connected to the transfer rod. One end of the transfer rod away from the push-pull rod is transmission-connected to the first clamping arm.

4. The robot gripper according to claim 2, characterized in that: The first drive mechanism further includes a first synchronous transmission assembly, the first synchronous transmission assembly including a central gear, a first rack and a second rack; The central gear is fixed on the mounting support frame, the first rack is fixed on the first clamp arm, the second rack is fixed on the second clamp arm, and the second clamp arm is slidably mounted on the mounting support frame through the linear guide rail; the first rack and the second rack are both meshed with the central gear for transmission.

5. The robot gripper according to claim 1, characterized in that: The second driving mechanism includes a rotation drive, and the rotation drive is drivingly connected to the first rotating shaft and / or the second rotating shaft.

6. The robot gripper according to claim 5, characterized in that: The second driving mechanism further includes a first transmission assembly and / or a second transmission assembly; The first transmission assembly and / or the second transmission assembly comprises a driving sprocket, a driven sprocket and a chain, wherein the driving sprocket is fixedly arranged at one end of the first clamp arm and / or the second clamp arm close to the mounting support frame, and the driven sprocket is fixedly arranged at one end of the first clamp arm and / or the second clamp arm away from the mounting support frame; wherein: The driving sprocket is transmission connected to the rotary drive, the driven sprocket is transmission connected to the driving sprocket through the chain, and the driven sprocket is transmission connected to the first rotating shaft and / or the second rotating shaft.

7. The robot gripper according to claim 6, characterized in that: The second driving mechanism further comprises a second synchronous transmission assembly, wherein the second synchronous transmission assembly comprises a spline shaft and a spline sleeve; The spline shaft is transmission-connected to the rotary drive; The first transmission assembly and / or the second transmission assembly is in transmission connection with the spline shaft via the spline sleeve, and the first transmission assembly and / or the second transmission assembly can enable the first clamp arm and / or the second clamp arm to slide axially relative to the spline shaft via the spline sleeve.

8. The robot gripper according to claim 1, characterized in that: The first clamping assembly and / or the second clamping assembly comprises a first driving portion, a clamping bracket, a first clamping plate and a second clamping plate; The clamping bracket is fixed to the first rotating shaft and / or the second rotating shaft; The first clamping plate and / or the second clamping plate are slidably mounted on the clamping bracket, and the first driving part is transmission-connected with the first clamping plate and / or the second clamping plate for driving the first clamping plate to approach or move away from the second clamping plate.

9. The robot gripper according to claim 1, characterized in that: The robot gripper also includes a plurality of position detection sensors; The plurality of position detection sensors are arranged at intervals along a first direction, and are used to detect the position of the first clamp arm and / or the second clamp arm along the first direction, wherein the first direction is an arrangement direction of the first clamp arm and the second clamp arm.

10. A robot system, characterized in that: It comprises a robot, a robot quick-mount flange, a visual inspection device and a robot gripper as claimed in any one of claims 1 to 9; The robot is mounted on the mounting support frame of the robot gripper through the robot quick-mount flange; The robot and the visual detection device are both connected to the robot gripper signal.

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