Quick remodeling servo gripper assembly for gripping valve body

Abstract

The utility model discloses a quick change servo gripper assembly for gripping a valve body, which belongs to the technical field of industrial automation and comprises a base, a driving mechanism and a quick change mechanism, the driving mechanism and the quick change mechanism are arranged on the base, the quick change mechanism comprises sliding tables and grippers which are arranged in pairs, the sliding tables are arranged on sliding rails, and the grippers are arranged on the sliding rails. A quick-change connecting structure is arranged between the paw and the sliding table; the driving mechanism comprises a lead screw with positive and negative threads and a driving motor driving the lead screw to rotate, and the positive threads and the negative threads are connected with the two sliding tables respectively. And by changing the type of the gripper and adjusting the distance between the sliding tables, the gripper can be suitable for valve body parts with different boundary dimensions, the adaptation of the gripper and the valve body is achieved, and the problems that the valve body parts are different in boundary diameter dimension and are difficult to adapt to the gripper are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial automation, and in particular relates to a fast-changing servo gripper assembly for grasping a valve body. Background Art

[0002] There are many large and small ball valve bodies, gate valve bodies and other valve body parts in the fluid pipeline system. The processing of these parts is a thorny problem that many manufacturers find difficult to deal with. The outer diameters of valve body parts vary, and they are often very heavy and large. Traditional processing methods basically require manual work, and they can only be placed in the processing center through lifting tools such as cranes. During this operation, the speed is not only very slow, but there are also many safety hazards, which greatly reduces production efficiency and is not suitable for mass production. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a quick-change servo gripper assembly for grasping a valve body, which facilitates quick gripper change and solves the problem that valve body parts have different outer diameters and are difficult to match with the gripper.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions: a quick-change servo gripper assembly for grasping a valve body, comprising a base and a driving mechanism and a quick-change mechanism arranged on the base, the quick-change mechanism comprising a slide and a gripper arranged in pairs, the slide being arranged on a slide rail, and a quick-change connection structure being provided between the gripper and the slide; the driving mechanism comprising a screw with positive and negative threads, and a driving motor for driving the screw to rotate, the positive threads and the negative threads being respectively connected to the two slides.

[0005] Preferably, the quick-change connection structure includes a positioning hole provided on the hand claw and a pin hole provided on the slide, wherein a positioning pin and a spring for driving the head end of the positioning pin to be inserted into the positioning hole are provided in the pin hole.

[0006] Preferably, the mouth of the pin hole is provided with a limiting rib, and the positioning pin is provided with a limiting flange. Under the action of the spring, the positioning pin moves upward and the head end passes through the pin hole, and the limiting flange cooperates with the limiting rib.

[0007] Preferably, a baffle is connected to the bottom of the pin hole, and the bottom end of the spring abuts against the baffle.

[0008] Preferably, the head end of the positioning pin is provided with an arc convex portion.

[0009] Preferably, the gripper comprises a V-shaped groove, and step portions are provided on both side walls of the V-shaped groove.

[0010] Preferably, the gripper further comprises an L-shaped main body, the L-shaped main body comprises a vertical section and a horizontal section perpendicularly connected to the vertical section, the V-shaped groove is connected to the upper end of the vertical section, and the positioning hole is provided on the horizontal section.

[0011] Preferably, the gripper further comprises a hook plate of an L-shaped structure connected to the horizontal section of the L-shaped main body, the slide is provided with an L-shaped hooking portion, and the hook plate cooperates with the hooking portion.

[0012] Preferably, the driving mechanism further includes a reducer connected to the driving motor.

[0013] Preferably, the driving mechanism further includes a synchronous belt transmission assembly, which includes an active synchronous pulley connected to the output shaft of the reducer, a driven synchronous pulley connected to the screw rod, and a synchronous belt connecting the active synchronous pulley and the driven synchronous pulley.

