Robot gripper
By designing a robot gripper for side clamping components and side-adsorption components, combining electromagnets and cylinders, the problem that traditional robot grippers cannot adapt to workpieces of different sizes and models is solved, and efficient and flexible workpiece processing is achieved, reducing production Cost and space occupancy.
Patent Information
- Application Number
- CN202421002901.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-10
- Publication Date
- 2024-12-20
- Estimated Expiration
- 2034-05-10
AI Technical Summary
Traditional robot grippers can only adapt to one type of workpiece, resulting in high production costs and a lot of space consuming, making it impossible to effectively process workpieces of different sizes and models.
A robot gripper including side clamping assembly and side adsorption assembly is designed. The clamping positioning and handling of workpieces of different sizes and types is achieved through the combination of fixed clamping jaws, rotary clamping jaws, electromagnets and cylinders. Vision sensor and accuracy compensation module ensure clamping accuracy and flexibility.
The clamping and handling of workpieces of different sizes is realized, which reduces production costs, reduces the number of robotic grippers, frees up production space, and improves the flexibility and accuracy of workpiece processing.
Smart Images
Figure CN222200589U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a gripper assembly, in particular to a robot gripper. Background Art
[0002] In the production process of automobile parts, the workpiece to be projected welded is transported by a conveyor belt. When the workpiece to be projected welded reaches the position of the robot gripper, the workpiece to be projected welded is clamped by the robot gripper and transferred to the projection welding area. The projection welding is performed by the projection welding machine. After the projection welding is completed, the workpiece is put back on the conveyor belt. The conveyor belt transports the workpiece that has been projected welded and the subsequent workpiece to be projected welded is transported. Traditional robot grippers can often only correspond to one type of workpiece, that is, each workpiece of different sizes needs to correspond to a set of dedicated robot grippers, which increases production costs and occupies more production space.
[0003] Therefore, the applicant proposes a robot gripper that can clamp and carry workpieces of different sizes and models. Utility Model Content
[0004] In view of the deficiencies in the prior art, the utility model aims to provide a robot gripper.
[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:
[0006] A robot gripper comprises a first mounting frame and a second mounting frame, wherein the second mounting frame is mounted on one side of the first mounting frame, a side clamping assembly is mounted on the other side of the first mounting frame, and an opposite side adsorption assembly is mounted on the side of the second mounting frame away from the first mounting frame;
[0007] The side clamping assembly includes a connecting frame installed on one side of the second mounting frame, at least one fixed clamping claw is installed at the bottom of the connecting frame, a clamping cylinder is installed on one side of the first mounting frame, a rotating frame is installed on the clamping cylinder, and at least one rotating clamping claw is installed at the bottom of the rotating frame.
[0008] Furthermore, a first electromagnet is installed at the bottom of the fixed clamping jaw, and the rotating clamping jaw is arranged opposite to the first electromagnet.
[0009] Furthermore, the edge adsorption assembly includes a rotary cylinder mounted on a second mounting frame, a rotary arm is mounted on the rotating end of the rotary cylinder, and a second electromagnet is mounted on the other end of the rotary arm.
[0010] Furthermore, a rocker arm is installed on the clamping cylinder, and a rotating frame is installed on the rocker arm.
[0011] Furthermore, a visual sensor is installed on the fixed clamping jaw.
[0012] Furthermore, a support plate is installed on the second mounting frame, positioning protrusions are installed at both ends of the support plate, and positioning recessed blocks matching with the positioning protrusions are installed on both sides of the swivel arm.
[0013] Furthermore, a precision compensation module is installed on the top of the first mounting frame.
[0014] Furthermore, a mechanical arm connecting seat is installed on one side of the precision compensation module.
[0015] Furthermore, a solenoid valve box is provided on the top of the precision compensation module.
