Floating gripper at the end of the robot

Abstract

The utility model discloses a floating clamp at the end of a robot, including a fixed component and a clamping component, a floating component is arranged between the fixed component and the clamping component, the floating component includes a guide column fixed on the fixed component and a guide sleeve fixed on the clamping component; when the clamping component places the clamped workpiece along the placement direction, the guide sleeve slides along the guide column in the opposite direction of placement. After the floating clamp at the end of the robot of the utility model grabs the product, it moves to the top of the material discharge position and slowly descends. After the product touches the base, the guide sleeve does not move, and the guide column rolls and slides in the sleeve. The gap between the guide sleeve and the guide column mounting plate ensures the floating of the product in the axial direction, which can avoid the product from bumping and improve safety, and can also accommodate the positioning error of the incoming product.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to a floating clamping claw at the end of a robot. Background Art

[0002] With the rapid development of industrial automation, more and more jobs have been replaced by robots, which has reduced the labor intensity of workers and improved production efficiency. Among them, robots replacing manual handling of products has become an extremely common application scenario.

[0003] Robots usually rely on pneumatically controlled grippers to pick up products, transfer them from their original position to the target position, and then place them. Some products have special handling conditions, such as the surface cannot be damaged. This results in positioning errors caused by the existing robot grippers through detection and positioning, which will cause virtual position or excessive position between the product and the target placement plane. Virtual position will cause the product to fall and collide with the placement plane when the grippers are released, and excessive position will cause the grippers to directly collide with the placement plane when the product is clamped. This collision will cause damage to the product. Utility Model Content

[0004] In view of the above technical problems, this application proposes a floating gripper at the end of a robot, and the specific technical solution is as follows:

[0005] The floating gripper at the end of the robot comprises a fixed component and a clamping component, a floating component is arranged between the fixed component and the clamping component, and the floating component comprises a guide column fixed on the fixed component and a guide sleeve fixed on the clamping component; when the clamping component places the clamped workpiece along the placement direction, the guide sleeve slides along the guide column in the opposite direction of the placement direction.

[0006] Furthermore, a tension spring is arranged outside the floating component, one end of the tension spring is fixed to the clamping component, and the other end of the tension spring is fixed to the fixing component, and the tension spring has a pulling force on the clamping component along the placement direction.

[0007] Furthermore, a hydraulic buffer is provided on the path along the sliding direction of the clamping assembly, and the hydraulic buffer is fixed on the fixing assembly. After the clamping assembly places the clamped workpiece along the placement direction and slides, the hydraulic buffer contacts the clamping assembly to buffer and slow down the clamping assembly.

[0008] Furthermore, a sensor is provided on the path along the sliding direction of the clamping component, and the sensor is fixed on the fixing component. The sensor detects the position state of the clamping component after the clamped workpiece is placed along the placement direction and slides.

[0009] Furthermore, the fixing assembly includes a mounting plate 1, and a guide column is fixed on the mounting plate 1.

[0010] Furthermore, the fixing assembly also includes a back plate connected to the mounting plate in an L-shape or a T-shape, and the flange adapter plate is fixed on the back plate.

[0011] Furthermore, a rib is provided at a right angle between the back plate and the first mounting plate.

[0012] Furthermore, the clamping assembly includes a mounting plate three fixedly connected to the guide sleeve, an air claw fixed on the mounting plate three, and a clamping claw fixed on the movable end of the air claw.

[0013] Furthermore, a pad is provided on the clamping surface of the clamping jaw.

[0014] The beneficial effects of the utility model are as follows: after the floating gripper at the end of the robot of the utility model grabs the product, it moves to the top of the discharge position and slowly descends. After the product touches the base, the guide sleeve does not move, and the guide column rolls and slides in the sleeve. The gap between the guide sleeve and the guide column mounting plate ensures the floating of the product in the axial direction, which can avoid collision of the product and improve safety, and is compatible with the positioning error of the incoming product. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 What is shown is a schematic diagram of the structure of the floating gripper at the end of the robot;

[0016] Figure 2 Shown is a schematic structural diagram of a floating assembly. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution of the present utility model will be clearly and completely described below in conjunction with the embodiments.

[0018] Example

[0019] Figure 1 Shown is a schematic diagram of the structure of a floating gripper at the end of a robot, which includes a fixed component, a floating component and a clamping component connected in sequence, wherein the clamping component is connected to the fixed component through the floating component, and can be further connected to a robotic arm or other control end through the fixed component.

[0020] The fixing assembly includes a back plate 2 and a mounting plate 5 connected in an L-shape or a T-shape, wherein the back plate 2 is used for further fixing and mounting a flange adapter plate 1, and the flange adapter plate 1 is used for connecting to a robot arm or other control end; and the mounting plate 5 is used for further mounting a floating assembly.

[0021] A rib plate 3 may be further provided at the right angle between the back plate 2 and the mounting plate 5 to strengthen the connection strength between the back plate 2 and the mounting plate 5 .

[0022] The floating component arranged between the fixed component and the clamping component enables the clamping component to have a sliding distance in a straight line relative to the fixed component. The setting of the sliding distance allows the clamping component to slide a short distance with the fixed component through the floating component when the workpiece 8 contacts the placement plane during the placement process after the clamping component clamps the workpiece 8. This sliding distance can not only avoid the collision and damage of the workpiece 8 caused by the strong feedback required under the setting conditions of the manipulator, but also compensate for the positioning error of the manipulator caused by factors such as control or feedback.