[0014] The utility model adopts the above technical solution and has the following beneficial effects:

[0015] Since a quick-change connection structure is provided between the gripper and the slide, the gripper and the slide can be quickly separated and combined to perform quick gripper changeover. At the same time, since the two slides move in opposite directions along the screw rod, the relative spacing is increased or decreased, thereby ensuring that the spacing between the two grippers can be automatically switched and adjusted, and valve body parts of different dimensions are suitable for flexible changeover processing.

[0016] In summary, by changing the gripper shape and adjusting the distance between the slides, it can be suitable for valve body parts with different outer dimensions, and the gripper can be adapted to the valve body, thereby solving the problem that the valve body parts have different outer diameters and are difficult to adapt to the gripper.

[0017] The specific technical solutions and beneficial effects of the present invention will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0019] Figure 1 It is a three-dimensional structural diagram of the quick-change servo gripper assembly;

[0020] Figure 2 It is a top view of the quick-change servo gripper assembly;

[0021] Figure 3 yes Figure 2 Middle AA section view;

[0022] Figure 4 This is the front view of the quick-change servo gripper assembly;

[0023] Figure 5 This is a schematic diagram of the application scenario of the quick-change servo gripper assembly;

[0024] Figure 6 It is a structural diagram of the gripper quick-change stand;

[0025] In the figure: quick-change servo gripper assembly 1, base 10, quick-change mechanism 11, gripper 111, V-shaped groove 1111, L-shaped main body 1112, hook plate 1113, positioning hole 1114, slide 112, hooking part 1121, pin hole 1122, positioning pin 113, arc convex part 1131, limiting flange 1132, spring 114, baffle 115, slide rail 116, drive mechanism 12, screw 121, drive motor 122, reducer 123, synchronous belt drive assembly 124, purge mechanism 13, air path mounting block 131, tubular nozzle 132, visual mechanism 14, gripper quick-change stand 2, table 21, column 22, gripper positioning fixture 23, bottom plate 231, push rod 232, robot 3, first machining center 4, second machining center 5, discharge platform 6. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in 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.

[0027] Those skilled in the art will appreciate that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0028] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. For example, the words "upper", "lower", "left", "right", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0031] like Figures 1 to 6 As shown, a valve body processing equipment using a robot for rapid mold change is usually aimed at ball valve bodies and gate valve bodies with a circular outer diameter, including a rapid mold change servo gripper assembly 1, a gripper quick change stand 2 and a robot 3.

[0032] Among them, the quick-change servo gripper assembly 1 includes a base 10 and a driving mechanism 12 and a quick-change mechanism 11 arranged on the base. The quick-change mechanism 11 includes a slide 112 and a gripper 111 arranged in pairs. The slide 112 is arranged on a slide rail 116. A quick-change connection structure is provided between the gripper 111 and the slide 112 to achieve rapid separation and combination between the gripper 111 and the slide 112.

[0033] The driving mechanism 12 includes a screw rod 121 with positive and negative threads, and a driving motor 122 for driving the screw rod to rotate. The positive threads and negative threads are respectively connected to two slides, and the positive threads and negative threads are selected as trapezoidal threads. In this way, after the screw rod rotates, the two slides move in opposite directions along the screw rod to increase or decrease the relative spacing, thereby ensuring that the spacing between the two grippers can be automatically switched and adjusted to adapt to flexible changeover processing.

[0034] The gripper quick-change stand 2 comprises a table 21 and a gripper positioning fixture 23 arranged on the table. The table is usually rectangular, and columns 22 are arranged correspondingly below the four corners for support.

[0035] The robot 3 is combined with a quick-change servo gripper assembly to grasp and transfer the valve body to achieve valve body loading and unloading, and cooperates with the gripper positioning fixture to separate and combine the gripper and the quick-change servo gripper assembly to perform gripper reshaping, thereby being suitable for valve body parts of different shapes and sizes and achieving adaptation of the gripper and the valve body.

