Multifunctional clamping jaw with replaceable sleeve for robot

Abstract

The sleeve-replaceable multifunctional clamping jaw comprises a frame body, a tightening device and a clamping jaw device, the frame body is connected with the robot, and the robot is used for driving the frame body to move; the tightening device is arranged on the frame body and comprises a tightening gun and a clamping finger assembly, the end of the tightening gun is detachably connected with a sleeve used for tightening a bolt, the clamping jaw device is arranged on the frame body and comprises a fixed clamping jaw piece and a movable clamping jaw piece, and the robot drives the frame body to a corresponding working position. The movable clamping jaw part can move relative to the fixed clamping jaw part to clamp and move a workpiece so as to position the workpiece, after the clamping finger assembly clamps the bolt to a designated position, the tightening gun works to screw in the bolt, and when bolts of different specifications need to be screwed in, the clamping finger assembly clamps and moves the sleeve so that the sleeve can be detached relative to the end of the tightening gun. And then the corresponding sleeve is clamped and installed at the end of the tightening gun until all the to-be-tightened bolts are tightened, and mechanical replacement of the sleeve located at the end of the tightening gun and rapid tightening of the bolts can be achieved.

Description

Technical Field

[0001] The present application relates to the field of mechanical design technology, and in particular to a multifunctional clamp with a replaceable sleeve for a robot. Background Art

[0002] In the process of processing workpieces such as drive motors, it is often necessary to install gears, and then tighten bolts on the gears. During the bolt tightening process, different bolt holes of different workpieces are of different sizes, and different types of bolts need to be screwed in. However, in the prior art, when tightening different bolts, different types of sleeves need to be replaced. The replacement of sleeves is very complicated, which is not conducive to the mechanized process of bolt tightening.

[0003] Therefore, how to solve the mechanized replacement of the sleeve at the end of the tightening gun to complete the rapid tightening of the bolt is a technical problem that those skilled in the art currently need to solve. Utility Model Content

[0004] The utility model aims to provide a multifunctional clamping claw with replaceable sleeve for a robot, which can solve the problem of mechanized replacement of the sleeve at the end of a tightening gun to complete the rapid tightening of bolts.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A multifunctional clamp with a replaceable sleeve for a robot, used to tighten a bolt on a workpiece after moving and positioning the workpiece, comprising:

[0007] The frame is used to connect with the robot, and the robot is used to drive the frame to move;

[0008] The tightening device is arranged on the frame, and includes a tightening gun and a clamping finger assembly. The end of the tightening gun is detachably connected with a sleeve for tightening the bolt. The clamping finger assembly is used to clamp and move the sleeve so that the sleeve can be installed and removed relative to the end of the tightening gun. The clamping finger assembly is also used to clamp and move the bolt so that the bolt and the sleeve are connected.

[0009] The clamping jaw device is arranged on the frame, and includes a fixed clamping jaw part and a movable clamping jaw part. The movable clamping jaw part can move relative to the fixed clamping jaw part to clamp and move the workpiece to position the workpiece. The bolt on the sleeve is tightened on the positioned workpiece. The movable clamping jaw part is also provided with a sensor for judging whether the workpiece is clamped in place.

[0010] Preferably, the frame is also provided with a first transverse movement device and a second transverse movement device which are spaced apart and arranged at an angle along the first direction, and the tightening device also includes a lifting device for moving the finger assembly along the first direction, and the first transverse movement device can drive the tightening gun and the lifting device connected by the tightening mounting plate to move along the second direction, and the first direction and the second direction are perpendicular.

[0011] Preferably, the first transverse movement device includes a first transverse movement guide and a first power plate, and the first power plate is used to drive the tightening mounting plate to move along the first transverse movement guide.

[0012] Preferably, the tightening mounting plate is fixedly connected with a tightening follower, and the first power plate is provided with a follower notch, and the follower notch is used for cooperating and connecting with the tightening follower.

[0013] Preferably, the second transverse movement device includes a second transverse movement guide and a second power plate, the clamping device is provided with a clamping follower, and the second power plate cooperates with the clamping follower to make the clamping device move along the second transverse movement guide.

