Clamping working head assembly of multi-axis robot

Abstract

The utility model relates to the technical field of multi-axis robots, in particular to a clamping working head assembly of a multi-axis robot, which comprises a multi-axis robot and a clamping working head assembly used for clamping and reversing parts. The clamping working head assembly comprises a fixing base connected with the output end of the multi-axis robot, a clamping assembly and an overturning assembly used for overturning parts, a fastening assembly used for fastening and clamping the parts is arranged on the overturning assembly, and a clamping fixing plate is connected to the bottom of the fixing base; the clamping working head assembly is convenient to clamp, the clamping working head assembly can turn over a part in the part clamping process, back-and-forth turning over through a multi-axis robot is not needed, use is convenient, the working efficiency and use convenience are greatly improved, the overall complexity of a robot system is simplified, and cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-axis robots, in particular to a clamping working head assembly of a multi-axis robot. Background Art

[0002] Multi-axis robots, as high-end automation equipment, have become a key component in modern industrial production due to their multi-degree-of-freedom motion and precise control technology. They primarily consist of several key components, including a gripping head assembly, a mechanical section, a sensor section, and a control section.

[0003] The clamping head assembly of the multi-axis robot is a highly flexible and multifunctional robot end effector. It can be used in conjunction with the multi-axis robot to clamp, move and displace parts.

[0004] Currently, the clamping head assembly of the limited multi-axis robot needs to be coordinated with the multi-axis robot to complete the flipping of the workpiece. The clamping head assembly only has the clamping function, and the clamping head assembly itself cannot flip the part. As a result, during the part processing process, the multi-axis robot needs to be coordinated with the clamping head to perform the flipping work, which reduces work efficiency and increases operation complexity. Utility Model Content

[0005] The purpose of the present utility model is to provide a clamping working head assembly of a multi-axis robot to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A clamping work head assembly for a multi-axis robot includes a multi-axis robot and a clamping work head assembly for clamping and reversing parts. The clamping work head assembly includes a fixing base connected to the output end of the multi-axis robot, a clamping assembly, and a flipping assembly for flipping the parts. The flipping assembly is provided with a fastening assembly for fastening and clamping the parts. A clamping plate is connected to the bottom of the fixing base.

[0008] The clamping assembly includes a clamping motor, a screw rod, a sliding block and a clamping plate. The screw rod is located parallel to the bottom of the clamping fixed plate. The middle part of the screw rod is fixed to the bottom of the clamping fixed plate through a fixed block. The two ends of the screw rod are fixed to the bottom of the two ends of the clamping fixed plate through bearing seats. The sliding blocks slide symmetrically on the screw rods on both sides of the fixed block. The clamping plate is connected at the bottom of each sliding block, and the flipping assembly is located on the inner wall of the clamping plate.

[0009] As a preferred solution of the present invention, the flip assembly includes a flip motor and a flip shaft. The flip shaft is arranged in a hollow Z-shaped structure. A fastening groove is provided on the outer circumferential wall in the middle of the flip shaft. The fastening assembly is located inside the fastening groove. The flip shaft passes through the bearing and is located on the inner wall below the clamping plate. The flip motor is located on the outer wall below each clamping plate. The flip shaft passes through the clamping plate and extends to the outside to be connected to the output end of the flip motor.

[0010] As a preferred solution of the present invention, the fastening assembly includes an airbag located inside the fastening groove, the airbag is arranged in an annular structure, and is connected to an air inlet and outlet pipe. The air inlet and outlet pipe passes through the flip shaft and is connected to an external air supply mechanism.

[0011] As a preferred solution of the present invention, the clamping motor is located at the bottom of one end of the clamping fixing plate, and one end of the screw rod passes through the bearing seat and extends to the outside thereof to be connected to the output end of the clamping motor.

[0012] As a preferred solution of the present invention, a guide rail is provided on the top of each sliding block and is slidably connected to the bottom of the clamping fixing plate.

[0013] As a preferred solution of the present invention, one of the sliding blocks is connected to the screw rod in a forward direction through a thread, and the other sliding block is connected to the screw rod in a reverse direction through a thread.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] In response to the problems raised in the background technology, the clamping head assembly provided in the present application is easy to clamp. The clamping head assembly can flip the parts during the clamping process without the need for a multi-axis robot to flip them back and forth. It is easy to use and greatly improves work efficiency and convenience.

[0016] When in use, the multi-axis robot drives the clamping work head assembly to the part to be clamped, and the clamping motor drives the screw to rotate, further driving the sliding block and the clamping plate at the bottom to move toward the part to be clamped at the same time. At this time, the flip shafts on the inner walls of both sides of the clamping plate are inserted into the holes of the part, and the clamping limit force of the clamping plate is used to clamp and limit the part.

