Five-axis DASH gripper
Through the design of the five -axis DASH starting point, the combination of framework, rotor board, induction component, dual -axis module, three -axis module and clamp component to achieve the five -axis linkage, solving the point of the grasped hand clipping point in the existing technology. Insufficient and large -scale problems have improved the efficiency of DASH production and the capacity of flexible DASH.
Patent Information
- Application Number
- CN202420953057.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-30
- Publication Date
- 2025-01-28
- Estimated Expiration
- 2034-04-30
AI Technical Summary
In the prior art, the DASH size shape or production process lines of different models are different, resulting in fewer clamping points of grippers, which cannot meet the gripping needs of multiple DASHs, and the space occupied by multiple different grippers is large, which affects the Productivity.
Design a five -axis DASH starting point that achieves five -axis linkage through framework, rotor board, induction component, dual -axis module, three -axis module and clamp component component, and flexibly adjust the DASH pinpoint point.
Through the five -axis linkage, it can adapt to a variety of different DASH clamps, saves the occupation space of the grasped hand, improves the efficiency of DASH production, and holds the flexible DASH through the clamping component of the floating connector.
Smart Images
Figure CN222405747U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of mechanical grippers, in particular to a five-axis DASH gripper. Background Art
[0002] DASH in the automotive field generally refers to the dashboard, which is the control panel inside the car. With the advancement of technology, the existing DASH can be made flexible. In order to prevent the quality or positioning of the flexible DASH from being abnormal during the production process, a mechanical gripper is generally used as the DASH fixture.
[0003] In the prior art, the DASH size, shape or production process line corresponding to different vehicle models is different. In order to avoid interference between workpieces, the gripper can position fewer clamp points on the workpiece. Therefore, it is necessary to design corresponding grippers for different vehicle models. The same gripper or the same gripping point cannot meet the gripping of DASH of different models. Multiple different grippers occupy a large space and affect production efficiency when producing different types of DASH. Utility Model Content
[0004] The utility model provides a five-axis DASH gripper, which is used to solve the problems existing in the prior art.
[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0006] A five-axis DASH gripper comprises a frame, an adapter plate, a sensing component, a dual-axis module, a triaxial module, and two clamping components; one end of the adapter plate is fixedly connected to the outer frame side of the frame, and the other end is fixedly connected to the handling end of the robot; the sensing component is connected to the inner frame of the frame, and the sensing head of the sensing component faces downward; the dual-axis module and the triaxial module are respectively arranged on both sides of the frame, the Z-axis driven end of the dual-axis module is connected to the X-axis driving end of the dual-axis module; the X-axis driven end of the triaxial module is connected to the Y-axis driving end of the triaxial module, and the Z-axis driven end of the triaxial module is connected to the X-axis driving end of the triaxial module; the driven end of one of the clamping components is connected to the Z-axis driving end of the dual-axis module, and the other clamping component is connected to the Z-axis driving end of the triaxial module, the clamping ends of the two clamping components are arranged opposite to each other, and the clamping ends of the two clamping components are both located at the bottom side of the sensing head of the sensing component.
[0007] Preferably, the dual-axis module includes a first horizontal drive component, a first lifting drive component and a connecting seat; the first horizontal drive component is detachably connected to the frame through the connecting seat; the linkage end of the first lifting drive component is fixedly connected to the driving end of the first horizontal drive component.
[0008] Preferably, the three-axis module includes a second horizontal drive component, a third horizontal drive component, a second lifting drive component and a connecting block; the second horizontal drive component is detachably connected to the frame through the connecting block; the driven end of the third horizontal drive component is fixedly connected to the driving end of the second horizontal drive component, and the driven end of the second lifting drive component is fixedly connected to the driving end of the third horizontal drive component; the movement directions of the driving ends of the second horizontal drive component and the third horizontal drive component are perpendicular to each other.
[0009] Preferably, the clamping assembly includes a telescopic cylinder, a vertical plate component and a pressure arm, the top of the vertical plate component is fixedly connected to the Z-axis driving end of the dual-axis module or the Z-axis driving end of the three-axis module, the telescopic cylinder is vertically arranged downward and fixedly connected to the side wall of the vertical plate component, the end of the pressure arm is hinged to the telescopic end of the telescopic cylinder, and the middle part of the pressure arm is hinged to the bottom end of the vertical plate component.