[0014] Preferably, the movable clamping jaw member comprises a guide rail and a movable clamping jaw, wherein the guide rail is located above the fixed clamping jaw member and extends along the first direction.

[0015] Preferably, the clamping jaw device further comprises a lifting mechanism, which can drive the movable clamping jaw to move along the guide rail.

[0016] Preferably, the clamping finger assembly comprises clamping fingers and a power source, and the power source is used to control the opening or closing of the clamping fingers.

[0017] Preferably, the first traverse device and the second traverse device are both connected to a camera assembly for identifying the workpiece and its position, and the camera assembly includes a light source and a camera.

[0018] Preferably, there are multiple sensors, and the multiple sensors are arranged at intervals on the outside of the guide rail along the first direction.

[0019] With respect to the above-mentioned background technology, the multifunctional clamp with replaceable sleeve for robot provided in the present application is used to tighten the bolt on the workpiece after moving and positioning the workpiece, and includes a frame, a tightening device and a clamping jaw device. The frame is used to be connected to the robot, and the robot is used to drive the frame to move; the tightening device is arranged on the frame, including a tightening gun and a clamping finger assembly, the end of the tightening gun is detachably connected with a sleeve for tightening the bolt, the clamping finger assembly is used to clamp and move the sleeve, so that the sleeve can be installed and disassembled relative to the end of the tightening gun, and the clamping finger assembly is also used to clamp and move the bolt so that the bolt and the sleeve are connected; the clamping jaw device is arranged on the frame, including a fixed clamping jaw member and a movable clamping jaw member, the movable clamping jaw member can move relative to the fixed clamping jaw member to clamp and move the workpiece, so that the workpiece is positioned, and the bolt on the sleeve is tightened on the positioned workpiece, and the movable clamping jaw member is also provided with a sensor for judging whether the workpiece is clamped in place.

[0020] The robot drives the frame to the corresponding working position, and the mobile clamping jaw can move relative to the fixed clamping jaw to clamp and move the workpiece to position the workpiece. The robot drives the frame and the workpiece to the tightening station, controls the clamping finger assembly to clamp the bolt to the specified position, and then the tightening gun works to screw in the bolt. When bolts of different specifications need to be screwed in, the clamping finger assembly clamps and moves the sleeve, so that the sleeve is disassembled relative to the end of the tightening gun, and then the corresponding sleeve is clamped and installed on the end of the tightening gun to complete the replacement of the sleeve until all the bolts to be tightened are tightened, thereby realizing the mechanized replacement of the sleeve at the end of the tightening gun and the rapid tightening of the bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of a multifunctional gripper with a replaceable sleeve for a robot provided in an embodiment of the utility model;

[0023] Figure 2 A bottom view of the structure of a multifunctional gripper with a replaceable sleeve for a robot provided by an embodiment of the utility model;

[0024] Figure 3 A schematic diagram of the structure of a tightening device provided by an embodiment of the utility model;

[0025] Figure 4 for Figure 3 A partial enlarged view of

[0026] Figure 5 A schematic diagram of the structure of the clamping device provided by an embodiment of the utility model;

[0027] Figure 6 A schematic diagram of the structure of a clamping device for clamping a workpiece provided by an embodiment of the utility model;

[0028] Figure 7 This is a schematic structural diagram of a workpiece provided in an embodiment of the utility model.

[0029] in:

[0030] 1-workpiece, 2-bolt;

[0031] 100-frame, 111-first transverse guide, 112-first power board, 121-second transverse guide, 122-second power board, 130-connecting block, 151-light source, 152-camera;

[0032] 200-tightening device, 210-tightening gun, 211-sleeve, 220-lifting device, 231-clamping finger, 232-power source, 240-tightening mounting plate, 241-tightening follower;

[0033] 300-gripping device, 310-fixed gripping member, 321-sensor, 322-guide rail, 323-movable gripping jaw, 330-lifting mechanism, 340-gripping jaw follower. DETAILED DESCRIPTION

[0034] 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.