[0017] When the part needs to be flipped, the external air supply equipment inflates the airbag through the high-pressure air pipe. At this time, the airbag on the flip shaft expands and abuts against the inner wall of the hole. At this time, the flip motor drives the flip shaft to flip and rotate, further driving the part to flip. The structure is simple, which simplifies the overall complexity of the robot system and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional diagram of the overall multi-axis robot of the utility model;

[0019] Figure 2 This is the front view of the overall clamping working head assembly of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the clamping working head assembly of the utility model;

[0021] Figure 4 This is a side view of the overall clamping working head assembly of the utility model;

[0022] Figure 5 For this utility model Figure 3 Enlarged view of area A in the middle;

[0023] Figure 6 This is a schematic diagram of the bottom of the clamping and fixing plate of the utility model.

[0024] In the figure: 1. Multi-axis robot; 2. Clamping work head assembly; 21. Fixed seat; 211. Clamping fixing plate; 22. Clamping assembly; 221. Clamping motor; 222. Screw; 223. Sliding block; 224. Clamping plate; 225. Bearing seat; 226. Guide rail; 23. Flipping assembly; 231. Flipping motor; 232. Flipping shaft; 233. Fastening groove; 24. Airbag. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the embodiments of the present invention.

[0026] Example

[0027] Each device in this application document adopts a conventional model in the prior art, and is controlled by a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field, which is common knowledge in this field, so this application document will not explain it in detail.

[0028] See also Figure 1-6The utility model provides a technical solution: a clamping work head assembly of a multi-axis robot, including a multi-axis robot 1 and a clamping work head assembly 2 for clamping and reversing parts, the clamping work head assembly 2 includes a fixed seat 21 connected to the output end of the multi-axis robot 1, a clamping component 22 and a flipping component 23 for flipping parts, a fastening component for fastening and clamping parts is provided on the flipping component 23, a clamping fixed plate 211 is connected to the bottom of the fixed seat 21; the clamping component 22 includes a clamping motor 221, a screw rod 222, a sliding block 223 and a clamping plate 224, the screw rod 222 is parallel to the bottom of the clamping fixed plate 211, and the middle part of the screw rod 222 is connected to the bottom of the clamping fixed plate 211 through the fixing block. The two ends of the screw rod 222 are fixed to the bottom of the clamping plate 211 through the bearing seat 225, and the sliding blocks 223 slide symmetrically on the screw rods 222 on both sides of the fixed block. The clamping plate 224 is connected to the bottom of each sliding block 223, and the flip assembly 23 is located on the inner wall of the clamping plate 224; the clamping motor 221 is located at the bottom of one end of the clamping plate 211, and one end of the screw rod 222 passes through the bearing seat 225 and extends to its outside and is connected to the output end of the clamping motor 221; a guide rail 226 is provided for the sliding connection of the bottom of the clamping plate 211 at the top of each sliding block 223; one of the sliding blocks 223 is connected to the screw rod 222 in a forward threaded manner, and the other sliding block 223 is connected to the screw rod 222 in a reverse threaded manner.

[0029] It should be noted that, in this embodiment, the clamping head assembly 2 provided in the present application is easy to clamp, and the clamping head assembly 2 can flip the parts during the clamping process, which is easy to use and greatly improves work efficiency and convenience of use;

[0030] Furthermore, a guide rail 226 is provided at the top of each sliding block 223 and is slidably connected to the bottom of the clamping fixed plate 211. The guide rail 226 enables the sliding block 223 to maintain horizontal back and forth displacement on the screw rod 222 to prevent the sliding block 223 from flipping over.

[0031] Furthermore, one of the sliding blocks 223 is connected to the screw rod 222 in a forward direction by a thread, and the other sliding block 223 is connected to the screw rod 222 in a reverse direction by a thread, so as to ensure that the two sliding blocks 223 slide toward the middle or both sides simultaneously during the process of clamping or loosening the parts;

[0032] During use, the multi-axis robot 1 drives the clamping work head assembly 2 to the part to be clamped, and the clamping motor 221 drives the screw 222 to rotate, further driving the sliding block 223 and the clamping plate 224 at the bottom thereof to move toward the part to be clamped at the same time. At this time, the flip shaft 232 on the inner walls on both sides of the clamping plate 224 is inserted into the hole of the part, and the clamping limit force of the clamping plate 224 is cooperated to perform clamping limit.

[0033] See also Figure 2 、 3 , 4 and 5, the flip assembly 23 includes a flip motor 231 and a flip shaft 232, the flip shaft 232 is arranged in a hollow Z-shaped structure, a fastening groove 233 is arranged on the outer circumferential wall of the middle part of the flip shaft 232, the fastening assembly is located inside the fastening groove 233, the flip shaft 232 passes through the bearing and is located on the inner wall below the clamping plate 224, the flip motor 231 is located on the outer wall below each clamping plate 224, the flip shaft 232 passes through the clamping plate 224 and extends to the outside thereof and is connected to the output end of the flip motor 231; the fastening assembly includes an air bag 24 located inside the fastening groove 233, the air bag 24 is arranged in an annular structure, and an air inlet and outlet pipes are connected to the air bag 24, and the air inlet and outlet pipes pass through the flip shaft 232 and are connected to the external air supply mechanism.

