Flexible gripper integrated device and robot workstation

Abstract

The utility model discloses a flexible gripper integration device and robot workstation wherein the flexible gripper integration device comprises a support, a first flexible gripper and a second flexible gripper, the support is respectively provided with a first clamping position and a second clamping position, the first flexible gripper is arranged on the first clamping position, and the second flexible gripper is arranged on the second clamping position. The first flexible gripper is arranged on the first clamping position and comprises a first quick release mechanism and an adsorption mechanism connected with the first quick release mechanism and used for adsorbing workpieces, and the second flexible gripper is arranged on the second clamping position and comprises a second quick release mechanism and a clamping mechanism connected with the second quick release mechanism and used for clamping the workpieces. The first quick release mechanism and the second quick release mechanism are both used for being detachably connected with a mechanical arm. According to the flexible gripper integrated device, different gripping modes can be rapidly switched, two different gripping actions of clamping and adsorption are achieved, and the applicability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic grippers, in particular to a flexible gripper integrated device and a robot workstation adopting the flexible gripper integrated device. Background Art

[0002] Under the general trend of deepening the application of intelligent manufacturing technology, the country has vigorously developed high-end agricultural machinery products. However, the welding process of sheet metal parts and structural parts of agricultural machinery and engineering machinery products is still basically manual welding, which has low welding efficiency, difficult to ensure welding quality, and difficult to improve product precision. Due to the production characteristics of agricultural machinery products, which are "small batches and multiple varieties", the mode of automatic welding by robot grippers to grab workpieces is difficult to meet the welding needs of multiple types of products, and has poor applicability. A large number of positioning fixtures need to be made to adapt to the production and manufacturing of various workpieces, which has problems such as high cost, complex changeover, low welding efficiency, and poor welding quality.

[0003] In this regard, Chinese utility model patent CN205218326U provides a flexible gripper device, which optimizes the clamping structure and uses photoelectric switches to accurately control the movement of the locking block to achieve free adjustment of the clamping of the workpiece to be grasped, so that it can adapt to the sizes of workpieces with different side surrounds. However, the flexible gripper device is not suitable for special-shaped workpieces that are inconvenient to clamp. Different positioning fixtures also need to be replaced for special-shaped workpieces, resulting in high costs and low production efficiency. Utility Model Content

[0004] The utility model primarily provides a flexible gripper integrated device to solve the technical problem that the existing flexible gripper cannot adapt to different workpiece shapes.

[0005] The utility model also provides a robot workstation, which adopts the flexible gripper integrated device.

[0006] According to a first aspect of the utility model, a flexible gripper integrated device is provided, comprising a bracket, a first flexible gripper and a second flexible gripper, wherein the bracket is provided with a first clamping position and a second clamping position respectively, the first flexible gripper is arranged on the first clamping position, the first flexible gripper comprises a first quick-release mechanism and a suction mechanism connected to the first quick-release mechanism and used for suctioning a workpiece, the second flexible gripper is arranged on the second clamping position, the second flexible gripper comprises a second quick-release mechanism and a clamping mechanism connected to the second quick-release mechanism and used for clamping the workpiece, and the first quick-release mechanism and the second quick-release mechanism are both used for detachable connection with a robotic arm.

[0007] Preferably, the first clamping position and the second clamping position are both provided with a pin sleeve and a support block, the upper surface of the support block and the upper surface of the pin sleeve are on the same horizontal plane, and the bottom surfaces of the first flexible gripper and the second flexible gripper are both provided with a positioning pin and a positioning block, the positioning pin is used to insert into the corresponding pin sleeve for positioning and fixing, and the positioning block is used to abut the corresponding support block.

[0008] Preferably, at least one pair of positioning pins is provided on the first flexible gripper and the second flexible gripper, each pair of positioning pins includes a circular positioning pin and a diamond-shaped positioning pin, and the pin sleeves are arranged in one-to-one correspondence with the positioning pins.

[0009] Preferably, the flexible gripper integrated device also includes a protection drive mechanism arranged on the bracket and a protection cover connected to the protection drive mechanism, the protection drive mechanism is used to drive the protection cover to move to the state where the cover is in the first locking position and / or the second locking position, and the protection drive mechanism is also used to drive the protection cover to move to a state where it is out of the first locking position and / or the second locking position.

