Turnover clamp special for robot

Abstract

The utility model relates to the technical field of mechanical automation, and discloses a special overturning clamp for a robot, which comprises a mechanical arm, two sliding blocks connected on the mechanical arm in a sliding manner and a linear driving piece for driving the sliding blocks to be close to or far away from each other, and rotatable clamping jaw mechanisms are arranged on the two sliding blocks. The turning clamp has the beneficial effects that in combination with the requirements of a machining process flow, due to the fact that a part needs to be turned over, clamped and then machined in the two turning processes, after the mechanical arm drives the turning clamp to a corresponding station, the clamping jaw mechanism clamps the part firstly; then the linear driving piece drives the two sliding blocks to drive the clamping jaw mechanisms to be separated, the clamping jaw mechanisms rotate to be opposite, and the part can be transferred from one clamping jaw mechanism to the other clamping jaw mechanism; and the clamping jaw mechanism is rotated again, the part can be turned over through the clamping jaw mechanism for clamping the part, the part can be conveniently installed in a machining device of the next working procedure, and internal conversion of the part clamping direction is achieved through a rotation and symmetrical translation structure.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical automation, in particular to a special turning fixture for robots. Background Art

[0002] At present, the loading and unloading of parts and subsequent inspection and testing of parts on the production lines of many factories in China are mainly done manually. However, in the current situation of the shortage of industrial workers in the machinery industry, equipment technology with intelligent robots as the core has been more and more widely used. In the machinery industry, it can be used for the assembly of parts, the handling and loading and unloading of processed workpieces, especially in automated CNC machine tools and modular machine tools. It is suitable for various flexible production application scenarios, can save huge workpiece conveying devices, has a compact structure, and is highly adaptable. At present, the level of industrial robot technology and its engineering application in my country is still a certain distance away from that in foreign countries, and the application scale and industrialization level are low. The research and development of manipulators directly affects the improvement of my country's automated production level, and is very necessary from economic and technical considerations. Therefore, it is very meaningful to conduct research and design of robots and related special equipment.

[0003] During the turning process of gear parts, the parts need to be turned over, clamped and processed again. Usually, the workpiece that has been processed for the first time needs to be transferred to a turning operation table for turning over, and then a robot is used to remove the workpiece from the turning operation table and send it to a secondary processing table. The operation is cumbersome, time-consuming, and has low processing efficiency. The workpiece needs to be clamped for the second time, and the positioning accuracy of the workpiece loading and unloading is difficult to guarantee.

[0004] The Chinese utility model patent with publication number CN214779142dU discloses a blanking plate, which is a vertically arranged pallet clamp, including two equal-height and horizontally extending clamping rods and an opening and closing drive device for driving them to open and close, wherein the clamping rods are perpendicular or parallel to the blanking plate; a clamping jaw flipping mechanism, which connects the pallet clamping jaw and drives it to rotate around an axis parallel to the clamping rod; and a moving mechanism, which drives the clamping jaw flipping mechanism to translate and rise and fall within a predetermined range. This technical solution can only feed materials in the vertical direction, has a complex structure, and cannot be applied to the scene of multiple processing tables. Utility Model Content

[0005] The utility model aims to realize the functions of rotation and symmetrical translation on the same fixture, so as to facilitate turning over and clamping parts for further processing. In view of the above-mentioned shortcomings of the prior art, a robot-specific turning fixture is proposed.

[0006] A robot-specific flip fixture comprises a mechanical arm, two sliders slidably connected to the mechanical arm and a linear drive member driving the sliders to move closer or farther away, wherein the two sliders are respectively provided with a clamping mechanism, and the two sliders are both provided with a rotatable clamping mechanism.

[0007] The above technical solution is further configured as follows: the clamping mechanism is arranged on the sliding block through a rotating driving member.

[0008] The above technical solution is further configured as follows: the clamping mechanism includes a mounting seat and at least two clamping jaws, the output end of the rotary drive member is fixedly connected to the mounting seat, and at least two of the clamping jaws are fixedly arranged on the mounting seat at intervals.

[0009] The above technical solution is further configured as follows: the rotary driving member is a rotary cylinder, and the driving end of the rotary cylinder is drivingly connected to the mounting seat to drive the clamping mechanism to rotate.

[0010] By adopting the above technical solution: the two clamping jaw mechanisms are divided into a left clamping jaw mechanism and a right clamping jaw mechanism, the two clamping jaws on the left clamping jaw mechanism are divided into a first clamping jaw and a second clamping jaw, the two clamping jaws on the right clamping jaw mechanism are divided into a third clamping jaw and a fourth clamping jaw, the first clamping jaw and the third clamping jaw are symmetrically arranged, and the third clamping jaw and the third clamping jaw are symmetrically arranged.