[0010] Preferably, the clamping assembly further comprises two clamps, which are arranged opposite to each other, wherein one clamp is fixedly connected to the clamping end of the pressure arm, and the other clamp is fixedly connected to the bottom end of the vertical profile plate member.
[0011] Preferably, the clamp is a floating joint.
[0012] Preferably, the sensing assembly includes a sensor bracket and a proximity switch, the end of the sensor bracket is detachably connected to the inner frame of the frame, the proximity switch is fixedly connected to an end of the sensor bracket away from the frame, and the sensing head of the proximity switch faces the top side of the frame.
[0013] Preferably, the frame includes two parallel transverse octagonal tubes, a longitudinal octagonal tube and a circular tube, the two ends of the longitudinal octagonal tube are respectively fixedly connected to the ends of the two transverse octagonal tubes, the circular tube is arranged away from the longitudinal octagonal tube, and the two ends of the circular tube are respectively fixedly connected to the ends of the two transverse octagonal tubes; the eight faces of the transverse octagonal tube and the longitudinal octagonal tube are provided with connecting holes.
[0014] Preferably, it also includes a clamping auxiliary component, which is arranged on the side of the frame close to the dual-axis module.
[0015] The beneficial effects of the utility model are:
[0016] 1. Compared with the prior art, the utility model provides a five-axis DASH gripper, which can flexibly adjust the clamping points of the DASH through five-axis linkage to adapt to the clamping of a variety of different DASHes, thereby saving the space occupied by the gripper and improving the efficiency of DASH production.
[0017] 2. Compared with the prior art, the clamping end of the clamping assembly of the utility model is provided with a floating joint, which has a buffering and shock absorbing effect and can better clamp the flexible DASH.
[0018] 3. Compared with the prior art, the frame body of the utility model adopts an octagonal tube, the structural strength of the frame is higher and it is not easy to deform. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a structural schematic diagram of a five-axis DASH gripper in an embodiment of the utility model;
[0020] Figure 2 It is a schematic diagram of the connection between the frame, the adapter plate and the induction component in the embodiment of the utility model;
[0021] Figure 3 It is a schematic diagram of the connection between the dual-axis module and the clamping assembly in the embodiment of the utility model;
[0022] Figure 4 It is a connection diagram of an inverted three-axis module and a clamping assembly in an embodiment of the utility model.
[0023] Description of reference numerals:
[0024] 1. Frame; 11. Horizontal octagonal tube; 12. Longitudinal octagonal tube; 13. Round tube; 2. Adapter plate; 3. Induction component; 31. Sensor bracket; 32. Proximity switch; 4. Dual-axis module; 41. First horizontal drive component; 42. First lifting drive component; 43. Connecting seat; 5. Tri-axis module; 51. Second horizontal drive component; 52. Third horizontal drive component; 53. Second lifting drive component; 54. Connecting block; 6. Clamping component; 61. Telescopic cylinder; 62. Vertical plate member; 63. Press arm; 64. Clamp; 7. Clamping auxiliary component. DETAILED DESCRIPTION
[0025] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.
[0026] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.
[0027] This embodiment discloses a five-axis DASH gripper, which is used to solve the problems existing in the prior art.
[0028] Reference Figure 1 The five-axis DASH gripper of this embodiment includes a frame 1, an adapter plate 2, a sensing component 3, a dual-axis module 4, a triple-axis module 5, two clamping components 6 and a clamping auxiliary component 7.
[0029] In this embodiment, the frame 1 is rectangular as a whole, one end of the adapter plate 2 is fixedly connected to the outer frame side of the frame 1, and the other end is fixedly connected to the handling end of the robot. The sensing component 3 is connected to the inner frame of the frame 1, and its sensing head faces downward. If a workpiece is placed under the sensing head, the sensing head will transmit the sensing signal to the preset controller. The double-axis module 4 and the three-axis module 5 are respectively arranged on both sides of the frame 1, the Z-axis driven end of the double-axis module 4 is connected to the X-axis driving end of the double-axis module 4, the X-axis driven end of the three-axis module 5 is connected to the Y-axis driving end of the three-axis module 5, and the Z-axis driven end of the three-axis module 5 is connected to the X-axis driving end of the three-axis module 5. The driven end of one clamping component 6 is connected to the Z-axis driving end of the double-axis module 4, and the other clamping component 6 is connected to the Z-axis driving end of the three-axis module 5. The clamping ends of the two clamping components 6 are arranged oppositely, and the clamping ends of the two clamping components 6 are both located at the bottom side of the sensing head of the sensing component 3.