[0016] Compared with the prior art, the utility model provides a robot gripper, which has the following beneficial effects:
[0017] The utility model clamps and positions the side of the workpiece through the side clamping assembly, is suitable for small and medium-sized workpieces, and adsorbs and positions the other side of the workpiece through the opposite side adsorption assembly. With the cooperation of the opposite side adsorption assembly and the side clamping assembly, large workpieces can be positioned and clamped. Specifically, the side of the workpiece is clamped and positioned through the cooperation of the fixed clamping jaw and the rotating clamping jaw, and the clamping cylinder can drive the rotating clamping jaw to rotate, so as to avoid interference with the conveyor belt when it is necessary to clamp the workpiece on the conveyor belt or place the projection-welded workpiece back on the conveyor belt, thereby failing to achieve the clamping and positioning effect. The utility model can clamp and carry workpieces of different sizes and models, has a compact structure, reduces production costs, greatly reduces the number of robot grippers, and releases more production space. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a structural schematic diagram of one direction of the utility model;
[0019] Figure 2 It is a structural schematic diagram of the utility model in another direction;
[0020] Figure 3 It is a structural schematic diagram of the lower part of the utility model;
[0021] Figure 4 yes Figure 1 A schematic diagram of the enlarged structure at A in the middle;
[0022] Figure 5 yes Figure 2 Schematic diagram of the enlarged structure at point B in the middle.
[0023] Markings in the figure: 1. First mounting frame; 2. Second mounting frame; 3. Side clamping assembly; 4. Opposite side adsorption assembly; 5. Clamping cylinder; 6. Connecting frame; 7. Fixed clamping jaw; 8. First electromagnet; 9. Rotating frame; 10. Rotating clamping jaw; 11. Rotary cylinder; 12. Rotating arm; 13. Second electromagnet; 14. Rocker arm; 15. Visual sensor; 16. Support plate; 17. Positioning protrusion; 18. Positioning concave block; 19. Robot arm connecting seat; 20. Accuracy compensation module; 21. Solenoid valve box. DETAILED DESCRIPTION
[0024] The utility model is further described below in conjunction with the accompanying drawings and embodiments:
[0025] The standard parts used in the utility model can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt the conventional models in the existing technology, and the circuit connection adopts the conventional connection method in the existing technology, which will not be described in detail here.
[0026] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.
[0029] The utility model embodiment provides a robot gripper, referring to Figures 1 to 5, comprising a first mounting frame 1 and a second mounting frame 2, wherein the second mounting frame 2 is mounted on one side of the first mounting frame 1, a side clamping assembly 3 is mounted on the other side of the first mounting frame 1 to clamp and position the side of the workpiece, and an opposite side adsorption assembly 4 is mounted on the side of the second mounting frame 2 away from the first mounting frame 1 to adsorb and position the other side of the workpiece;
[0030] The side clamping assembly 3 includes a connecting frame 6 installed on one side of the second mounting frame 2, at least one fixed clamping claw 7 is installed at the bottom of the connecting frame 6, a clamping cylinder 5 is installed on one side of the first mounting frame 1, a rotating frame 9 is installed on the clamping cylinder 5, and at least one rotating clamping claw 10 is installed at the bottom of the rotating frame 9.
[0031] Specifically, the first mounting frame 1 is installed on the top side of the second mounting frame 2; the connecting frame 6 is installed on the bottom side of the second mounting frame 2 and is located on the same side as the first mounting frame 1; the fixed clamp 7 and the rotating clamp 10 are arranged opposite to each other; the clamping cylinder 5 is installed on the side of the first mounting frame 1 away from the second mounting frame 2; the clamping cylinder 5 can drive the rotating frame 9 to rotate, thereby driving the rotating clamp 10 to rotate.
[0032] The clamping cylinder 5 adopts the model of CKZ3T50-75T, which is specifically a strong clamping cylinder, on which a rocker arm 14 is provided, which can drive the rocker arm 14 to rotate. This is the existing technology and will not be described in detail here.
[0033] Reference Figures 1 to 4 In this embodiment, two fixed jaws 7 are provided, and two rotating jaws 10 are provided, and the fixed jaws 7 correspond to the rotating jaws one by one; one fixed jaw 7 and one rotating jaw 10 can be used to clamp and position the middle of one side of a small workpiece, thereby completing the clamping of the small workpiece; two fixed jaws 7 and two rotating jaws 10 can be used to clamp and position both ends of one side of a medium-sized workpiece, thereby completing the clamping of the medium-sized workpiece.
[0034] Reference Figures 1 to 4 In this embodiment, a first electromagnet 8 is installed at the bottom of the fixed clamping jaw 7, and the rotating clamping jaw 10 is arranged opposite to the first electromagnet 8.
[0035] Specifically, the side of the workpiece is adsorbed and positioned by energizing the first electromagnet 8, the workpiece is adsorbed from the conveyor belt, and then the side of the workpiece is moved out of the conveyor belt, and the side of the workpiece is clamped and positioned by the cooperation of the rotating clamp 10 and the first electromagnet 8.