[0010] Preferably, the first flexible gripper and the second flexible gripper are also provided with a calibration unit for positioning the robot arm.

[0011] Preferably, the first flexible gripper and the second flexible gripper are also provided with a detection unit for detecting whether the workpiece is grasped in place.

[0012] Preferably, the first flexible gripper further comprises a grounding mechanism, and two adsorption mechanisms are provided, and the two adsorption mechanisms are symmetrically arranged on opposite sides of the grounding mechanism, and the grounding mechanism is grounded and used to abut against the surface of the workpiece.

[0013] Preferably, the grounding mechanism comprises a mounting seat and a grounding block which is movably arranged on the mounting seat and can be raised and lowered, and a buffer spring which elastically abuts against the grounding block in a direction toward the workpiece.

[0014] Preferably, the clamping mechanism includes a rotary drive assembly, a screw connected to the rotary drive assembly, two screw seats respectively sleeved on both ends of the screw and threadedly connected to the screw, and two clamping arms connected to the two screw seats in a one-to-one correspondence, and the threads at both ends of the screw have opposite rotation directions.

[0015] According to a second aspect of the utility model, a robot workstation is also provided, including a robot arm, the robot workstation also includes the above-mentioned flexible gripper integration device, the robot arm is used to grasp the workpiece through the first flexible gripper or the second flexible gripper.

[0016] The utility model has the following beneficial effects:

[0017] The flexible gripper integrated device provided by the utility model respectively positions and fixes the first flexible gripper and the second flexible gripper through a bracket, and an adsorption mechanism is arranged on the first flexible gripper, and a clamping mechanism is arranged on the second flexible gripper. The robotic arm can quickly connect with the first flexible gripper through the first quick-release mechanism and adsorb the workpiece through the adsorption mechanism. The robotic arm can also quickly connect with the second flexible gripper through the second quick-release mechanism and clamp the workpiece through the clamping mechanism, and quickly switch between different grasping modes to realize two different grasping actions of clamping and adsorption. It has strong applicability and can be applied to small batches and multiple varieties of workpieces, and realizes automatic and continuous operation of the entire process of welding operations such as loading, positioning, displacement, welding, and unloading, effectively reducing labor intensity and production costs, and improving work efficiency and quality.

[0018] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0020] Figure 1 A three-dimensional diagram of a flexible gripper integrated device provided in an embodiment of the utility model;

[0021] Figure 2 for Figure 1 The changing state diagram of the flexible gripper integrated device shown;

[0022] Figure 3 for Figure 2 A three-dimensional view of a first flexible gripper in the flexible gripper integrated device shown;

[0023] Figure 4 for Figure 3 A front view of the first flexible gripper shown;

[0024] Figure 5 for Figure 4 A schematic cross-sectional structure diagram of the first flexible gripper along the AA direction is shown;

[0025] Figure 6 for Figure 2 A three-dimensional view of a second flexible gripper in the flexible gripper integrated device shown;

[0026] Figure 7 for Figure 6 a top view of the second flexible gripper shown;

[0027] Figure 8 for Figure 7 The cross-sectional structure schematic diagram of the second flexible gripper along the BB direction is shown.

[0028] Legend:

[0029] 1. Bracket; 11. Pin sleeve; 12. Support block; 2. First flexible gripper; 21. First quick release mechanism; 22. Adsorption mechanism; 23. Grounding mechanism; 231. Mounting seat; 232. Grounding block; 233. Buffer spring; 3. Second flexible gripper; 31. Second quick release mechanism; 32. Clamping mechanism; 321. Rotary drive assembly; 322. Screw; 323. Screw seat; 324. Clamping arm; 4. Protective drive mechanism; 5. Protective cover; 100. Locating pin; 101. Circular locating pin; 102. Diamond locating pin; 200. Locating block; 300. Calibration unit; 400. Detection unit. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. However, the present invention can be implemented in a variety of different ways as defined and covered below.

