Anti-falling device of robot gripper

Abstract

The utility model discloses an anti-falling device of a robot gripper. According to the anti-falling device, a large sliding plate is arranged to be connected with an air cylinder, a sliding groove is formed in the large sliding plate, a cam follower is embedded in the sliding groove, and the cam follower is connected with a gripper. And the cylinder extends out to drive the cam follower on the large sliding plate to move, so that the gripper can be driven to grip a workpiece. And the proximity switch is arranged to detect a clamping arm in-place terminal signal sent by the gripper and determine that the gripper grasps the workpiece, so that the situation that the larger and heavier workpiece is easy to fall off in the clamping process is reduced, the safety of production operation is improved, and the efficiency of production operation is improved.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to an anti-falling device for a robot gripper. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. With the continuous development of science and technology intelligence, robots have gradually replaced manual labor to enter the manufacturing industry to perform corresponding processing procedures, which can reduce the investment in labor costs of enterprises. The most common and commonly used industrial robots are relatively flexible robotic arms, which are mainly composed of multiple transmission shafts and gripper components responsible for grasping, and are more convenient to use. However, traditional robot grippers usually use pneumatic clamping devices, which do not have the function of preventing falling off; when the robot clamp arm is clamping the workpiece, if there is a sudden loss of air or when clamping a larger and heavier workpiece for transportation, the workpiece is prone to fall, which is not only easy to damage the workpiece, but also not conducive to the safety of production operations. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide an anti-falling device for a robot gripper in order to prevent the workpiece from falling off easily when the robot clamping arm is in the process of clamping the workpiece and causing safety problems such as sudden air failure and when clamping a larger and heavier workpiece for transportation, thus damaging the workpiece and endangering the safety of production operations.

[0004] The utility model solves the above technical problems through the following technical solutions:

[0005] In a first aspect, the utility model provides an anti-falling device for a robot gripper. The anti-falling device comprises: a cylinder, a large slide, a cam follower, a gripper, a bottom plate and a first linear guide rail;

[0006] The cylinder is connected to the large slide plate;

[0007] The upper surface of the large slide plate is provided with a slide groove for embedding the cam follower, and the cam follower is connected to the gripper;

[0008] The gripper is connected to the base plate via the first linear guide rail.

[0009] Preferably, the slide grooves are arranged at both ends of the upper surface of the large slide plate;

[0010] A positioning block is provided at the lower end of the cam follower, and the positioning block is connected to the gripper.

[0011] Preferably, the gripper comprises: a slider, a first small slide plate, a second small slide plate, a first clamping arm and a second clamping arm;

[0012] The upper surface of the sliding block is connected to the lower surface of the large sliding block, and the lower surface is connected to the first linear guide rail;

[0013] The first small sliding plate and the second small sliding plate are arranged on both sides of the sliding block;

[0014] The first clamping arm is connected to the first small slide, and the second clamping arm is connected to the second small slide.

[0015] Preferably, the positioning block at one end of the large slide is connected to the upper surface of the first small slide, and the positioning block at the other end is connected to the second small slide.

[0016] Preferably, the first small slide plate and the second small slide plate are respectively connected and fixed on the base plate through second linear guide rails.

[0017] Preferably, a connecting block is further provided on the upper surface of the large slide plate, and the cylinder is in contact with the connecting block via a floating joint.

[0018] Preferably, a latch block for fixing the limit block is respectively provided on the first clamp arm and the second clamp arm.

[0019] Preferably, a switch frame is further provided on the bottom plate, and the switch frame is used to support the proximity switch.

[0020] Preferably, a signal block is provided on the first clamping arm and the second clamping arm respectively.

[0021] The positive progress effect of the utility model is that the utility model sets a large slide to connect the cylinder, opens a slide groove on the large slide and embeds a cam follower, and the cam follower is connected to the gripper. The extension of the cylinder drives the cam follower on the large slide to move, so as to drive the gripper to grip the workpiece. A proximity switch is also set to detect the clamp arm in place terminal signal sent by the gripper to determine that the gripper grips the workpiece, thereby reducing the situation where large and heavy workpieces are easy to fall off during the clamping process, improving the safety of production operations and improving the efficiency of production operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the anti-falling device of the robot gripper according to an embodiment of the utility model.

[0023] Figure 2 It is a schematic plan view of the anti-falling device of the robot gripper according to an embodiment of the utility model.