[0036] Among them, refer to Figures 1 to 4 In this embodiment, a rocker arm 14 is installed on the clamping cylinder 5, and a rotating frame 9 is installed on the rocker arm 14.
[0037] The clamping cylinder 5 drives the rocker arm 14 to rotate, thereby driving the rotating frame 9 to rotate.
[0038] Reference Figure 2 and Figure 5 In this embodiment, the edge adsorption assembly 4 includes a rotary cylinder 11 mounted on the second mounting frame 2, a rotary arm 12 is mounted on the rotating end of the rotary cylinder 11, and a second electromagnet 13 is mounted on the other end of the rotary arm 12.
[0039] Specifically, the rotary cylinder 11 is installed on a side of the second mounting frame 2 away from the first mounting frame 1; the rotary cylinder 11 can drive the rotary arm 12 to rotate; and the other side of the workpiece is adsorbed and positioned by energizing the second electromagnet 13 .
[0040] The rotary cylinder 11 adopts the model of HRQ50, which is the prior art and will not be described in detail here.
[0041] Reference Figures 1 to 4 In this embodiment, a visual sensor 15 is installed on the fixed clamping jaw 7, which can accurately determine the clamping position of the workpiece and improve the positioning accuracy.
[0042] Reference Figure 2 and Figure 5 In this embodiment, a support plate 16 is installed on the second mounting frame 2 to provide limited support for the swivel arm 12. Positioning protrusions 17 are installed at both ends of the support plate 16, and positioning recessed blocks 18 that cooperate with the positioning protrusions 17 are installed on both sides of the swivel arm 12.
[0043] Specifically, the rotation of the swivel arm 12 is positioned by the cooperation of the positioning protrusion 17 and the positioning recess 18; when the workpiece is a small workpiece or a medium-sized workpiece, the swivel arm 12 does not cooperate with the fixed clamp 7 and the rotating clamp 10. At this time, one end of the second electromagnet 13 on the swivel arm 12 faces upward and does not participate in the adsorption and positioning work; when the workpiece is a large workpiece, the rotary cylinder 11 drives the swivel arm 12 to rotate 180° clockwise, so that the positioning recess 18 cooperates with another positioning protrusion 17. At this time, the first electromagnet 8 and the second electromagnet 13 are at the same height, so that the second electromagnet 13 participates in the adsorption and positioning work.
[0044] Reference Figure 1 and Figure 2 In this embodiment, a precision compensation module 20 is installed on the top of the first mounting frame 1.
[0045] Specifically, the model of the precision compensation module 20 is AFC-50-XY-ZD. The precision compensation module 20 can support position compensation in the X, Y, and Z directions and compensation at any axial angle during processing, thereby reducing processing errors without damaging the workpiece. This is a prior art and will not be elaborated on here.
[0046] Reference Figure 1 and Figure 2 In this embodiment, a robot arm connection seat 19 is installed on one side of the precision compensation module 20. The robot arm connection seat 19 is connected to the robot arm of the robot and can drive the workpiece to the projection welding area for projection welding.
[0047] Reference Figure 1 and Figure 2 In this embodiment, a solenoid valve box 21 is provided on the top of the precision compensation module 20 .
[0048] Specifically, a solenoid valve is provided in the solenoid valve box 21, and the solenoid valve is installed on the air pipeline. By opening and closing the solenoid valve, the action sequence of the clamping cylinder 5 and the rotary cylinder 11 can be controlled. This is the prior art and will not be elaborated here.