[0031] Figures 1 to 8 The flexible gripper integrated device provided by the embodiment of the utility model is collectively shown, which is used to be installed on a robotic arm to realize workpiece grasping action, and can adapt to workpieces of different specifications, different shapes, and different sizes, effectively improving applicability. There is no need to design special tooling fixtures for different workpieces, thereby reducing production costs and improving production efficiency.

[0032] Please combine Figure 1 and Figure 2 The flexible gripper integrated device includes a bracket 1, a first flexible gripper 2 and a second flexible gripper 3. The bracket 1 is respectively provided with a first clamping position and a second clamping position. The first flexible gripper 2 is arranged on the first clamping position. The first flexible gripper 2 includes a first quick-release mechanism 21 and an adsorption mechanism 22 connected to the first quick-release mechanism 21 and used for adsorbing the workpiece. The second flexible gripper 3 is arranged on the second clamping position. The second flexible gripper 3 includes a second quick-release mechanism 31 and a clamping mechanism 32 connected to the second quick-release mechanism 31 and used for clamping the workpiece. The first quick-release mechanism 21 and the second quick-release mechanism 31 are both used for detachable connection with the robotic arm.

[0033] Specifically, the flexible gripper integrated device respectively positions and fixes the first flexible gripper and the second flexible gripper through the bracket, and an adsorption mechanism is set on the first flexible gripper, and a clamping mechanism is set on the second flexible gripper. The robotic arm can quickly connect with the first flexible gripper through the first quick-release mechanism and adsorb the workpiece through the adsorption mechanism. The robotic arm can also quickly connect with the second flexible gripper through the second quick-release mechanism and clamp the workpiece through the clamping mechanism, and quickly switch between different grasping modes to realize two different grasping actions of clamping and adsorption. It has strong applicability and can be applied to small batches and multiple varieties of workpieces, and realizes automatic and continuous operation of the entire process of welding operations such as loading, positioning, displacement, welding, and unloading, effectively reducing labor intensity and production costs, and improving work efficiency and quality.

[0034] Preferably, the first and second clamping positions are both provided with a pin sleeve 11 and a support block 12, the upper surface of the support block 12 and the upper surface of the pin sleeve 11 are on the same horizontal plane, and the bottom surfaces of the first flexible gripper 2 and the second flexible gripper 3 are both provided with a positioning pin 100 and a positioning block 200 (respectively on Figure 3 and Figure 6 As shown in the figure, the positioning pin 100 is used to be inserted into the corresponding pin sleeve 11 for positioning and fixing, and the positioning block 200 is used to abut the corresponding support block 12, so as to position and fix the first flexible gripper 2 and the second flexible gripper 3 and keep the first flexible gripper 2 and the second flexible gripper 3 in a horizontal state, so as to facilitate the robot arm to accurately dock the first flexible gripper 2 or dock the second flexible gripper 3.

[0035] exist Figure 3 and Figure 6 As shown in the figure, at least one pair of positioning pins 100 are provided on the first flexible gripper 2 and the second flexible gripper 3, and each pair of positioning pins 100 includes a circular positioning pin 101 and a diamond positioning pin 102. The pin sleeve 11 is arranged in a one-to-one correspondence with the positioning pins 100. The first flexible gripper 2 and the second flexible gripper 3 are positioned and fixed with high precision through the cooperation of the two positioning pins 100. Under the premise of ensuring the positioning accuracy, the robot arm can smoothly remove the first flexible gripper 2 or the second flexible gripper 3 from the bracket 1.

[0036] Please combine Figure 1 and Figure 2 The flexible gripper integrated device also includes a protection drive mechanism 4 arranged on the bracket 1 and a protection cover 5 connected to the protection drive mechanism 4, and the protection drive mechanism 4 is used to drive the protection cover 5 to move to the state where the cover is set to the first locking position and / or the second locking position, and the protection drive mechanism 4 is also used to drive the protection cover 5 to move to the state of being out of the first locking position and / or the second locking position.