[0011] Parts processing requires going through the double-station exchange workbench, lathe one, lathe two and CNC station. When processing parts, the robot's operating steps are as follows:

[0012] Step 1: The robot's mechanical arm moves the flip fixture to the blank exchange workbench, and the first gripper clamps the blank from the double-station exchange workbench;

[0013] Step 2: The robot arm flips one end of the fixture to a lathe, and the second gripper grabs the finished product after the lathe is added, while the first gripper feeds the blank to a lathe;

[0014] Step 3: The linear drive member drives the two sliders to separate, and then the rotary drive member drives the left clamping mechanism and the right clamping mechanism to rotate 180°, so that the second clamping mechanism and the fourth clamping mechanism are opposite to each other. Then the linear drive member drives the two sliders to approach each other, so that the first-stage finished product on the second clamping mechanism is transferred to the fourth clamping mechanism. Finally, the linear drive member drives the two sliders to separate, and the rotary drive member drives the left clamping mechanism and the right clamping mechanism to rotate 180° in the opposite direction, so that the left clamping mechanism and the right clamping mechanism are separated from each other.

[0015] Step 4: The robot arm moves the flip fixture to the second lathe, and the third gripper takes out the second-stage finished product from the second lathe, while the fourth gripper transfers the first-stage finished product to the second lathe;

[0016] Step 5: Flip the fixture and repeat step 3, so that the second-stage finished product on the third clamping jaw is transferred to the first clamping jaw;

[0017] Step 6: The robot arm moves the flip fixture to the CNC machine tool, the second gripper takes out the finished product processed by the CNC machine tool, and the first gripper loads the second-stage finished product into the CNC machine tool;

[0018] Step 7: The robot arm transfers the flip fixture to the double-station exchange workbench, the second gripper places the finished product processed by the CNC machine tool on the finished product exchange workbench of the double-station exchange workbench, and the first gripper clamps the blank from the blank exchange workbench of the double-station exchange workbench;

[0019] Step 8: Repeat steps 1 to 7 in sequence.

[0020] The above technical solution is further configured as follows: the clamping claw is a finger cylinder.

[0021] By adopting the above technical solution: the workpiece is clamped by the finger cylinder.

[0022] The above technical solution is further configured as follows: the clamping claw comprises a finger cylinder and two clamping blocks, the finger cylinder is fixedly connected to the mounting seat, and the two clamping blocks are respectively arranged on two piston rods of the finger cylinder.

[0023] The above technical solution is further configured as follows: a positioning portion is provided between the two clamping blocks, the positioning portion includes a fixed seat, a positioning cylinder and a positioning block, the fixed seat is installed on the mounting seat, the positioning cylinder is installed on the fixed seat, and the driving end of the positioning cylinder is transmission-connected to the positioning block to drive the positioning block to move between the front ends of the two clamping blocks.

[0024] By adopting the above technical solution: when picking up materials, the finger cylinder drives the two fingers to separate from each other, and the positioning cylinder drives the positioning part to move away from the clamping block, and a picking space is formed between the two clamping blocks and the positioning block. The robotic arm moves the clamping claw to the part so that the part is located in the picking space, and then the finger cylinder drives the two fingers to approach each other so that the part is connected to the clamping block, limiting the part's vertical freedom, and the positioning cylinder drives the positioning block to connect with the part, limiting the part's horizontal freedom. The part can be stably fixed through the clamping block and the positioning part, and the part can be positioned at the same time, which is convenient for accurate loading of the part.

[0025] The above technical solution is further configured as follows: the linear drive component is a bidirectional cylinder.

[0026] The beneficial effects of the utility model are:

[0027] 1. The utility model combines the requirements of the processing process. Since the parts need to be turned over and clamped for further processing during the two turning processes, the rotation + symmetrical translation structure is adopted to realize the internal conversion of the part clamping direction.

[0028] 2. After the robotic arm drives the flip fixture to the corresponding workstation, the clamping mechanism first clamps the part; then the linear drive drives the two sliders to drive the clamping mechanism to separate, and the clamping mechanism rotates to face each other, so that the part can be transferred from one clamping mechanism to another; the clamping mechanism rotates again, and the clamping mechanism that clamps the part can realize the flipping of the part, which is convenient for installing the part in the lathe processing device of the next process. The part can be flipped and clamped on the robotic arm, with a compact structure and easy operation.

[0029] 3. The clamp adopts a special multi-station design. The four clamps are divided into groups of two to meet the material clamping needs in different machine tools. The internal conversion of the part clamping direction is realized on the same fixture, which is efficient and fast. The two sets of clamp mechanisms can realize the simultaneous loading and unloading of the machine tool, saving processing time.

