Tail end clamp of transfer robot

Abstract

The utility model discloses a tail end clamp of a transfer robot, which comprises a clamp seat, a clamping device, a clamping device and a control device, and the inclination stopping assembly comprises a deformation seat and an offset seat which are symmetrically arranged, the offset seat is connected with the clamp seat through the deformation seat, the interior of the deformation seat is hollow and communicates with the suction cup set, and an arc-shaped part is arranged on the opposite side of the deformation seat. According to the tail end clamp of the transfer robot, by means of the deformation base and the offset base of the inclination stopping assembly, when the suction cup set adsorbs and fixes the horizontal part, the offset base is clamped to the two sides of the vertical part so as to further fix an L-shaped workpiece, shaking of the L-shaped workpiece in the transfer process can be reduced, and meanwhile the L-shaped workpiece can be prevented from falling off. And the problems that the L-shaped workpiece topples towards one side of the vertical part, a gap is formed between the horizontal part and the suction cup set, and the workpiece falls off are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling robots, and more specifically to an end fixture of a handling robot. Background Art

[0002] Currently, the most commonly used and general robot in industrial handling is the SCARA robot, which cooperates with a fixture to achieve the handling operation of workpieces.

[0003] In the prior art, for small workpieces with an L-shaped cross-section, a suction cup group fixture is often used for sucking and clamping. That is, the suction cup group of the fixture often moves vertically downward to approach and vacuum adsorb on the horizontal part of the L-shaped workpiece, and cooperates with the swing arm movement of the robot to achieve handling.

[0004] In the prior art including the above patents, when the fixture moves downward to make the suction cup group adsorb to the horizontal part of the L-shaped workpiece to complete the fixation of the L-shaped workpiece by the fixture, the suction heads of the suction cup group are flexible and will contract under the action of vacuum, causing the horizontal part of the L-shaped workpiece to rise slightly. Moreover, the center of gravity of the L-shaped workpiece is biased towards one side of its vertical part. Therefore, during the movement of the robot swing arm, the L-shaped workpiece will tilt towards its vertical part due to jitter, and then a gap will appear between the horizontal part of the L-shaped workpiece and the suction cup group, resulting in the problem of workpiece detachment. Summary of the Utility Model

[0005] The purpose of the utility model is to provide an end fixture of a handling robot to solve the above problems.

[0006] To achieve the above purpose, the utility model provides the following technical solution: An end fixture of a handling robot, including an L-shaped workpiece, which can be divided into a horizontal part and a vertical part, and further includes a fixture base, on which are provided:

[0007] A suction cup group for vertically adsorbing and fixing the horizontal part of the L-shaped workpiece;

[0008] An anti-tilting component, which includes symmetrically arranged deformation seats and offset seats. The offset seats are connected to the fixture base through the deformation seats. The deformation seats are hollow inside and communicate with the suction cup group. An arc-shaped part is provided on the opposite side of the deformation seats. The suction cup group adsorbs the horizontal part to form a vacuum negative pressure inside the deformation seats, and the arc-shaped part deforms and contracts to drive the offset seats to approach each other relatively to clamp the vertical part of the L-shaped workpiece.

[0009] Preferably, an air pipe is connected to the fixture base, and the air pipe communicates with the deformation seats and the suction cup group respectively. And opposite-pole magnetic parts are symmetrically arranged inside the arc-shaped part of the deformation seats. The deformation of the deformation seats drives the magnetic parts to adsorb each other to keep the offset seats clamping the vertical part.

[0010] Preferably, a flexible and arc-shaped protruding contact member is provided at the end of the offset seat. The offset seat is driven to clamp the vertical portion so that the contact member abuts against both sides of the vertical portion.

[0011] Preferably, the offset seat is hollow so that the inner side of the contact member communicates with the inner cavity of the deformation seat. The flexibility of the deformation seat is greater than that of the contact member. A plurality of concave arc grooves are formed on the outer arc surface of the contact member to form a plurality of convex portions. The deformation seat is deformed under negative pressure so that the contact member deforms and contracts, and the convex portions contract and approach each other to squeeze the side surface of the vertical portion.