[0030] Through the above technical solution, the robot drives the gripper of the utility model to move toward the workpiece. During the movement, the preset controller adjusts the position of each axis driving end, and the preset controller controls the clamping assembly 6 to open. In this embodiment, the robot drives the gripper of the utility model to grasp the workpiece. When the sensing assembly 3 receives the workpiece signal, the sensing assembly 3 sends the workpiece signal to the preset controller (such as PLC or MCU), and the controller controls the two clamping assemblies 6 to clamp at the same time, thereby realizing the workpiece clamping action. Compared with the prior art, the utility model can flexibly adjust the clamping point of DASH through five-axis linkage to adapt to the clamping of various different DASH, thereby saving the space occupied by the gripper and improving the efficiency of DASH production.
[0031] It should be noted that the execution programs corresponding to the above-mentioned gripper movement and workpiece clamping actions are all existing programs.
[0032] In other embodiments, multiple sensing components 3 can be provided. If multiple sensing components 3 receive workpiece signals at the same time, the controller controls the two clamping components 6 to clamp at the same time to improve the stability of clamping the workpiece.
[0033] It should be explained that the above-mentioned robot can be a robotic arm, a transport mechanism or a humanoid robot.
[0034] In this embodiment, the clamping assembly 6 is in a normally closed (NC) state when not in operation.
[0035] Preferably, the above-mentioned clamping auxiliary component 7 is arranged on the side of the frame 1 close to the dual-axis module 4 to achieve three-point clamping and improve the stability of clamping.
[0036] like Figure 2 As shown, the frame 1 includes two transverse octagonal tubes 11, a longitudinal octagonal tube 12 and a round tube 13. The two transverse octagonal tubes 11 are arranged at intervals, and the transverse octagonal tube 11 is used to connect the dual-axis module 4 or the triaxial module 5. The two ends of the longitudinal octagonal tube 12 are respectively fixedly connected to the ends of the two transverse octagonal tubes 11, while the round tube 13 is arranged away from the longitudinal octagonal tube 12, and its two ends are respectively fixedly connected to the ends of the two transverse octagonal tubes 11, thereby forming a rectangular frame 1. The structural strength of the frame 1 is relatively high and not easy to deform. Among them, the eight faces of the transverse octagonal tube 11 and the longitudinal octagonal tube 12 are provided with connection holes to facilitate the detachable connection and assembly position adjustment of the dual-axis module 4, the triaxial module 5 and the clamping auxiliary component 7.
[0037] The sensing assembly 3 includes a sensor bracket 31 and a proximity switch 32. In this embodiment, the model of the proximity switch 32 is E2EQ-X10D1 G-M1 GJ-T. The end of the sensor bracket 31 is detachably connected to the inner side of the transverse octagonal tube 11, and the proximity switch 32 is fixedly connected to the end of the sensor bracket 31 away from the transverse octagonal tube 11, and the sensing head of the proximity switch 32 faces downward.
[0038] like Figure 3 As shown, the dual-axis module 4 includes a first horizontal driving component 41 , a first lifting driving component 42 and a connecting seat 43 .
[0039] In this embodiment, the connection seat 43 is an octagonal connection seat, the concave part of which fits with the transverse octagonal tube 11, and is provided with a hole corresponding to the transverse octagonal tube 11. The first horizontal drive assembly 41 is detachably connected to the frame 1 through the connection seat 43 to facilitate assembly and assembly position adjustment. The linkage end of the first lifting drive assembly 42 is fixedly connected to the driving end of the first horizontal drive assembly 41, and the driving end of the first lifting drive assembly 42 drives the corresponding clamping assembly 6 to move.
[0040] Through the above technical solution, the driving end of the first horizontal driving component 41 serves as the X-axis driving end of the dual-axis module 4 , and the driving end of the first lifting driving component 42 serves as the Z-axis driving end of the dual-axis module 4 .