[0024] Legend: 1. Base plate; 2. Large slide; 3. Cylinder; 4. Cam follower; 5. Gripper; 6. First linear guide; 7. Slide; 8. Positioning block; 9. Slider; 10. First small slide; 11. Second small slide; 12. First clamping arm; 13. Second clamping arm; 14. Second linear guide; 15. Connecting block; 16. Floating joint; 17. Latch block; 18. Limit block; 19. Proximity switch; 20. Switch rack; 21. Signal block. DETAILED DESCRIPTION

[0025] The present invention is further described below by way of embodiments, but the present invention is not limited to the scope of the embodiments. Example 1

[0026] See also Figure 1 to Figure 2 As shown, this embodiment provides an anti-falling device for a robot gripper. The anti-falling device includes: a cylinder 3, a large slide 2, a cam follower 4, a gripper 5, a base plate 1 and a first linear guide 6; the cylinder 3 is connected to the large slide 2; the upper surface of the large slide 2 is provided with a slide groove 7 for embedding the cam follower 4, and the cam follower 4 is connected to the gripper 5; the gripper 5 is connected to the base plate 1 through the first linear guide 6.

[0027] In this embodiment, the slide groove 7 is arranged at both ends of the upper surface of the large slide 2, and the lower end of the cam follower 4 is provided with a positioning block 8, which is connected to the gripper 5. The gripper 5 includes: a slider 9, a first small slide 10, a second small slide 11, a first clamping arm 12 and a second clamping arm 13; the upper surface of the slider 9 is connected to the lower surface of the large slide 2, and the lower surface is connected to the first linear guide 6; the first small slide 10 and the second small slide 11 are arranged on both sides of the slider 9; the first clamping arm 12 is connected to the first small slide 10, and the second clamping arm 13 is connected to the second small slide 11. Specifically, the slide grooves 7 are respectively provided at both ends of the upper surface of the large slide 2, and the cam follower 4 is embedded in the slide groove 7 and moves in the slide groove 7; the lower end of the cam follower 4 is provided with a positioning block 8, which is used to connect the cam follower 4 and the first small slide 10 and the second small slide 11 in the gripper 5, and plays a role of transfer.

[0028] In this embodiment, the positioning block 8 at one end of the large slide 2 is connected to the upper surface of the first small slide 10, and the positioning block 8 at the other end is connected to the second small slide 11, and the first small slide 10 and the second small slide 11 are respectively fixed to the bottom plate 1 through the second linear guide 14. Specifically, the upper surfaces of the first small slide 10 and the second small slide 11 are respectively connected to the positioning blocks 8 at both ends of the large slide 2, and the lower surfaces are respectively connected to the second linear guide 14 and fixed to the bottom plate 1, so that the large slide 2 can be driven to move when the cylinder 3 moves forward, thereby driving the first small slide 10 and the second small slide 11 to move inward along the second linear guide, and driving the first clamping arm 12 and the second clamping arm 13 to clamp the workpiece.

[0029] In this embodiment, a connecting block 15 is further provided on the upper surface of the large slide 2, and the cylinder 3 is in contact with the connecting block 15 through a floating joint 16. Specifically, a connecting block 15 is provided on the upper surface of the large slide 2, and the connecting block 15 is at the same horizontal position as the cylinder 3, and the floating joint 16 is connected to the cylinder 3; when the floating joint 16 extends forward, it will push the connecting block 15 and drive the large slide 2 to move forward.

[0030] In this embodiment, a latch block 17 for fixing a limit block 18 is respectively provided on the first clamp arm 12 and the second clamp arm 13. Specifically, the latch block 17 is used to position the workpiece. Generally, a latch hole is provided on the workpiece. By inserting the latch block 17 into the latch hole, the workpiece is positioned on the first clamp arm 12 and the second clamp arm 13, so that the workpiece can be clamped during transportation. The latch block 17 is fixed to the first clamp arm 12 and the second clamp arm 13 by bolts, respectively. The gap fixed by bolts is relatively large, which may affect the position of the latch block 17, thereby causing inaccurate positioning of the workpiece. At this time, the limit block 18 can be used to fill the gap to ensure the accuracy of the position of the latch block 17.

