Automatic line robot grabbing device

Abstract

The utility model relates to an automatic line robot grabbing device which comprises a bottom plate. A manipulator quick-change device is arranged in the middle of the upper surface of the baseplate; the manipulator quick-change device is connected with the robot flange plate through a connecting shaft; linear bearings respectively penetrate through two ends of the bottom plate; the upper surface of the linear bearing is fixed with the upper surface of the bottom plate; a guide rod movably penetrates through the linear bearing; a pressure head is arranged below the guide rod; a switch bracket is arranged on the bottom plate beside the linear bearing; a first contactless switch and a second contactless switch which are used for detecting whether a workpiece exists or not are arranged on the switch bracket; four positioning tensioning pins are arranged on the lower surface of the bottom plate in the length direction of the bottom plate; an external air source is sequentially communicated with the main clamping device, the tool adapter and the positioning tensioning pin through air pipes. Multi-variety compatibility of a production line is achieved, an inner hole tensioning type mechanical arm is adopted in the grabbing device, the occupied space is small, self-centering can be achieved, and grabbing is accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of automated assembly line robots in the mechanical processing industry, in particular to an automated assembly line robot grasping device. Background Art

[0002] At present, industrial automation production is gradually maturing and stabilizing, and industrial robots are increasingly being used to replace manual operations on production sites. Based on the advantages of industrial robots such as high precision, high reliability, safety and stability, it is necessary to install gripping device fixtures on each robotic arm of the industrial robot body; the robot gripping device used in the existing automatic line is only suitable for a single product, with a relatively complex structure. The gripping adopts a linear cylinder pneumatic manipulator with large external dimensions, and there is a situation of inaccurate gripping when the blank size changes. Utility Model Content

[0003] The utility model mainly solves the technical problems of the prior art such as large external dimensions and inaccurate grasping, and proposes an automatic line robot grasping device. This new patent adopts a quick-change device to achieve rapid switching between two products and realize multi-variety compatibility of the production line. The grasping device adopts an inner hole tensioning manipulator, which occupies a small space, can achieve self-centering, and has accurate grasping.

[0004] The device consists of two parts, a mechanical part and an electronic component part. The mechanical part is used to carry the workpiece and realize the workpiece grasping, and the electronic component part is used to detect whether the workpiece is clamped in place and whether the workpiece clamping is reliable. This grasping device also includes a manipulator quick change device, which includes a main clamp and a workpiece adapter, and can realize the rapid switching of multiple sets of grasping devices.

[0005] The utility model provides an automatic line robot grasping device, comprising: a bottom plate;

[0006] A manipulator quick-change device is disposed in the middle of the upper end of the bottom plate; the manipulator quick-change device is connected to the robot flange through a connecting shaft;

[0007] Linear bearings are respectively provided at both ends of the bottom plate; the upper surface of the linear bearing is fixed to the upper surface of the bottom plate; a guide rod is movably provided in the linear bearing; a pressure head is provided at the lower end of the guide rod; a switch bracket is provided on the bottom plate next to the linear bearing, and a first contactless switch and a second contactless switch for detecting the presence or absence of a workpiece are provided on the switch bracket;

[0008] Four positioning and tightening pins are arranged on the lower surface of the bottom plate along the length direction of the bottom plate;

[0009] The external air source is connected with the main clamp, the tool adapter and the positioning tension pin in sequence through the air pipe.

[0010] Furthermore, a guide sleeve is sleeved on the upper end of the guide rod and fixed by a locking nut; the guide sleeve can be against the upper end surface of the linear bearing; a retaining ring is sleeved on the middle part of the guide rod; a spring is sleeved on the guide rod, between the retaining ring and the lower end surface of the linear bearing.

[0011] Furthermore, the upper end of the manipulator quick-change device is connected to the connecting shaft through a positioning pin and a bolt.

[0012] Furthermore, a speed regulating valve is arranged in the air pipe of the positioning tensioning pin.

[0013] Furthermore, the first contactless switch and the second contactless switch are arranged vertically and side by side.

[0014] Furthermore, a first proximity switch and a second proximity switch are respectively arranged on the side surfaces of the positioning tensioning pin; the first proximity switch and the second proximity switch are arranged up and down.

[0015] Furthermore, a balancing shaft is also provided at the end of the bottom plate on the side of the linear bearing; a guide rod is also passed through the balancing shaft; a pressure head is provided at the lower end of the guide rod; a guide sleeve is sleeved on the upper end of the guide rod and fixed by a locking nut; the guide sleeve can rest against the upper end surface of the linear bearing; a retaining ring is sleeved in the middle of the guide rod; a spring is sleeved on the guide rod and between the retaining ring and the lower end surface of the linear bearing.