[0041] It should be explained that the first horizontal driving assembly 41 is mainly composed of a horizontal slider, a horizontal slide rail and a servo motor, while the first lifting driving assembly 42 is mainly composed of a lifting slider, a lifting slide rail and a servo motor. Both of the above-mentioned two assemblies are existing assemblies.
[0042] like Figure 4 As shown, the three-axis module 5 includes a second horizontal drive assembly 51, a third horizontal drive assembly 52, a second lifting drive assembly 53 and a connecting block 54. The second horizontal drive assembly 51 is detachably connected to the horizontal octagonal tube 11 through the connecting block 54, the driven end of the third horizontal drive assembly 52 is fixedly connected to the driving end of the second horizontal drive assembly 51, the driven end of the second lifting drive assembly 53 is fixedly connected to the driving end of the third horizontal drive assembly 52, the driving ends of the second horizontal drive assembly 51 and the third horizontal drive assembly 52 move in perpendicular directions to each other, and the driving end of the second lifting drive assembly 53 drives the corresponding clamping assembly 6 to move.
[0043] Through the above technical solution, the driving end of the second horizontal driving component 51 serves as the Y-axis driving end of the three-axis module 5, the driving end of the third horizontal driving component 52 serves as the X-axis driving end of the three-axis module 5, and the driving end of the second lifting driving component 53 serves as the Z-axis driving end of the three-axis module 5.
[0044] It should be explained that the second horizontal driving assembly 51, the third horizontal driving assembly 52 and the second lifting driving assembly 53 are all composed of a slider, a slide rail and a servo motor, and are existing components.
[0045] like Figure 3 and Figure 4 As shown, the clamping assembly 6 includes a telescopic cylinder 61, a vertical plate member 62, a pressure arm 63 and two clamps 64. The top of the vertical plate member 62 is fixedly connected to the driving end of the first lifting drive assembly 41 or the driving end of the second lifting drive assembly 53. The telescopic cylinder 61 is vertically downwardly arranged and fixedly connected to the side wall of the vertical plate member 62. The end of the pressure arm 63 is hinged to the telescopic end of the telescopic cylinder 61 through a hinge pin, and the middle part of the pressure arm 63 is hinged to the bottom end of the vertical plate member 62 through a hinge pin. The two clamps 64 are arranged opposite to each other, one of the clamps 64 is fixedly connected to the clamping end of the pressure arm 63, and the other clamp 64 is fixedly connected to the bottom end of the vertical plate member 62.
[0046] Through the above technical solution, when the telescopic cylinder 61 contracts, the pressure arm 63 drives the two clamps 64 to separate and open from each other, and when the telescopic cylinder 61 extends, the pressure arm 63 drives the two clamps 64 to move closer to each other until they are clamped.
[0047] It should be noted that the telescopic cylinder 61 is in an extended state when not in operation to improve the safety of the clamping operation.
[0048] Preferably, the clamp 64 is a floating joint, and the specific model is JA-DPQ00124.
[0049] Compared with the prior art, the clamping end of the clamping assembly 6 of the utility model is provided with a floating joint, which has a buffering and shock-absorbing effect and can better clamp the flexible DASH.
[0050] The working principle of the embodiment of the utility model is:
[0051] The robot drives the gripper of the utility model to move toward the workpiece. During the movement, the preset controller adjusts the position of each axis driving end. At the same time, the preset controller controls the clamping assembly 6 to open. The robot drives the gripper of the utility model to grasp the workpiece. When the sensing assembly 3 receives the workpiece signal, the sensing assembly 3 sends the workpiece signal to the preset controller (such as PLC or MCU), and the controller controls the two clamping assemblies 6 to clamp at the same time, thereby realizing the workpiece clamping action. Compared with the prior art, the utility model can flexibly adjust the clamping point of DASH through five-axis linkage to adapt to the clamping of various different DASHes, thereby saving the space occupied by the gripper and improving the efficiency of DASH production.
[0052] The above are all preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.