[0036] In the above technical solution, since a quick-change connection structure is provided between the gripper and the slide, the gripper and the slide can be quickly separated and combined to change the gripper. At the same time, since the two slides move in opposite directions along the screw rod, the relative spacing is increased or decreased, thereby ensuring that the spacing between the two grippers can be automatically switched and adjusted, and valve body parts of different dimensions can be adapted to flexible reshaping processing. Multiple gripper positioning fixtures can be placed on the gripper quick-change stand, and grippers of different specifications can be placed on different gripper positioning fixtures to adapt to valve body parts of different dimensions, making it convenient for grippers to change shapes. In this way, after the robot is combined with the quick-change servo gripper assembly, it can not only load and unload materials, but also, in conjunction with the gripper positioning fixture, the gripper and the quick-change servo gripper assembly can be separated and combined to change the gripper, thereby being suitable for valve body parts of different dimensions and achieving adaptation between the gripper and the valve body.

[0037] In summary, by changing the gripper and adjusting the distance between the slides, it can be applied to valve body parts of different dimensions, achieve the adaptation of the gripper and the valve body, and solve the problem that the valve body parts have different diameters and are difficult to adapt to the gripper. The robot replaces the traditional manual gripper change, greatly improving production efficiency and ensuring personnel safety.

[0038] In this embodiment, the quick-change connection structure includes a positioning hole 1114 provided on the gripper 111 and a pin hole 1122 provided on the slide 112. A positioning pin 113 and a spring 114 for driving the head end of the positioning pin to be inserted into the positioning hole are provided in the pin hole. A limiting rib is provided at the mouth of the pin hole, and a limiting flange 1132 is provided at the positioning pin 113. Under the action of the spring, the positioning pin moves upward and the head end passes through the pin hole, and the limiting flange 1132 is limitedly matched with the limiting rib. A baffle 115 is connected to the bottom of the pin hole, and the bottom end of the spring abuts against the baffle. An arc convex portion 1131 is provided at the head end of the positioning pin. After the gripper is replaced and the gripper is combined with the slide, under the action of the spring, the positioning pin moves upward and the head end passes through the pin hole and is inserted into the positioning hole, and the limiting flange is limitedly matched with the limiting rib to achieve quick connection. At the same time, since the size of the positioning pin head end passing through the pin hole is limited, when the hand claw and the slide are relatively plugged in, the arc convex part is squeezed and retracted inwardly into the pin hole.

[0039] The hand claw 111 includes a V-shaped groove 1111, and the two side walls of the V-shaped groove are provided with a step portion. Since the valve body has a flange, the lower surface of the step portion matches the outer diameter of the flange, and the higher surface matches the axial direction of the flange.

[0040] Furthermore, the gripper 111 also includes an L-shaped main body 1112, the L-shaped main body 1112 includes a vertical section and a horizontal section vertically connected to the vertical section, the V-shaped groove 1111 is connected to the upper end of the vertical section and protrudes to the side of the upper end of the vertical section, and the positioning hole 1114 is provided on the horizontal section and corresponds to the inner space of the V-shaped groove. The gripper 111 also includes an L-shaped hook plate 1113 connected to the horizontal section of the L-shaped main body, a hook groove is formed between the hook plate 1113 and the horizontal section, and the slide 112 is provided with an L-shaped hooking portion 1121, and the hook plate 1113 cooperates with the hooking portion 1121. When the robot inserts the gripper and the slide into combination, the hook plate is aligned with the hooking portion, and then the gripper is moved horizontally to form a match between the hook plate and the hooking portion. In this process, the head end of the positioning pin is squeezed and first shrinks inward into the pin hole, and after being aligned with the positioning hole, it pops out of the pin hole again under the action of the spring and is inserted into the positioning hole. Due to the cooperation between the hook plate and the hooking part, the gripper cannot move up and down, while the positioning pin cooperates with the positioning part to limit the horizontal movement of the gripper, thus achieving quick connection while ensuring that the gripper is fixed reliably.

[0041] like Figure 6 As shown, the gripper positioning fixture 23 includes a bottom plate 231 and two sets of push rods 232 arranged on the bottom plate. The two sets of push rods cooperate with two grippers respectively, that is, cooperate with two grippers on a quick-change servo gripper assembly, so that one gripper positioning fixture corresponds to one quick-change servo gripper assembly. Multiple gripper positioning fixtures can be arranged in a row on the table.