[0049] Working principle: When in use, when the workpiece is a small workpiece, only one fixed clamping jaw 7 and one rotating clamping jaw 10 can complete the clamping of the small workpiece; when the workpiece is a medium-sized workpiece, two fixed clamping jaws 7 and two rotating clamping jaws 10 can be used to clamp and position both ends of one side of the medium-sized workpiece, so as to complete the clamping of the medium-sized workpiece; when the workpiece is a large workpiece, the second electromagnet 13 cooperates with the two fixed clamping jaws 7 and the two rotating clamping jaws 10 to complete the clamping of the large workpiece;
[0050] When the workpiece is a small or medium-sized workpiece, the rotating clamp 10 is driven to rotate by the clamping cylinder 5 so that the fixed clamp 7 is separated from the rotating clamp 10, and then the first electromagnet 8 is moved to the upper side of the workpiece, and the first electromagnet 8 is energized to adsorb and position the side of the workpiece, and then the side of the workpiece is moved out of the conveyor belt, and the rotating clamp 10 is driven to rotate by the clamping cylinder 5 so that the fixed clamp 7 is opposite to the rotating clamp 10, and the side of the workpiece is clamped and positioned, at this time, the first electromagnet 8 is powered off; after the projection welding is completed, the first electromagnet 8 is powered on again, and the rotating clamp 10 is driven to rotate by the clamping cylinder 5 so that the fixed clamp 7 is separated from the rotating clamp 10, and the workpiece is moved to the upper side of the conveyor belt, and then the first electromagnet 8 is powered off, and the workpiece falls onto the conveyor belt;
[0051] When the workpiece is a large workpiece, the rotary cylinder 11 drives the rotary arm 12 to rotate, so that the first electromagnet 8 and the second electromagnet 13 are at the same height, and the rotating jaw 10 is driven to rotate by the clamping cylinder 5 to separate the fixed jaw 7 from the rotating jaw 10, and then the first electromagnet 8 is moved to the top of the side of the workpiece, and the first electromagnet 8 and the second electromagnet 13 are energized to simultaneously adsorb and position the side and the opposite side of the workpiece, and then the side of the workpiece is moved out of the conveyor belt, and the rotating jaw 10 is driven to rotate by the clamping cylinder 5 to make the fixed jaw 7 and the rotating jaw 10 opposite to each other, and the side of the workpiece is clamped and positioned, at this time, the first electromagnet 8 is powered off; after the projection welding is completed, the first electromagnet 8 is energized again, and the rotating jaw 10 is driven to rotate by the clamping cylinder 5 to separate the fixed jaw 7 from the rotating jaw 10, and the workpiece is moved to the top of the conveyor belt, and then the first electromagnet 8 and the second electromagnet 13 are powered off, and the workpiece falls onto the conveyor belt.
[0052] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.
[0053] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit the protection scope of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the utility model according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the utility model in essence, and these technical solutions also belong to the scope of protection of the utility model.
Claims
1. A robot gripper, comprising a first mounting frame (1) and a second mounting frame (2), characterized in that: The second mounting frame (2) is mounted on one side of the first mounting frame (1), a side clamping assembly (3) is mounted on the other side of the first mounting frame (1), and an opposite side adsorption assembly (4) is mounted on the side of the second mounting frame (2) away from the first mounting frame (1); The side clamping assembly (3) comprises a connecting frame (6) mounted on one side of the second mounting frame (2), at least one fixed clamping claw (7) being mounted on the bottom of the connecting frame (6), a clamping cylinder (5) being mounted on one side of the first mounting frame (1), a rotating frame (9) being mounted on the clamping cylinder (5), and at least one rotating clamping claw (10) being mounted on the bottom of the rotating frame (9).
2. The robot gripper according to claim 1, characterized in that: A first electromagnet (8) is installed at the bottom of the fixed clamping jaw (7), and the rotating clamping jaw (10) is arranged opposite to the first electromagnet (8).
3. The robot gripper according to claim 1, characterized in that: The edge adsorption assembly (4) comprises a rotary cylinder (11) mounted on a second mounting frame (2), a rotary arm (12) being mounted on the rotating end of the rotary cylinder (11), and a second electromagnet (13) being mounted on the other end of the rotary arm (12).
4. The robot gripper according to claim 1, characterized in that: A rocker arm (14) is mounted on the clamping cylinder (5), and a rotating frame (9) is mounted on the rocker arm (14).
5. The robot gripper according to claim 1, characterized in that: A visual sensor (15) is installed on the fixed clamping jaw (7).
6. The robot gripper according to claim 3, characterized in that: A support plate (16) is mounted on the second mounting frame (2), positioning protrusions (17) are mounted on both ends of the support plate (16), and positioning recesses (18) matching the positioning protrusions (17) are mounted on both sides of the swivel arm (12).
7. The robot gripper according to claim 1, characterized in that: A precision compensation module (20) is installed on the top of the first mounting frame (1).
8. The robot gripper according to claim 7, characterized in that: A mechanical arm connecting seat (19) is installed on one side of the precision compensation module (20).
9. The robot gripper according to claim 7, characterized in that: A solenoid valve box (21) is provided on the top of the precision compensation module (20).