[0037] In this embodiment, the protective cover 5 adopts a flip structure, and the protective drive mechanism 4 includes a flip cylinder, which is used to drive the protective cover 5 to flip to a state where the first clamping position and the second clamping position are covered at the same time. The flip cylinder is also used to drive the protective cover 5 to flip to a state where the first clamping position and the second clamping position are separated at the same time. The structure is simple and efficient, and occupies a small space. It can simultaneously provide dust protection for the first flexible gripper 2 on the first clamping position and the second flexible gripper 3 on the second clamping position. In other embodiments, the protective cover 5 can also adopt a translation structure, and the protective drive mechanism 4 drives the protective cover 5 to translate to a state where the first clamping position is covered alone, or to a state where the second clamping position is covered alone, or to a state where the first clamping position and the second clamping position are covered at the same time, which can adapt to more application requirements and flexibly adjust the dust protection position.

[0038] exist Figure 4 and Figure 8 As shown in the figure, the first flexible gripper 2 and the second flexible gripper 3 are also provided with a calibration unit 300 for positioning the robot arm. The calibration unit 300 is made of columnar material to form a conical structure. The TCP or accuracy of the robot is calibrated and calibrated through the tip of the conical structure, which facilitates precise positioning.

[0039] Preferably, the first flexible gripper 2 and the second flexible gripper 3 are also provided with a detection unit 400 for detecting whether the workpiece is grasped in place. The detection unit 400 can specifically use a contact sensor to detect whether the workpiece is grasped in place. It should be understood that the detection method of the detection unit 400 is common knowledge.

[0040] Please combine Figure 4 and Figure 5 The first flexible gripper 2 also includes a grounding mechanism 23. The adsorption mechanism 22 is provided with two. The two adsorption mechanisms 22 are symmetrically arranged on opposite sides of the grounding mechanism 23. The grounding mechanism 23 is grounded and used to abut the surface of the workpiece. Specifically, the grounding mechanism 23 is connected to the negative electrode of the welding ground wire to ensure that the welding system forms a welding closed loop. The two adsorption mechanisms 22 arranged on opposite sides of the grounding mechanism 23 jointly adsorb and fix the workpiece, so that the surface of the workpiece is closely attached to the grounding mechanism 23, ensuring the adsorption stability of the workpiece while facilitating the welding operation of the workpiece.

[0041] Furthermore, the adsorption mechanism 22 includes a plurality of suction nozzles arranged side by side, and the plurality of suction nozzles simultaneously adsorb different positions on the workpiece to ensure the adsorption effect and prevent the partial position of the special-shaped workpiece from being unable to be stably adsorbed and becoming loose.

[0042] Preferably, the grounding mechanism 23 includes a mounting seat 231 and a grounding block 232 that is movable and can be lifted on the mounting seat 231, and a buffer spring 233 that elastically abuts against the grounding block 232 in the direction toward the workpiece. That is, the grounding block 232 is pressed against the mounting seat 231 by the buffer spring 233, so as to achieve a buffering protection effect in the process of grasping the workpiece, protect the first flexible gripper 2 and the workpiece, and ensure the fit between the grounding block 232 and the workpiece, so as to better perform the welding operation.

[0043] Please combine Figure 7 and Figure 8 The clamping mechanism 32 includes a rotation drive assembly 321, a screw rod 322 connected to the rotation drive assembly 321, two screw rod seats 323 respectively sleeved at both ends of the screw rod 322 and threadedly connected to the screw rod 322, and two clamping arms 324 connected to the two screw rod seats 323 in a one-to-one correspondence, and the threads at both ends of the screw rod 322 have opposite rotation directions. When the screw rod 322 is driven to rotate by the rotation drive assembly 321, the two screw rod seats 323 can be driven to move closer to or away from each other through threaded cooperation, thereby driving the two clamping arms 324 to move closer to or away from each other, and workpieces of different widths can be accurately clamped under the detection cooperation of the detection unit 400.

[0044] As a second aspect, an embodiment of the utility model also provides a robot workstation (not shown in the figure, the same below), including a robotic arm and the above-mentioned flexible gripper integrated device, wherein the robotic arm is used to grasp the workpiece through the first flexible gripper 2 or the second flexible gripper 3, and can quickly switch between different grasping modes to realize two different grasping actions of clamping and adsorption. It has strong applicability and can be applied to small batches and multiple varieties of workpieces, and realizes the full process of welding operations such as loading, positioning, displacement, welding, and unloading, and automatically and continuously operates, effectively reducing labor intensity and production costs, and improving work efficiency and quality.