[0030] 4. The gripper adopts the design of finger cylinder and positioning block, which can adapt to the gripping of parts of different sizes and has a wide range of applications. The finger cylinder and positioning block work at the same time to fix the parts stably and position the parts at the same time, which is convenient for accurate loading of parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the utility model.

[0032] Figure 2 for Figure 1 An enlarged schematic diagram of point A.

[0033] Figure 3 This is a schematic structural diagram of Example 3 of the utility model.

[0034] In the figure, 1, mechanical arm; 2, slider; 3, bidirectional cylinder; 4, clamping jaw mechanism; 41, mounting seat; 42, clamping jaw; 42a, first clamping jaw; 42b, second clamping jaw; 42c, third clamping jaw; 42d, fourth clamping jaw; 6, clamping block; 7, arc groove; 8, positioning cylinder; 9, fixing seat; 10, positioning block; 11, rotating cylinder. DETAILED DESCRIPTION

[0035] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0036] Example 1

[0037] A robot-specific flip fixture, such as Figure 1 As shown, it includes a robotic arm 1, on which two sliders 2 are slidably connected, and a bidirectional cylinder 3 is fixed on the robotic arm 1 for driving the two sliders to move closer to or away from each other, and the two sliders 2 are respectively provided with rotatable clamping mechanisms 4, and the two clamping mechanisms 4 are symmetrically arranged.

[0038] like Figure 2 As shown, the clamping mechanism 4 includes a mounting seat 41 and two clamping jaws 42 arranged on the mounting seat, the sliding block 2 is fixedly connected to the rotating cylinder 11, the output end of the rotating cylinder 11 is fixedly connected to the mounting seat 41, the mounting seat 41 is fixedly connected to two clamping jaws 42, and the two clamping jaws 42 are arranged on the mounting seat 41 along the horizontal direction.

[0039] like Figure 1 As shown, the left clamping mechanism 4 includes a first clamping jaw 42a and a second clamping jaw 42b, and the right clamping mechanism includes a third clamping jaw 42c and a fourth clamping jaw 42d. The first clamping jaw 42a and the third clamping jaw 42c are symmetrically arranged, and the second clamping jaw 42b and the fourth clamping jaw 42d are symmetrically arranged.

[0040] Parts processing requires going through the double-station exchange workbench, lathe one, lathe two and CNC station. When processing parts, the robot's operating steps are as follows:

[0041] Step 1: The robot arm 1 moves the flip fixture to the blank exchange workbench, and the first clamping claw 42a clamps the blank from the double-station exchange workbench;

[0042] Step 2, the robot arm 1 turns one end of the fixture to a lathe, and the second clamp 42b clamps the first-stage finished product after the lathe is added, and the first clamp 42a feeds the blank to a lathe;

[0043] Step 3, the linear drive component drives the two sliders 2 to separate, and then the rotary drive component drives the left clamping mechanism 4 and the right clamping mechanism 4 to rotate 180°, so that the second clamping jaw 42b and the fourth clamping jaw 42d are opposite, and then the linear drive component drives the two sliders 2 to approach each other, at this time the second clamping jaw 42b clamps one end of the part, and the fourth clamping jaw 42d is opened. After the second clamping jaw 42b and the fourth clamping jaw 42d approach each other, the end of the part away from the second clamping jaw 42b extends into the fourth clamping jaw 42d, and then the second clamping jaw 42b opens, and the fourth clamping jaw 42d clamps the part, so that the first-stage finished product on the second clamping jaw 42b is transferred to the fourth clamping jaw 42d. Finally, the linear drive component drives the two sliders 2 to separate, and the rotary drive component drives the left clamping mechanism 4 and the right clamping mechanism 4 to rotate 180° in the opposite direction, so that the left clamping mechanism 4 and the right clamping mechanism 4 are separated from each other;

[0044] Step 4: The robot arm 1 moves the flip fixture to the second lathe, and the third clamping jaw 42c takes out the second-stage finished product from the second lathe, while the fourth clamping jaw 42d transfers the first-stage finished product to the second lathe;

[0045] Step 5: Flip the clamp and repeat step 3 to transfer the second-stage finished product on the third clamp 42c to the first clamp 42a;

[0046] Step 6: The robot arm 1 moves the flip fixture to the CNC machine tool, the second clamping jaw 42b takes out the finished product processed by the CNC machine tool, and the first clamping jaw 42a loads the second-stage finished product into the CNC machine tool;

[0047] Step 7, the robot arm 1 transfers the flip fixture to the double-station exchange workbench, the second clamping jaw 42b places the finished product processed by the CNC machine tool on the finished product exchange workbench of the double-station exchange workbench, and the first clamping jaw 42a clamps the blank from the blank exchange workbench of the double-station exchange workbench;

[0048] Step 8: Repeat steps 1 to 7 in sequence.