[0023] In this embodiment, the sliding distance provided by the floating component is achieved by the cooperation of the guide sleeve 12 and the guide column 13. The guide sleeve 12 is slidably set on the guide column 13. A ball is attached to the guide sleeve 12, and the guide sleeve 12 and the guide column 13 are clearance-matched; the guide column 13 is relatively fixed to the mounting plate 5, and the guide sleeve 12 is relatively fixed to the clamping component, thereby providing the sliding distance condition between the fixed component and the clamping component through the sliding cooperation relationship between the guide sleeve 12 and the guide column 13.

[0024] In order to ensure the stability of the structure, this embodiment provides a more specific structural method. Figure 2 What is shown is a schematic diagram of the structure of the floating assembly, wherein two groups of guide sleeves 12 and guide posts 13 are provided, and both ends of each guide post 13 are connected and fixed to the mounting plate 1 5 via the mounting plate 2 14, and the two guide posts 13 must be arranged in parallel to ensure the sliding state of the clamping assembly relative to the fixed assembly.

[0025] The floating assembly also includes a tension spring 5 arranged on the outside of the guide column 13. One end of the tension spring 5 is directly or indirectly fixed to the clamping assembly, and the other end is directly or indirectly fixed to the fixing assembly. In this embodiment, a mounting column 6 is arranged on the mounting plate 5 to fix one end of the tension spring 5, and the other end of the tension spring 5 is fixed to the guide sleeve 12. The tension spring 5 provides a retaining force for the clamping assembly to ensure that the clamping assembly will not move through the floating assembly when in a no-load state.

[0026] The number of tension springs 5 ​​can be determined according to actual needs, and usually two tension springs 5 ​​can be provided, one located on each side of the clamping assembly.

[0027] In addition, a hydraulic buffer 15 and a sensor 16 are installed on the mounting plate 5 through a bracket. The hydraulic buffer 15 and the sensor 16 are both arranged on the sliding path of the clamping assembly along the guide column 13 or on the extended sliding path; wherein, the hydraulic buffer 15 is provided for the purpose of contacting the hydraulic buffer 15 for buffering during the sliding process of the clamping assembly placing the workpiece 8, and cooperates with the tension spring 5 for buffering to avoid damage caused by rigid collision inside the floating assembly and other problems; the sensor 16 is provided for the purpose of detecting the position device status of the clamping assembly and outputting a signal, at least including the technical purpose of feedback controlling the clamping assembly to release the workpiece 8.

[0028] In this embodiment, the hydraulic buffer 15 and the sensor 16 are usually arranged on the same bracket. On the one hand, it is easy to install, and on the other hand, it can reduce components and reduce material consumption. The hydraulic buffer 15 and the sensor 16 are arranged in the opposite direction of the movement direction of the clamping assembly to place the workpiece 8. That is, generally speaking, the clamping assembly moves downward when placing the workpiece 8, and the hydraulic buffer 15 and the sensor 16 are arranged on the top of the mounting plate 5.

[0029] The sensor 16 adopts the existing technology, and usually a proximity switch can be selected as the sensor 16.

[0030] The clamping assembly includes a mounting plate three 11, an air gripper 10 and a clamping jaw 7. The clamping jaw 7 is fixed to the movable end of the air gripper 10. The distance between the clamping jaws 7 on both sides is changed through the clamping jaw 7 to clamp or release the workpiece 8. The air gripper 10 is fixedly mounted on the mounting plate three 11, and is connected to the guide sleeve 12 by the mounting plate three 11.

[0031] A pad 9 may be further added to the clamping surface of the clamping jaw 7 . Usually, the pad 9 is made of soft materials such as silicone and rubber to provide protection for the workpiece 8 and avoid surface damage to the workpiece 8 .

[0032] In this embodiment, the fixed component, the floating component, the clamping component and the interior of each component are assembled using fastening methods such as bolt connection and welding commonly used in the prior art.

[0033] The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it.

Claims

1. The floating gripper at the end of the robot includes a fixing component and a clamping component, characterized in that: A floating component is arranged between the fixed component and the clamping component, and the floating component comprises a guide column fixed on the fixed component and a guide sleeve fixed on the clamping component; when the clamping component places the clamped workpiece along the placing direction, the guide sleeve slides along the guide column in the opposite direction of the placing direction.

2. The robot end floating gripper according to claim 1, characterized in that: A tension spring is arranged outside the floating component, one end of the tension spring is fixed to the clamping component, and the other end of the tension spring is fixed to the fixing component. The tension spring exerts a pulling force on the clamping component along the placement direction.

3. The robot end floating gripper according to claim 1, characterized in that: A hydraulic buffer is arranged on the path along the sliding direction of the clamping assembly, and the hydraulic buffer is fixed on the fixing assembly. After the clamping assembly places the clamped workpiece along the placing direction and slides, the hydraulic buffer contacts the clamping assembly to buffer and slow down the clamping assembly.

4. The robot end floating gripper according to claim 1, characterized in that: A sensor is arranged on the path along the sliding direction of the clamping component, and the sensor is fixed on the fixing component. The sensor detects the position state of the clamping component after the clamped workpiece is placed along the placement direction and slides.

5. The robot end floating gripper according to claim 1, characterized in that: The fixing assembly comprises a first mounting plate, on which a guide column is fixed.

6. The robot end floating gripper according to claim 5, characterized in that: The fixing assembly also includes a back plate connected to the mounting plate in an L-shape or a T-shape, and the flange adapter plate is fixed on the back plate.

7. The robot end floating gripper according to claim 6, characterized in that: A rib is arranged at a right angle between the back plate and the first mounting plate.

8. The robot end floating gripper according to claim 1, characterized in that: The clamping assembly comprises a mounting plate three fixedly connected to the guide shaft sleeve, an air claw fixed on the mounting plate three, and a clamping claw fixed on the movable end of the air claw.

9. The robot end floating gripper according to claim 8, characterized in that: A backing plate is provided on the clamping surface of the clamping jaw.

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