[0016] Furthermore, a linear bearing and a balancing shaft are arranged at each end of the base plate; the linear bearing and the balancing shaft at the same end are arranged in parallel along the width direction of the base plate.

[0017] Compared with the prior art, the automatic line robot grabbing device provided by the utility model has the following advantages:

[0018] 1. The utility model is provided with a manipulator quick-change device, and the main clamp of the manipulator quick-change device cooperates with the workpiece adapter. As long as the specification of the workpiece adapter is consistent with that of the main clamp, a variety of gripping devices can be quickly converted, so that it is suitable for different products, with high adaptability and strong compatibility.

[0019] 2. The utility model is provided with a positioning tensioning pin to realize the clamping of the workpiece, and adopts an inner hole tensioning manipulator, which occupies a small space, can realize self-centering, has a simple structure and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 It is a top view of the structure of the utility model;

[0022] Figure 3 yes Figure 2 A side view;

[0023] Figure 4 yes Figure 2 Side view of B

[0024] Figure 5 yes Figure 1 CC section view in;

[0025] Figure numerals: 1. connecting shaft; 2. main clamp; 3. workpiece adapter; 4. switch bracket; 5. base plate; 6. first contactless switch; 7. guide rod; 8. linear bearing; 9. spring; 10. pressure head; 11. positioning tension pin; 12. first proximity switch; 13. speed control valve. DETAILED DESCRIPTION

[0026] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the sake of ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all of the contents.

[0027] like Figure 1-5 As shown, an automatic line robot grasping device provided by an embodiment of the utility model comprises: a bottom plate 5;

[0028] A manipulator quick-change device is disposed in the middle of the upper surface of the bottom plate 5; the manipulator quick-change device is connected to the robot flange through a connecting shaft 1;

[0029] Linear bearings 8 are respectively provided at both ends of the bottom plate 5; the upper surface of the linear bearing 8 is fixed to the upper surface of the bottom plate 5, and a guide rod 7 is movably provided in the linear bearing 8; a pressure head 10 is provided at the lower end of the guide rod 7; a guide sleeve is sleeved on the upper end of the guide rod 7 and fixed by a locking nut; the guide sleeve can be against the upper end surface of the linear bearing 8; a retaining ring is sleeved in the middle of the guide rod 7; a spring 9 is sleeved on the guide rod 7 and between the retaining ring and the lower end surface of the linear bearing 8. A switch bracket 4 is provided on the bottom plate 5 next to the linear bearing 8, and a first contactless switch 6 and a second contactless switch for detecting the presence or absence of a workpiece are provided on the switch bracket 4, and the first contactless switch 6 and the second contactless switch are arranged in parallel up and down, and the first contactless switch 6 and the second contactless switch are respectively used to detect the presence or absence of a workpiece. A balancing shaft is also provided at the end of the bottom plate 5 on the side of the linear bearing 8; a guide rod 7 is also inserted in the balancing shaft; a pressure head 10 is provided at the lower end of the guide rod 7; a guide sleeve is sleeved on the upper end of the guide rod 7 and fixed by a locking nut; the guide sleeve can be against the upper end surface of the linear bearing 8; a retaining ring is sleeved in the middle of the guide rod 7; a spring 9 is sleeved on the guide rod 7 and between the retaining ring and the lower end surface of the linear bearing 8. A linear bearing 8 and a balancing shaft are provided at each end of the bottom plate 5.

[0030] Four positioning tension pins 11 are arranged on the lower surface of the base plate 5 and along the length direction of the base plate 5; and the four positioning tension pins 11 are located on the central straight line of the lower surface of the base plate 5; the four positioning tension pins 11 are divided into two groups; every two positioning tension pins 11 are arranged at one end of the lower surface of the base plate 5, and the two positioning tension pins 11 at the same end are located on both sides of the guide rod 7; the first proximity switch 12 and the second proximity switch are arranged on the side of the positioning tension pin 11 respectively; the first proximity switch 12 and the second proximity switch are arranged up and down; the first proximity switch 12 is used to detect the clamping state of the workpiece; the second proximity switch is used to detect the loosening state of the workpiece. A speed regulating valve 13 is arranged in the air pipe of the positioning tension pin 11; the external air source is connected to the main clamp 2, the tool adapter 3 and the positioning tension pin 11 in sequence through the air pipe; the external air source is connected to the main clamp 2 through the air pipe, the air source passes through the inside of the main clamp 2 and the tool adapter 3, and then the air source passes through the air pipe between the tool adapter 3 and the positioning tension pin 11, so as to realize the action of the positioning tension pin 11.