Claims
1. A five-axis DASH gripper, characterized in that: The robot comprises a frame (1), an adapter plate (2), a sensing component (3), a dual-axis module (4), a triaxial module (5), and two clamping components (6); one end of the adapter plate (2) is fixedly connected to the outer frame side of the frame (1), and the other end is fixedly connected to the handling end of the robot; the sensing component (3) is connected to the inner frame of the frame (1), and the sensing head of the sensing component (3) faces downward; the dual-axis module (4) and the triaxial module (5) are respectively arranged on both sides of the frame (1), and the Z-axis driven end of the dual-axis module (4) is connected to the inner frame of the dual-axis module (4). )'s X-axis driving end; the X-axis driven end of the three-axis module (5) is connected to the Y-axis driving end of the three-axis module (5), and the Z-axis driven end of the three-axis module (5) is connected to the X-axis driving end of the three-axis module (5); the driven end of one clamping assembly (6) is connected to the Z-axis driving end of the dual-axis module (4), and the other clamping assembly (6) is connected to the Z-axis driving end of the three-axis module (5), the clamping ends of the two clamping assemblies (6) are arranged opposite to each other, and the clamping ends of the two clamping assemblies (6) are both located at the bottom side of the sensing head of the sensing assembly (3).
2. The five-axis DASH gripper according to claim 1, characterized in that: The dual-axis module (4) comprises a first horizontal drive component (41), a first lifting drive component (42) and a connecting seat (43); the first horizontal drive component (41) is detachably connected to the frame (1) via the connecting seat (43); and the linkage end of the first lifting drive component (42) is fixedly connected to the driving end of the first horizontal drive component (41).
3. The five-axis DASH gripper according to claim 1, characterized in that: The three-axis module (5) comprises a second horizontal drive component (51), a third horizontal drive component (52), a second lifting drive component (53) and a connecting block (54); the second horizontal drive component (51) is detachably connected to the frame (1) via the connecting block (54); the driven end of the third horizontal drive component (52) is fixedly connected to the driving end of the second horizontal drive component (51), and the driven end of the second lifting drive component (53) is fixedly connected to the driving end of the third horizontal drive component (52); the movement directions of the driving ends of the second horizontal drive component (51) and the third horizontal drive component (52) are perpendicular to each other.
4. The five-axis DASH gripper according to claim 1, characterized in that: The clamping assembly (6) comprises a telescopic cylinder (61), a vertical plate member (62) and a pressure arm (63); the top of the vertical plate member (62) is fixedly connected to the Z-axis driving end of the dual-axis module (4) or the Z-axis driving end of the three-axis module (5); the telescopic cylinder (61) is vertically arranged downward and fixedly connected to the side wall of the vertical plate member (62); the end of the pressure arm (63) is hinged to the telescopic end of the telescopic cylinder (61); and the middle of the pressure arm (63) is hinged to the bottom end of the vertical plate member (62).
5. The five-axis DASH gripper according to claim 4, characterized in that: The clamping assembly (6) further comprises two clamps (64), the two clamps (64) being arranged opposite to each other, wherein one clamp (64) is fixedly connected to the clamping end of the pressure arm (63), and the other clamp (64) is fixedly connected to the bottom end of the vertical profile plate member (62).
6. The five-axis DASH gripper according to claim 5, characterized in that: The clamp (64) is a floating joint.
7. The five-axis DASH gripper according to claim 1, characterized in that: The sensing component (3) comprises a sensor bracket (31) and a proximity switch (32), wherein the end of the sensor bracket (31) is detachably connected to the inner frame of the frame (1), and the proximity switch (32) is fixedly connected to an end of the sensor bracket (31) away from the frame (1), and the sensing head of the proximity switch (32) faces the top side of the frame (1).
8. The five-axis DASH gripper according to claim 1, characterized in that: The frame (1) comprises two parallel transverse octagonal tubes (11), a longitudinal octagonal tube (12) and a round tube (13); the two ends of the longitudinal octagonal tube (12) are respectively fixedly connected to the ends of the two transverse octagonal tubes (11); the round tube (13) is arranged away from the longitudinal octagonal tube (12); the two ends of the round tube (13) are respectively fixedly connected to the ends of the two transverse octagonal tubes (11); and the eight surfaces of the transverse octagonal tube (11) and the longitudinal octagonal tube (12) are provided with connection holes.
9. The five-axis DASH gripper according to claim 1, characterized in that: It also includes a clamping auxiliary component (7), which is arranged on the side of the frame (1) close to the dual-axis module (4).