[0035] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "top" and "bottom" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the position or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation of the present invention.

[0037] The utility model aims to provide a multifunctional clamping claw with replaceable sleeve for a robot, which can solve the problem of mechanized replacement of the sleeve at the end of a tightening gun to complete the rapid tightening of bolts.

[0038] It should be noted that, in this embodiment, the X direction in the drawings is defined as the first direction, and the Y direction is defined as the second direction, and the first direction and the second direction are perpendicular to each other.

[0039] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0040] See also Figure 1 and Figure 2 This embodiment provides a robot-use interchangeable sleeve multifunctional clamp, which is used to tighten the bolt 2 on the workpiece 1 after moving and positioning the workpiece 1, and includes a frame 100, a tightening device 200 and a clamping device 300.

[0041] The frame 100 is used to be connected to the robot, and the robot is used to drive the frame 100 to move.

[0042] In this embodiment, the frame 100 is provided with a connecting block 130 , and the connecting block 130 is used for the robot to drive the frame 100 to move.

[0043] See also Figure 3 and Figure 4 The tightening device 200 is arranged on the frame 100, including a tightening gun 210 and a clamping finger assembly. The end of the tightening gun 210 is detachably connected with a sleeve 211 for tightening the bolt 2. The clamping finger assembly is used to clamp and move the sleeve 211 so that the sleeve 211 can be installed and removed relative to the end of the tightening gun 210. The clamping finger assembly is also used to clamp and move the bolt 2 so that the bolt 2 and the sleeve 211 are connected.

[0044] It should be noted that the purpose of tightening the bolt 2 can be achieved when the tightening device 200 is a group. In this embodiment, the tightening device 200 is preferably two groups. In addition, the number of groups of the tightening device 200 can be adjusted according to actual conditions as long as the above purpose can be achieved.

[0045] See also Figure 5 The clamping device 300 is arranged on the frame 100, and includes a fixed clamping jaw member 310 and a movable clamping jaw member. The movable clamping jaw member can move relative to the fixed clamping jaw member 310 to clamp and move the workpiece 1 to position the workpiece 1. The bolt 2 on the sleeve 211 is tightened on the positioned workpiece 1. The movable clamping jaw member is also provided with a sensor 321 for judging whether the workpiece 1 is clamped in place.

[0046] See also Figure 6 and Figure 7 The robot drives the frame 100 to the corresponding working position, and the mobile clamping jaw member can move relative to the fixed clamping jaw member 310 to clamp and move the workpiece 1 to position the workpiece 1. The robot drives the frame 100 and the workpiece 1 to move to the tightening station, and controls the clamping finger assembly to clamp the bolt 2 to the specified position, and then the tightening gun 210 works to screw in the bolt 2. When bolts 2 of different specifications need to be screwed in, the clamping finger assembly clamps and moves the sleeve 211, so that the sleeve 211 is disassembled relative to the end of the tightening gun 210, and then the corresponding sleeve 211 is clamped and installed on the end of the tightening gun 210, completing the replacement of the sleeve 211 until all the bolts 2 to be tightened are tightened, thereby realizing the mechanized replacement of the sleeve 211 at the end of the tightening gun 210 and the rapid tightening of the bolt 2.

[0047] Preferably, the frame 100 is also provided with a first transverse movement device and a second transverse movement device which are spaced apart and arranged at an angle along the first direction, and the tightening device 200 also includes a lifting device 220 for moving the clamping finger assembly along the first direction, and the first transverse movement device can drive the tightening gun 210 and the lifting device 220 connected by the tightening mounting plate 240 to move along the second direction, and the first direction and the second direction are perpendicular.

[0048] It can be understood that the lifting device 220 can drive the clamping finger assembly to move along the first direction for installation and disassembly of the sleeve 211, and the first transverse movement device can drive the tightening gun 210 and the lifting device 220 connected by the tightening mounting plate 240 to move along the second direction to adjust the distance between the tightening guns 210.