[0031] In this embodiment, a switch rack 20 is further provided on the bottom plate 1, and the switch rack 20 is used to support the proximity switch 19. The first clamp arm 12 and the second clamp arm 13 are both provided with a signal block 21. Specifically, the anti-drop device is provided with a switch rack 20 at a position close to the first clamp arm 12 and the second clamp arm 13, respectively, for installing and supporting the proximity switch 19; a plurality of signal blocks 21 are respectively provided on the side of the first clamp arm 12 and the second clamp arm 13 close to the proximity switch 19, for outputting a clamp arm in place terminal signal; the proximity switch 19 detects whether the clamp arm in place terminal signal is received.

[0032] In this embodiment, an anti-falling device for a robot gripper is provided. The anti-falling device for the robot gripper is provided by setting a large slide to connect to the cylinder, opening a slide groove on the large slide and embedding a cam follower, and the cam follower is connected to the gripper. The extension of the cylinder drives the cam follower on the large slide to move, thereby driving the gripper to grasp the workpiece. A proximity switch is also provided to detect the clamp arm in place terminal signal sent by the gripper to determine that the gripper grasps the workpiece, thereby reducing the situation where large and heavy workpieces are prone to falling off during the clamping process, improving the safety of production operations, and improving the efficiency of production operations.

[0033] The working principle of the utility model is: supply air to the robot to drive the first clamping arm 12 and the second clamping arm 13 to contact the workpiece, the cylinder 3 extends, the large slide 2 moves forward through the first linear guide 6, and the cam follower 4 in the slide groove 7 on the upper surface of the large slide 2 controls the connected first small slide 10 and second small slide 11 to drive the first clamping arm 12 and the second clamping arm 13 to clamp the workpiece along with the movement of the large slide 2. The proximity switch 19 detects the clamping arm in place terminal signal, which is sent by the signal block 21 on the first clamping arm 12 and the second clamping arm 13. After the clamping is detected, the robot clamps the workpiece to the next working position. If it is in the air-off state, the first clamping arm 12 and the second clamping arm 13 cannot be extended or only partially extended, and the proximity switch 19 cannot detect the clamping arm in place terminal signal, and the robot is always in a waiting state.

[0034] Although the specific implementations of the utility model are described above, those skilled in the art should understand that this is only an example, and the protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the utility model, but these changes and modifications fall within the protection scope of the utility model.

Claims

1. A robot gripper anti-falling device, used for a robot gripper, characterized in that: The anti-falling device comprises: a cylinder, a large slide plate, a cam follower, a gripper, a bottom plate and a first linear guide rail; The cylinder is connected to the large slide plate; The upper surface of the large slide plate is provided with a slide groove for embedding the cam follower, and the cam follower is connected to the gripper; The gripper is connected to the base plate via the first linear guide rail.

2. The anti-falling device of the robot gripper according to claim 1, characterized in that: The slide grooves are arranged at two ends of the upper surface of the large slide plate; A positioning block is provided at the lower end of the cam follower, and the positioning block is connected to the gripper.

3. The anti-falling device of the robot gripper according to claim 2, characterized in that: The gripper comprises: a slider, a first small slide plate, a second small slide plate, a first clamping arm and a second clamping arm; The upper surface of the sliding block is connected to the lower surface of the large sliding block, and the lower surface is connected to the first linear guide rail; The first small sliding plate and the second small sliding plate are arranged on both sides of the sliding block; The first clamping arm is connected to the first small slide, and the second clamping arm is connected to the second small slide.

4. The anti-falling device of the robot gripper according to claim 3, characterized in that: The positioning block at one end of the large slide is connected to the upper surface of the first small slide, and the positioning block at the other end is connected to the second small slide.

5. The anti-falling device of the robot gripper according to claim 4, characterized in that: The first small slide plate and the second small slide plate are respectively connected and fixed on the bottom plate through second linear guide rails.

6. The anti-falling device of the robot gripper according to claim 1, characterized in that: A connecting block is also provided on the upper surface of the large slide plate, and the cylinder is in contact with the connecting block via a floating joint.

7. The anti-falling device of the robot gripper according to claim 3, characterized in that: The first clamp arm and the second clamp arm are respectively provided with latch blocks for fixing the limiting block.

8. The anti-falling device of the robot gripper according to claim 1, characterized in that: The bottom plate is also provided with a switch frame, and the switch frame is used for supporting the proximity switch.

9. The anti-falling device of the robot gripper according to claim 7, characterized in that: The first clamping arm and the second clamping arm are respectively provided with signal blocks.

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