[0031] The robot quick change device can use the SWR2300-TB model; the robot quick change device includes a main clamp 2 and a workpiece adapter 3; the protrusion at the lower end of the main clamp 2 matches the groove at the upper end of the workpiece adapter 3; then the positioning pin at the lower end of the main clamp 2 matches the pin hole on the workpiece adapter 3; thereby realizing the installation of the robot quick change device; the upper end of the main clamp 2 is connected to the connecting shaft 1 through the positioning pin and bolt. The robot quick change device is connected to an external air source.

[0032] Working principle of the utility model: This device is connected to the flange of the industrial robot, and the positioning tension pin 11 is moved by compressed air. The positioning tension pin 11 contains a first proximity switch 12 that is clamped in place, which is fed back to the control system. At the same time, the first contactless switch 6 and the second contactless switch are workpiece presence detection devices to detect whether the workpiece exists. First, the connecting shaft 1 is connected to the robot flange, and the external air source is connected to the main clamp 2. The main clamp 2 and the tool adapter 3 are connected by the input and output of compressed air. The pressure head 10 contacts the workpiece and the spring 9 thrusts the guide rod 7 to move up and down in the linear bearing 8, so that the first contactless switch 6 and the second contactless switch are alternately turned on and off to detect the presence of the workpiece. When the guide rod 7 moves upward into position, the first contactless switch 6 is turned on, indicating that there is a workpiece; when the guide rod 7 moves downward, the first contactless switch 6 is turned off, and when the second contactless switch is turned on, it indicates that there is no workpiece; the positioning tension pin 11 is connected to the base plate 5 through bolts and positioning pins, and is connected to the tool adapter 3 through an air pipe. The positioning tension pin 11 is clamped and released through the input and output of compressed air to grasp and release the workpiece. The first proximity switch 12 and the second proximity switch are used to confirm whether the positioning tension pin 11 is clamped and released in place. The clamping and releasing speed of the positioning tension pin 11 is achieved by the speed regulating valve 13 by controlling the compressed air flow. After the conditions are met, the robot drives the gripper to move to achieve workpiece handling and installation.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that modifying the technical solutions recorded in the aforementioned embodiments, or replacing part or all of the technical features therein by equivalents, does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An automatic line robot grasping device, characterized in that: include: Bottom plate (5); A manipulator quick-change device is provided in the middle of the upper surface of the base plate (5); the manipulator quick-change device can be connected to the robot flange via a connecting shaft (1); Linear bearings (8) are respectively provided at both ends of the bottom plate (5); the upper surface of the linear bearing (8) is fixed to the upper surface of the bottom plate (5); a guide rod (7) is movably provided in the linear bearing (8); a pressure head (10) is provided at the lower end of the guide rod (7); a switch bracket (4) is provided on the bottom plate (5) next to the linear bearing (8), and a first contactless switch (6) and a second contactless switch for detecting the presence or absence of a workpiece are provided on the switch bracket (4); Four positioning tensioning pins (11) are arranged on the lower surface of the bottom plate (5) along the length direction of the bottom plate (5); The external air source is connected to the main clamp (2), the tool adapter (3) and the positioning tension pin (11) in sequence through the air pipe.

2. The automatic line robot grasping device according to claim 1, characterized in that: A guide sleeve is sleeved on the upper end of the guide rod (7) and fixed by a locking nut; the guide sleeve can abut against the upper end surface of the linear bearing (8); a retaining ring is sleeved on the middle part of the guide rod (7); and a spring (9) is sleeved between the upper end of the guide rod (7), the retaining ring and the lower end surface of the linear bearing (8).

3. The automatic line robot grasping device according to claim 1, characterized in that: The upper end of the manipulator quick-change device is connected to the connecting shaft (1) via a positioning pin and a bolt.

4. The automatic line robot grasping device according to claim 1, characterized in that: A speed regulating valve (13) is provided in the air pipe of the positioning tensioning pin (11).

5. The automatic line robot grasping device according to claim 1, characterized in that: The first contactless switch (6) and the second contactless switch are arranged vertically and in parallel.

6. The automatic line robot grasping device according to claim 1, characterized in that: A first proximity switch (12) and a second proximity switch are respectively arranged on the side surfaces of the positioning tensioning pin (11); the first proximity switch (12) and the second proximity switch are arranged one above the other.

7. The automatic line robot grasping device according to claim 1, characterized in that: A balancing shaft is also arranged at the end of the bottom plate (5) on the side of the linear bearing (8); a guide rod (7) is also inserted into the balancing shaft; a guide sleeve is sleeved on the upper end of the guide rod (7) and fixed by a locking nut; the guide sleeve can abut against the upper end surface of the linear bearing (8); a retaining ring is sleeved on the middle part of the guide rod (7); and a spring (9) is sleeved between the upper end of the guide rod (7), the retaining ring and the lower end surface of the linear bearing (8).

8. The automatic line robot grasping device according to claim 7, characterized in that: A linear bearing (8) and a balancing shaft are arranged at each end of the base plate (5).

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