[0049] It should be noted that the first transverse moving device and the second transverse moving device are arranged at intervals, and the angle between the projections of the first transverse moving device and the second transverse moving device on the horizontal plane can be adjusted according to actual conditions as long as the above-mentioned purpose can be achieved.

[0050] Preferably, the first transverse movement device includes a first transverse movement guide 111 and a first power plate 112 , and the first power plate 112 is used to drive the tightening mounting plate 240 to move along the first transverse movement guide 111 .

[0051] It is understandable that the first transverse movement device includes a first transverse movement guide 111 and a first power plate 112 , and the first power plate 112 drives the tightening mounting plate 240 to move along the first transverse movement guide 111 , so as to control the distance between the two tightening guns 210 .

[0052] Preferably, the tightening mounting plate 240 is fixedly connected with a tightening follower 241 , and the first power plate 112 is provided with a follower notch, and the follower notch is used for cooperating and connecting with the tightening follower 241 .

[0053] In this embodiment, the movement of the tightening installation plate 240 is achieved by the cooperation between the fixedly connected tightening follower 241 and the follower notch of the first power plate 112 .

[0054] Preferably, the second transverse movement device includes a second transverse movement guide 121 and a second power plate 122 , and the clamping device 300 is provided with a clamping follower 340 , and the second power plate 122 cooperates with the clamping follower 340 to move the clamping device 300 along the second transverse movement guide 121 .

[0055] It is understandable that the clamping device 300 is provided with a clamping follower 340 cooperating with the second power plate 122, so that the clamping device 300 can move along the second transverse guide 121, so as to facilitate the clamping of workpieces 1 of different widths.

[0056] Preferably, the movable clamping jaw member includes a guide rail 322 and a movable clamping jaw 323 , and the guide rail 322 is located above the fixed clamping jaw member 310 and extends along the first direction.

[0057] It can be understood that, by providing the guide rail 322 , the movable clamping jaw 323 can be pulled away from the fixed clamping jaw 310 , thereby facilitating the clamping of the workpiece 1 .

[0058] It should be noted that the length and extension direction of the guide rail 322 can be adjusted according to actual conditions as long as the above-mentioned purpose can be achieved.

[0059] Preferably, the clamping jaw device 300 further includes a lifting mechanism 330 , and the lifting mechanism 330 can drive the movable clamping jaw 323 to move along the guide rail 322 .

[0060] It is understandable that the lifting mechanism 330 can drive the movable clamping jaw 323 to move along the guide rail 322 to get closer to or away from the fixed clamping jaw member 310 .

[0061] Preferably, the clamping finger assembly includes a clamping finger 231 and a power source 232 , and the power source 232 is used to control the clamping finger 231 to open or close.

[0062] In this embodiment, the clamping fingers 231 are opened and closed by a power source 232 connected thereto, so that the bolt 2 can be clamped and the sleeve 211 can be loaded and unloaded conveniently.

[0063] Preferably, both the first transverse moving device and the second transverse moving device are connected to a camera assembly for identifying the workpiece 1 and its position, and the camera assembly includes a light source 151 and a camera 152 .

[0064] It can be understood that, in the present embodiment, the first camera assembly and the second camera assembly both include a light source 151 and a camera 152 , and both the first camera assembly and the second camera assembly can work independently and can accurately identify the workpiece 1 and its position.

[0065] It should be noted that the positions of the first camera assembly and the second camera assembly can be adjusted according to actual conditions as long as the above functions can be achieved.

[0066] Preferably, there are multiple sensors 321 , and the multiple sensors 321 are arranged at intervals on the outside of the guide rail 322 along the first direction.

[0067] In this embodiment, the sensor 321 is disposed outside the guide rail 322 of the movable clamping jaw member, and different signals from the sensor 321 are used to determine different workpieces 1 and whether they are clamped in place.

[0068] It should be noted that there are preferably multiple sensors 321, and the multiple sensors 321 are arranged at intervals along the first direction, which can increase the accuracy of judging different workpieces 1 and whether they are clamped in place.