[0034] It should be noted that, in this embodiment, by providing a Z-shaped flip shaft 232, it is convenient to insert the flip shaft 232 into the hole of the part and cooperate with the clamping plate 224 to clamp it while conveniently flipping the part;

[0035] Furthermore, the external air supply device inflates the air bag 24 through the high-pressure air pipe. At this time, the air bag 24 on the flip shaft 232 expands and abuts against the inner wall of the hole, preventing the part from swinging during the flipping of the part by the flip shaft 232. The application range is wide and it is suitable for flipping a variety of parts.

[0036] Furthermore, the flip shaft 232 on the inner walls on both sides of the clamping plate 224 is inserted into the inside of the part hole, and the clamping limit force of the clamping plate 224 is cooperated to perform clamping and limiting. When the part needs to be flipped, the external air supply equipment inflates the airbag 24 through the high-pressure air pipe. At this time, the airbag 24 on the flip shaft 232 expands and abuts against the inner wall of the hole. At this time, the flip motor 231 drives the flip shaft 232 to flip and rotate, and further drives the part to flip. The structure is simple, simplifies the overall complexity of the robot system, and reduces costs.

[0037] The working process of this utility model:

[0038] During use, the clamping motor 221 drives the screw rod 222 to rotate, further driving the sliding block 223 and the clamping plate 224 at the bottom thereof to move toward the part to be clamped at the same time. At this time, the flip shaft 232 on the inner walls on both sides of the clamping plate 224 is inserted into the inside of the part hole, and the clamping limit force of the clamping plate 224 is cooperated to perform clamping and limiting. When the part needs to be flipped, the external air supply equipment inflates the airbag 24 through the high-pressure air pipe. At this time, the airbag 24 on the flip shaft 232 expands and abuts against the inner wall of the hole. At this time, the flip motor 231 drives the flip shaft 232 to flip and rotate, further driving the part to flip. The structure is simple, simplifies the overall complexity of the robot system, and reduces costs.

[0039] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping work head assembly of a multi-axis robot, comprising a multi-axis robot (1) and a clamping work head assembly (2) for clamping and reversing a part, characterized in that: The clamping work head assembly (2) comprises a fixing seat (21) connected to the output end of the multi-axis robot (1), a clamping assembly (22) and a flipping assembly (23) for flipping parts, the flipping assembly (23) is provided with a fastening assembly for fastening and clamping parts, and a clamping fixing plate (211) is connected to the bottom of the fixing seat (21); The clamping assembly (22) comprises a clamping motor (221), a screw rod (222), a sliding block (223) and a clamping plate (224); the screw rod (222) is located parallel to the bottom of the clamping fixed plate (211); the middle of the screw rod (222) is fixed to the bottom of the clamping fixed plate (211) through a fixing block; both ends of the screw rod (222) are fixed to the bottom of both ends of the clamping fixed plate (211) through a bearing seat (225); the sliding block (223) is symmetrically slidably located on the screw rod (222) on both sides of the fixing block; the clamping plate (224) is connected to the bottom of each sliding block (223); and the flip assembly (23) is located on the inner wall of the clamping plate (224).

2. The clamping work head assembly of a multi-axis robot according to claim 1, characterized in that: The flip assembly (23) comprises a flip motor (231) and a flip shaft (232); the flip shaft (232) is arranged in a hollow Z-shaped structure; a fastening groove (233) is arranged on the outer circumferential wall in the middle of the flip shaft (232); the fastening assembly is located inside the fastening groove (233); the flip shaft (232) passes through the inner wall below the clamping plate (224) through a bearing; the flip motor (231) is located on the outer wall below each clamping plate (224); the flip shaft (232) passes through the clamping plate (224) and extends to the outside thereof to be connected to the output end of the flip motor (231).

3. The clamping work head assembly of a multi-axis robot according to claim 2, characterized in that: The fastening assembly comprises an air bag (24) located inside the fastening groove (233); the air bag (24) is arranged in an annular structure; an air inlet and outlet pipe is connected to the air bag (24); the air inlet and outlet pipe passes through the flip shaft (232) and is connected to an external air supply mechanism.

4. The clamping work head assembly of a multi-axis robot according to claim 1, characterized in that: The clamping motor (221) is located at the bottom of one end of the clamping fixing plate (211), and one end of the screw rod (222) passes through the bearing seat (225) and extends to the outside thereof to be connected to the output end of the clamping motor (221).

5. The clamping work head assembly of a multi-axis robot according to claim 1, characterized in that: A guide rail (226) is provided at the top of each sliding block (223) and is slidably connected to the bottom of the clamping and fixing plate (211).

6. The clamping work head assembly of a multi-axis robot according to claim 1, characterized in that: One of the sliding blocks (223) is connected to the screw rod (222) in a forward threaded manner, and the other sliding block (223) is connected to the screw rod (222) in a reverse threaded manner.

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