[0042] Preferably, each group of push rods includes three push rods 232 distributed in a triangular shape. Correspondingly, the gripper is provided with three positioning holes distributed in a triangular shape. Since the positioning holes correspond to the inner space of the V-shaped groove, when the gripper is placed on the gripper positioning fixture, the V-shaped groove is at the bottom, and the push rod can pass through the inner space of the V-shaped groove and cooperate with the positioning hole. Moreover, a positioning step is provided at the head end of the push rod, and the positioning step cooperates with the positioning hole to locate the upper and lower positions of the gripper, and the positioning hole still has some axial space after the head end of the push rod is inserted, so as to cooperate with the positioning pin when changing the shape. Since the three push rods correspond to the three positioning holes, it can be ensured that the gripper is stably placed on the gripper positioning fixture.

[0043] When it is necessary to replace the valve body parts with different dimensions, the robot arm first moves to the gripper replacement stand and aligns with one of the sets of push rods on the gripper positioning fixture. Then the robot arm presses down and pushes the locating pins through the three push rods to separate the locating pins from the locating holes. The drive motor drives the screw rod to slide the slide out to separate the slide from the gripper. Then it moves to the position of another set of push rods, and the drive motor moves the slide so that the hook plate and the hooking part form a match, and the locating pin is aligned with the locating hole. Then the robot arm is lifted and disengaged from the push rod, and the locating pin is pushed out and inserted into the locating hole, and the change is completed.

[0044] The servo gripper can realize rapid changeover through the spring positioning pin and the hook plate limiter at the bottom of the finger, replace the product for clamping, and place it on the machine tool for processing, replacing the traditional manual lifting processing, greatly improving production efficiency and personnel safety.

[0045] like Figure 5 In the usage scenario shown, there is a row of first machining centers 4 and a row of second machining centers 5, wherein the first machining center 4 is used to process workpiece 1, and the second machining center 5 is used to process workpiece 2. The servo gripper assembly 1 is combined with the robot arm. The gripper quick-change stand 2 is set away from the first machining center 4 and the second machining center 5, and a material discharge platform 6 can be set in the middle for placing the valve body. The robot 3 is set between the first machining center 4 and the row of second machining centers 5, and a ground rail robot can be used.

[0046] Action flow:

[0047] 1. In the first machining center, the ground rail robot cooperates with the quick-change servo gripper assembly to remove the processed workpiece 1 (valve body), and moves it to the unloading platform to unload the material, completing the unloading of the workpiece;

[0048] 2. The ground-rail robot moves to the unloading platform, and the ground-rail robot cooperates with the quick-change servo gripper assembly to grab the blank workpiece 1, and moves it to the first machining center for loading and processing;

[0049] 3. The ground rail robot moves to the gripper quick-change stand, and cooperates with the quick-change servo gripper assembly and gripper positioning fixture to replace the gripper to achieve gripper change;

[0050] 4. The ground-rail robot moves to the second machining center, and the ground-rail robot cooperates with the quick-change servo gripper assembly to take down the processed workpiece 2, and moves to the unloading platform to unload the material;

[0051] 5. The ground rail robot moves to the unloading platform, and the ground rail robot cooperates with the quick-change servo gripper assembly to grab the second blank workpiece and move it to the second machining center for loading and processing.

[0052] In this embodiment, the driving mechanism 12 also includes a reducer 123 connected to the driving motor 122 and a synchronous belt transmission assembly 124, wherein the synchronous belt transmission assembly 124 includes an active synchronous pulley connected to the output shaft of the reducer, a driven synchronous pulley connected to the screw, and a synchronous belt connecting the active synchronous pulley and the driven synchronous pulley. The driving motor can be a servo motor, which is connected to the reducer to increase the corresponding output torque, and then the synchronous belt transmission assembly transmits the rotation speed to rotate the screw, drive the hand claw on the slide to move axially, grab the valve body products, and place them in the processing center for production.