[0045] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A flexible gripper integrated device, characterized in that: The invention comprises a support (1), a first flexible gripper (2) and a second flexible gripper (3), wherein the support (1) is provided with a first clamping position and a second clamping position respectively, the first flexible gripper (2) is arranged on the first clamping position, the first flexible gripper (2) comprises a first quick-release mechanism (21) and a suction mechanism (22) connected to the first quick-release mechanism (21) and used for suctioning a workpiece, the second flexible gripper (3) is arranged on the second clamping position, the second flexible gripper (3) comprises a second quick-release mechanism (31) and a clamping mechanism (32) connected to the second quick-release mechanism (31) and used for clamping a workpiece, and the first quick-release mechanism (21) and the second quick-release mechanism (31) are both used for being detachably connected to a robot arm.

2. The flexible gripper integrated device according to claim 1, characterized in that: The first clamping position and the second clamping position are both provided with a pin sleeve (11) and a support block (12); the upper surface of the support block (12) and the upper surface of the pin sleeve (11) are on the same horizontal plane; the bottom surfaces of the first flexible gripper (2) and the second flexible gripper (3) are both provided with a positioning pin (100) and a positioning block (200); the positioning pin (100) is used to be inserted into the corresponding pin sleeve (11) for positioning and fixing; the positioning block (200) is used to abut against the corresponding support block (12).

3. The flexible gripper integrated device according to claim 2, characterized in that: At least one pair of positioning pins (100) are provided on the first flexible gripper (2) and the second flexible gripper (3), each pair of positioning pins (100) comprises a circular positioning pin (101) and a diamond-shaped positioning pin (102), and the pin sleeves (11) are arranged in one-to-one correspondence with the positioning pins (100).

4. The flexible gripper integrated device according to claim 1, characterized in that: The flexible gripper integrated device also includes a protection drive mechanism (4) arranged on the bracket (1) and a protection cover (5) connected to the protection drive mechanism (4), wherein the protection drive mechanism (4) is used to drive the protection cover (5) to move to a state where the cover is set to the first locking position and / or the second locking position, and the protection drive mechanism (4) is also used to drive the protection cover (5) to move to a state where the cover is out of the first locking position and / or the second locking position.

5. The flexible gripper integrated device according to claim 1, characterized in that: The first flexible gripper (2) and the second flexible gripper (3) are also provided with a calibration unit (300) for positioning the robot arm.

6. The flexible gripper integrated device according to claim 1, characterized in that: The first flexible gripper (2) and the second flexible gripper (3) are also provided with a detection unit (400) for detecting whether the workpiece is grasped in place.

7. The flexible gripper integrated device according to claim 1, characterized in that: The first flexible gripper (2) further comprises a grounding mechanism (23), two adsorption mechanisms (22) are provided, and the two adsorption mechanisms (22) are symmetrically arranged on opposite sides of the grounding mechanism (23), and the grounding mechanism (23) is grounded and used to abut against the surface of the workpiece.

8. The flexible gripper integrated device according to claim 7, characterized in that: The grounding mechanism (23) comprises a mounting seat (231), a grounding block (232) movably arranged on the mounting seat (231) and capable of being lifted and lowered, and a buffer spring (233) elastically abutting against the grounding block (232) in a direction toward the workpiece.

9. The flexible gripper integrated device according to claim 1, characterized in that: The clamping mechanism (32) comprises a rotation drive assembly (321), a screw rod (322) connected to the rotation drive assembly (321), two screw rod seats (323) respectively sleeved on both ends of the screw rod (322) and threadedly connected to the screw rod (322), and two clamping arms (324) connected to the two screw rod seats (323) in a one-to-one correspondence, wherein the threads at both ends of the screw rod (322) have opposite rotation directions.

10. A robot workstation, comprising a robot arm, characterized in that: It also includes a flexible gripper integrated device as described in any one of claims 1 to 9, wherein the robotic arm is used to grip the workpiece through the first flexible gripper (2) or the second flexible gripper (3).

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