Zero-point tray feeding gripper of robot

Abstract

The utility model discloses a zero-point tray feeding gripper of a robot, and relates to the technical field of gripping. The robot comprises a robot arm, an installation base is fixedly installed at the driving end of the robot arm, the pneumatic gripper component is connected to the top of the installation base and used for clamping and conveying a square zero-point tray, and an RFID chip data reading module is installed on the side wall of the pneumatic gripper component; and the electric gripper component is connected to the side wall of the mounting base and used for clamping and conveying the circular zero-point tray. The pneumatic gripper component can grab a square zero-point tray, the electric gripper component can grab a round zero-point tray, the multi-transportation effect is achieved, meanwhile, the abrasion-resistant round tray clamping block is detachably installed on the opening and closing clamping arm, abrasion to the opening and closing clamping arm can be reduced, and when the abrasion-resistant round tray clamping block is damaged, the abrasion-resistant round tray clamping block can be detached from the opening and closing clamping arm. The wear-resistant circular tray clamping blocks can be directly detached through the plastic buckles, and the wear-resistant circular tray clamping blocks can be replaced.

Description

Technical Field

[0001] The utility model belongs to the field of grasping technology, in particular to a robot zero-point tray loading grasper. Background Art

[0002] When three-axis and five-axis machining machines are processing workpieces, they need to transport the workpieces to complete the loading and unloading of the workpieces. The traditional processing method usually uses manual grasping and placing. On the one hand, manual grasping and placing has low production efficiency, and on the other hand, it is not safe enough and it is easy to accidentally injure the operator. For this reason, we have made improvements and proposed a robot zero-point pallet loading gripper. Utility Model Content

[0003] The purpose of the utility model is to provide a robot zero-point pallet loading gripper, which uses the robot fixed parts loading gripper to replace manual rapid loading and clamping of parts, while reducing the error rate of manual operation, improving the safety processing level, reducing the workpiece scrap rate, and reducing the rate of manual injuries.

[0004] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0005] The utility model is a robot zero-point pallet feeding gripper, comprising a robot arm, a driving end of the robot arm is fixedly mounted with a mounting base, and further comprising:

[0006] A pneumatic gripper component is connected to the top of the mounting base and is used to clamp and transport the square zero-point pallet. An RFID chip data reading module is installed on the side wall of the pneumatic gripper component. The RFID chip data reading module is used to receive and process data signals.

[0007] The electric gripper component is connected to the side wall of the mounting base and is used to clamp and transport the round zero-point pallet.

[0008] Furthermore, the pneumatic gripper component is a SCHUNK pneumatic gripper.

[0009] Furthermore, the pneumatic gripper component comprises a SCHUNK gripper female head fixedly mounted on the top of the mounting base and a SCHUNK gripper male head adapted to the SCHUNK gripper female head.

[0010] Furthermore, the electric gripping claw component includes an electric claw clamp fixedly mounted on the side wall of the mounting base, and an opening and closing clamping arm fixedly mounted on the output end of the electric claw clamp. The inner side wall of the opening and closing clamping arm is detachably connected with a wear-resistant circular tray clamp block, and the wear-resistant circular tray clamp block can improve the wear resistance of the opening and closing clamping arm and ensure the service life of the opening and closing clamping arm.

[0011] Furthermore, a plastic buckle is provided on one side of the wear-resistant circular pallet clamping block, a through hole is provided on the top of the opening and closing clamping arm, and the wear-resistant circular pallet clamping block is clamped on the inner wall of the opening and closing clamping arm through the plastic buckle, and the plastic buckle is used for easy installation and disassembly.

[0012] Furthermore, the inner arc wall of the wear-resistant circular pallet clamp is one of an acute angle, a right angle and an obtuse angle. The inner arc wall of the wear-resistant circular pallet clamp has different effects of being an acute angle, a right angle and an obtuse angle, and can be used to clamp and fix circular pallet clamps of different sizes.

[0013] The utility model has the following beneficial effects:

[0014] Through the setting of the robot arm, the mounting base, the pneumatic gripper component and the electric gripper component, the robot arm can drive the mounting base to perform multi-angle changes, thereby transporting the pneumatic gripper component and the electric gripper component to the loading position, the processing position and the unloading position. The pneumatic gripper component can grab the square zero-point pallet, and the electric gripper component can grab the round zero-point pallet to achieve multiple transportation effects. At the same time, the wear-resistant round pallet clamp can be removably installed on the opening and closing clamping arm, which can reduce the wear on the opening and closing clamping arm. When the wear-resistant round pallet clamp is damaged, the wear-resistant round pallet clamp can also be directly removed by the plastic buckle and replaced.

[0015] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0018] Figure 2 This is a schematic diagram of the main structure of the robot arm of the utility model;

[0019] Figure 3 It is a schematic diagram of the structure of the pneumatic gripper component and the electric gripper component in the utility model;

[0020] Figure 4 For this utility model Figure 3 A side view structural schematic diagram of;

[0021] Figure 5This is a schematic diagram of the disassembled structure of the pneumatic gripper component in the utility model;

[0022] Figure 6 It is a schematic diagram of the structure of the electric gripper component in the utility model;

[0023] Figure 7 It is a schematic structural diagram of the wear-resistant circular tray clamp in the utility model.