[0049] Example 2

[0050] like Figure 3 As shown, the clamp 42 is a finger cylinder fixedly connected to the mounting base 41, and two fingers of the finger cylinder clamp the parts.

[0051] Example 3

[0052] like Figure 2 As shown, the clamp 42 includes a finger cylinder and two clamping blocks 6. The two fingers of the finger cylinder are arranged in the vertical direction, and the finger cylinder drives the two fingers to reciprocate in the vertical direction. A clamping block 6 is provided on one side adjacent to the two fingers, and an arc groove 7 is provided on one side adjacent to the clamping block 6, so as to facilitate clamping of cylindrical parts.

[0053] like Figure 2 As shown, a positioning portion is provided between the two clamping blocks 6, and the positioning portion includes a fixed seat 9, a positioning cylinder 8 and a positioning block 10. The fixed seat 9 is installed on the mounting seat 41, and the positioning cylinder 8 is installed on the fixed seat 9. The driving end of the positioning cylinder 8 is transmission-connected with the positioning block 10 to drive the positioning block 10 to move between the front ends of the two clamping blocks 6.

[0054] like Figure 1 As shown, the part is cylindrical. When picking up materials, the finger cylinder 5 drives the two fingers to separate from each other, and the positioning cylinder 8 drives the positioning part 10 to move away from the clamping block 6. A picking space is formed between the two clamping blocks 6 and the positioning part 10. The robot arm 1 moves the clamping claw 42 to the part so that the part is located in the picking space. Then the finger cylinder drives the two fingers to approach each other so that the two fingers clamp the part and limit the freedom of the part in the vertical direction. The positioning cylinder 8 drives the positioning part 10 to resist the part and limit the freedom of the part in the horizontal direction. The part can be stably fixed through the clamping block 6 and the positioning part 10, and the position of the part on the clamping claw mechanism 4 can be positioned to facilitate accurate loading of the part.

[0055] For matters not mentioned above, the prior art applies.

[0056] Although some specific embodiments of the utility model have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the utility model. Those skilled in the art of the utility model can make various modifications or supplements to the specific embodiments described, or replace them in a similar manner, but they will not deviate from the direction of the utility model or exceed the scope defined by the attached claims. Those skilled in the art should understand that any modification, equivalent replacement, improvement, etc. made to the above implementation methods based on the technical essence of the utility model should be included in the protection scope of the utility model.

Claims

1. A robot-specific flip fixture, characterized in that: The invention comprises a mechanical arm (1), two sliders (2) slidably connected to the mechanical arm (1), and a linear drive member for driving the sliders (2) to move closer or further away, and the two sliders (2) are each provided with a rotatable clamping claw mechanism (4).

2. The robot-specific flip fixture according to claim 1, characterized in that: The clamping jaw mechanism (4) is arranged on the sliding block (2) via a rotating driving member.

3. The robot-specific flip fixture according to claim 2 is characterized in that: The clamping mechanism (4) comprises a mounting seat (41) and at least two clamping jaws (42); the output end of the rotary drive member is fixedly connected to the mounting seat (41); and at least two clamping jaws (42) are fixedly arranged on the mounting seat (41) at intervals.

4. The robot-specific flip fixture according to claim 3 is characterized in that: The rotary drive member is a rotary cylinder (11), and the driving end of the rotary cylinder (11) is drivingly connected to the mounting seat (41) to drive the clamping mechanism (4) to rotate.

5. The robot-specific flip fixture according to claim 3 is characterized in that: The clamping claw (42) is a finger cylinder, and the finger cylinder is fixed on the mounting seat (41).

6. The robot-specific flip fixture according to claim 3, characterized in that: The clamping claw (42) comprises a finger cylinder and two clamping blocks (6); the finger cylinder is fixedly connected to the mounting seat (41); and the two clamping blocks (6) are respectively arranged on two piston rods of the finger cylinder.

7. The robot-specific flip fixture according to claim 6, characterized in that: A positioning portion is provided between the two clamping blocks (6), the positioning portion comprising a fixing seat (9), a positioning cylinder (8) and a positioning block (10), the fixing seat (9) being mounted on the mounting seat (41), the positioning cylinder (8) being mounted on the fixing seat (9), and the driving end of the positioning cylinder (8) being transmission-connected to the positioning block (10) so as to drive the positioning block (10) to move between the front ends of the two clamping blocks (6).

8. The robot-specific flip fixture according to claim 1, characterized in that: The linear drive component is a bidirectional cylinder (3).

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