[0053] In addition, the quick-change servo gripper assembly 1 also includes a visual mechanism 14, which mainly includes a visual camera, a light source, and a camera protective cover. Its main functions are: the gripper first takes a photo when grabbing the blank to determine whether the initial positioning of the blank is correct, the gripper places the product on the machining center fixture, and takes a photo after the hydraulic system is clamped to check whether the blank is clamped and placed correctly, to avoid tool collision during machining, and to replace manual inspection, thereby improving machining safety and production efficiency.

[0054] Furthermore, the quick-change servo gripper assembly 1 also includes a purge mechanism 13, which includes an air path mounting block 131 with an air path inside and a tubular nozzle 132 connected to the air path interface of the air path mounting block. Its main function is: after the valve body parts are processed, there will be burrs, iron filings, and chip liquid in the inner cavity. After the purge mechanism is purged, the robot gripper can grab the product. The air path mounting block is provided with a threaded mounting hole, which is installed on the quick-change servo gripper assembly with a screw to ensure that the robot arm is stable and does not shake when moving. The air path mounting block and the high-pressure air source are connected through an air pipe to enable the tubular nozzle to blow air.

[0055] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Those skilled in the art should understand that the utility model includes but is not limited to the contents described in the above specific implementation. Any modification that does not deviate from the functional and structural principles of the utility model will be included in the scope of the claims.

Claims

1. A quick-change servo gripper assembly for grasping a valve body, characterized in that: It includes a base and a driving mechanism and a quick-change mechanism arranged on the base. The quick-change mechanism includes a slide and a gripper arranged in pairs. The slide is arranged on a slide rail, and a quick-change connection structure is provided between the gripper and the slide. The driving mechanism includes a screw with positive and negative threads and a driving motor for driving the screw to rotate. The positive threads and the negative threads are respectively connected to the two slides.

2. A quick-change servo gripper assembly for grasping a valve body according to claim 1, characterized in that: The quick-change connection structure comprises a positioning hole arranged on the hand claw and a pin hole arranged on the slide, wherein a positioning pin and a spring for driving the head end of the positioning pin to be inserted into the positioning hole are arranged in the pin hole.

3. A quick-change servo gripper assembly for grasping a valve body according to claim 2, characterized in that: The mouth of the pin hole is provided with a limiting rib, and the positioning pin is provided with a limiting flange. Under the action of the spring, the positioning pin moves upward and the head end passes through the pin hole, and the limiting flange cooperates with the limiting rib.

4. A quick-change servo gripper assembly for grasping a valve body according to claim 3, characterized in that: The bottom of the pin hole is connected with a baffle, and the bottom end of the spring abuts against the baffle.

5. The quick-change servo gripper assembly for grasping a valve body according to claim 2, characterized in that: The head end of the positioning pin is provided with an arc convex portion.

6. The quick-change servo gripper assembly for grasping a valve body according to claim 2, characterized in that: The hand claw comprises a V-shaped groove, and step portions are arranged on both side walls of the V-shaped groove.

7. A quick-change servo gripper assembly for grasping a valve body according to claim 6, characterized in that: The gripper also includes an L-shaped main body, which includes a vertical section and a horizontal section vertically connected to the vertical section, the V-shaped groove is connected to the upper end of the vertical section, and the positioning hole is arranged on the horizontal section.

8. A quick-change servo gripper assembly for grasping a valve body according to claim 7, characterized in that: The gripper also includes an L-shaped hook plate connected to the horizontal section of the L-shaped main body, and the slide is provided with an L-shaped hooking portion, and the hook plate cooperates with the hooking portion.

9. The quick-change servo gripper assembly for grasping a valve body according to claim 1, characterized in that: The driving mechanism also includes a speed reducer connected to the driving motor.

10. A quick-change servo gripper assembly for grasping a valve body according to claim 9, characterized in that: The driving mechanism also includes a synchronous belt transmission assembly, which includes an active synchronous pulley connected to the output shaft of the reducer, a driven synchronous pulley connected to the screw rod, and a synchronous belt connecting the active synchronous pulley and the driven synchronous pulley.

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