[0069] In addition, the frame 100 in this embodiment is an integral mounting frame, on which all components are mounted, and the integrated structure has a smaller error.

[0070] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0071] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0072] The above is a detailed introduction to the embodiments provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A multifunctional gripper with a replaceable sleeve for a robot, used to tighten a bolt (2) on a workpiece (1) after moving and positioning the workpiece (1), characterized in that: include: A frame (100) is used to be connected to a robot, and the robot is used to drive the frame (100) to move; A tightening device (200) is arranged on the frame (100), comprising a tightening gun (210) and a clamping finger assembly, wherein the end of the tightening gun (210) is detachably connected to a sleeve (211) for tightening the bolt (2), the clamping finger assembly is used to clamp and move the sleeve (211) so that the sleeve (211) can be installed and removed relative to the end of the tightening gun (210), and the clamping finger assembly is also used to clamp and move the bolt (2) so that the bolt (2) and the sleeve (211) are connected; The clamping device (300) is arranged on the frame (100), and comprises a fixed clamping jaw member (310) and a movable clamping jaw member. The movable clamping jaw member can move relative to the fixed clamping jaw member (310) to clamp and move the workpiece (1) so as to position the workpiece (1). The bolt (2) on the sleeve (211) is tightened on the positioned workpiece (1). The movable clamping jaw member is also provided with a sensor (321) for judging whether the workpiece (1) is clamped in place.

2. The robot-use replaceable sleeve multifunctional gripper according to claim 1, characterized in that: The frame (100) is also provided with a first transverse movement device and a second transverse movement device which are spaced apart and arranged at an angle along a first direction, and the tightening device (200) also includes a lifting device (220) for moving the clamping finger assembly along the first direction, and the first transverse movement device can drive the tightening gun (210) and the lifting device (220) connected by the tightening mounting plate (240) to move along the second direction, and the first direction and the second direction are perpendicular.

3. The robot-use replaceable sleeve multifunctional gripper according to claim 2, characterized in that: The first transverse movement device comprises a first transverse movement guide (111) and a first power plate (112), wherein the first power plate (112) is used to drive the tightening installation plate (240) to move along the first transverse movement guide (111).

4. The robot-use replaceable sleeve multifunctional gripper according to claim 3, characterized in that: The tightening installation plate (240) is fixedly connected to a tightening follower (241), and the first power plate (112) is provided with a follower notch, and the follower notch is used for matching and connecting with the tightening follower (241).

5. The robot-use replaceable sleeve multifunctional gripper according to claim 2, characterized in that: The second transverse movement device comprises a second transverse movement guide (121) and a second power plate (122); the clamping device (300) is provided with a clamping follower (340); the second power plate (122) cooperates with the clamping follower (340) to enable the clamping device (300) to move along the second transverse movement guide (121).

6. The robot-use replaceable sleeve multifunctional gripper according to claim 2, characterized in that: The movable clamping jaw member comprises a guide rail (322) and a movable clamping jaw (323); the guide rail (322) is located above the fixed clamping jaw member (310) and extends along the first direction.

7. The robot-use replaceable sleeve multifunctional gripper according to claim 6, characterized in that: The clamping jaw device (300) further comprises a lifting mechanism (330), and the lifting mechanism (330) is capable of driving the movable clamping jaw (323) to move along the guide rail (322).

8. The robot-use replaceable sleeve multifunctional gripper according to claim 1, characterized in that: The clamping finger assembly comprises a clamping finger (231) and a power source (232), wherein the power source (232) is used to control the clamping finger (231) to open or close.

9. The robot-use multifunctional gripper with replaceable sleeve according to claim 2, characterized in that: The first traverse device and the second traverse device are both connected to a camera assembly for identifying the workpiece (1) and its position, and the camera assembly includes a light source (151) and a camera (152).

10. The robot-use replaceable sleeve multifunctional gripper according to claim 6, characterized in that: There are a plurality of sensors (321), and the plurality of sensors (321) are arranged at intervals on the outside of the guide rail (322) along the first direction.

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