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1. Robot arm; 2. Mounting base; 3. Pneumatic gripper component; 31. SCHUNK gripper female head; 32. SCHUNK gripper male head; 4. RFID chip data reading module; 5. Electric gripper component; 51. Electric gripper; 52. Opening and closing gripping arm; 53. Wear-resistant round tray clamp; 54. Plastic buckle; 55. Through hole; 6. Square zero point tray; 7. Round zero point tray. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The utility model is a robot zero-point pallet loading gripper, including a robot arm 1, a driving end of the robot arm 1 is fixedly installed with a mounting base 2, specifically, the robot arm 1 adopts a Fanuc six-axis robot arm R-2000i C_165F, the robot load is 165kg, the weight of the whole gripper mechanism is 45kg, the gripper can grasp the material weight of 120kg, the travel radius is 2655mm, and it meets the loading and unloading requirements of most three-axis and five-axis machine tools. The robot arm 1 is fixedly installed in the construction area through a fixed bracket, and also includes:

[0029] A pneumatic gripper component 3 is connected to the top of the mounting base 2 and is used to clamp and transport the square zero-point pallet. An RFID chip data reading module 4 is installed on the side wall of the pneumatic gripper component 3. The RFID chip data reading module 4 is used to receive and process data signals.

[0030] The electric gripper component 5 is connected to the side wall of the mounting base 2 and is used for clamping and conveying the circular zero-point pallet.

[0031] The pneumatic gripper component 3 is a SCHUNK pneumatic gripper, which includes a SCHUNK gripper female head 31 fixedly mounted on the top of the mounting base 2 and a SCHUNK gripper male head 32 matched with the SCHUNK gripper female head 31. The SCHUNK gripper male head 32 is connected to the square zero point pallet. The SCHUNK gripper female head 31 absorbs the SCHUNK gripper male head 32 to fix the square zero point pallet.

[0032] The electric gripping claw component 5 includes an electric claw clamp 51 fixedly mounted on the side wall of the mounting base 2, an opening and closing clamping arm 52 fixedly mounted on the output end of the electric claw clamp 51, and the inner side wall of the opening and closing clamping arm 52 is detachably connected with a wear-resistant circular tray clamp block 53, the wear-resistant circular tray clamp block 53 can improve the wear resistance of the opening and closing clamping arm 52 and ensure the service life of the opening and closing clamping arm 52, a plastic buckle 54 is provided on one side of the wear-resistant circular tray clamp block 53, and a through hole 55 is provided on the top of the opening and closing clamping arm 52, the wear-resistant circular tray clamp block 53 is clamped on the inner side wall of the opening and closing clamping arm 52 through the plastic buckle 54, and the plastic buckle 54 is used for easy installation and disassembly, the inner arc wall of the wear-resistant circular tray clamp block 53 is one of an acute angle, a right angle and an obtuse angle, and the inner arc wall of the wear-resistant circular tray clamp block 53 is an acute angle, a right angle and an obtuse angle, and has different effects, and can be used to clamp and fix circular zero-point trays of different sizes.

[0033] Specifically, when the robot zero-point pallet loading gripper is working / in use: first, the robot arm 1 is fixedly installed in the construction area, and the pneumatic gripper component 3 and the electric gripper component 5 are regulated by the robot arm 1 to transport the pneumatic gripper component 3 and the electric gripper component 5 to the loading position, processing position and unloading position. The pneumatic gripper component 3 can grab the square zero-point pallet, and the electric gripper component 5 can grab the round zero-point pallet to achieve multiple transportation effects. At the same time, the wear-resistant round pallet clamp 53 can be detachably installed on the opening and closing clamping arm 52, which can be To reduce the wear on the opening and closing clamping arms 52, when the wear-resistant circular tray clamp 53 is damaged, the wear-resistant circular tray clamp 53 can be directly removed through the plastic buckle 54 and replaced. The plastic buckle 54 will be deformed when inserted into the through hole 55 and then recover after passing through the through hole 55. At this time, the plastic buckle 54 is engaged with the through hole 55 to complete the wear-resistant circular tray clamp 53. When disassembling, press the plastic buckle 54 to shrink the plastic buckle 54 in the through hole 55 to pull out the wear-resistant circular tray clamp 53.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0035] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope of the present disclosure is indicated by the following claims.

Claims

1. A robot zero-point pallet loading gripper, comprising a robot arm (1), characterized in that: The driving end of the robot arm (1) is fixedly mounted with a mounting base (2), and further comprises: A pneumatic gripper component (3) connected to the top of the mounting base (2) for clamping and conveying a square zero-point pallet, and an RFID chip data reading module (4) is installed on the side wall of the pneumatic gripper component (3); The electric gripper component (5) is connected to the side wall of the mounting base (2) and is used for clamping and conveying the circular zero-point tray.

2. A robot zero-point pallet loading gripper according to claim 1, characterized in that: The electric gripping claw component (5) comprises an electric gripping claw (51) fixedly mounted on the side wall of the mounting base (2), and an opening and closing gripping arm (52) fixedly mounted on the output end of the electric gripping claw (51), wherein the inner side wall of the opening and closing gripping arm (52) is detachably connected with a wear-resistant circular tray clamp (53).

3. A robot zero-point pallet loading gripper according to claim 2, characterized in that: A plastic buckle (54) is provided on one side of the wear-resistant circular tray clamping block (53), a through hole (55) is provided on the top of the opening and closing clamping arm (52), and the wear-resistant circular tray clamping block (53) is clamped on the inner side wall of the opening and closing clamping arm (52) through the plastic buckle (54).

4. A robot zero-point pallet loading gripper according to claim 3, characterized in that: The inner arc wall of the wear-resistant circular tray clamping block (53) is one of an acute angle, a right angle and an obtuse angle.

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