[0012] Preferably, a vertical hard board is provided inside the deformation seat on the opposite side.

[0013] Preferably, the contact member is made of rubber.

[0014] In the above technical solution, the end fixture of a handling robot provided by the present utility model has the following beneficial effects: By using the deformation seat and the offset seat of the anti-tilting component, when the suction cup group adsorbs and fixes the horizontal portion, the offset seat can be clamped on both sides of the vertical portion to further fix the L-shaped workpiece. It can reduce the vibration of the L-shaped workpiece during handling, and at the same time, it can avoid the problem that the L-shaped workpiece tilts towards the vertical portion side, resulting in a gap between the horizontal portion and the suction cup group and the workpiece falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a general structural schematic diagram provided by an embodiment of the present utility model;

[0017] Figure 2 It is a general structural schematic diagram provided by an embodiment of the present utility model;

[0018] Figure 3 It is a general structural sectional schematic diagram provided by an embodiment of the present utility model;

[0019] Figure 4 Provided by an embodiment of the present utility model Figure 3 The partial enlarged schematic diagram at A in it.

[0020] Explanation of the reference numerals:

[0021] 1. Fixture base; 11. Connecting column; 12. Air pipe; 2. Suction cup group; 3. Anti-tilting component; 31. Deformation base; 311. Arc-shaped part; 32. Offset base; 33. Contact part; 331. Concave arc groove; 332. Protruding part; 34. Magnetic part; 35. Hard board; 9. L-shaped workpiece; 91. Horizontal part; 92. Vertical part. Detailed implementation manners

[0022] In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0023] As Figures 1-4 shown, an end fixture of a handling robot includes an L-shaped workpiece 9, which can be divided into a horizontal part 91 and a vertical part 92, and further includes a fixture base 1, on which are provided:

[0024] A suction cup group 2, which is used for vertically adsorbing and fixing the horizontal part 91 of the L-shaped workpiece 9;

[0025] An anti-tilting component 3, which includes symmetrically arranged deformation bases 31 and offset bases 32. The offset base 32 is connected to the fixture base 1 through the deformation base 31. The deformation base 31 is hollow inside and communicates with the suction cup group 2. An arc-shaped part 311 is provided on the side of the deformation base 31 facing each other. The suction cup group 2 adsorbs the horizontal part 91 to form a vacuum negative pressure inside the deformation base 31, and the arc-shaped part 311 deforms and contracts to drive the offset bases 32 to move closer to each other to clamp the vertical part 92 of the L-shaped workpiece 9.

[0026] Specifically, as Figure 1 shown, the fixture base 1 is connected to the end of the handling robot through the connecting column 11 thereon, and a plurality of suction cup groups 2 are provided on the fixture base 1. When the fixture base 1 moves, the suction cup groups 2 move vertically close to and adsorb and fix on the horizontal part 91 of the L-shaped workpiece 9. At this time, as Figure 2 shown, the vertical part 92 of the L-shaped workpiece 9 is located between the two offset bases 32 due to the movement of the fixture base 1, as Figure 4As shown, since the inside of the deformation seat 31 is connected to the suction cup group 2, when the suction cup group 2 adsorbs and fixes, a vacuum suction force is generated inside the deformation seat 31, which causes the arc-shaped portion 311 of the deformation seat 31 to contract. At this time, the offset seat 32 connected to the deformation seat 31 moves closer to the vertical portion 92 due to the contraction of the arc-shaped portion 311. Finally, the offset seat 32 is clamped on both sides of the vertical portion 92. By using the deformation seat 31 and the offset seat 32 of the anti-tilting component 3, when the suction cup group 2 adsorbs and fixes the horizontal portion 91, the offset seat 32 can be clamped on both sides of the vertical portion 92 to further fix the L-shaped workpiece 9. This can reduce the shaking of the L-shaped workpiece 9 during the handling process and avoid the problem that the L-shaped workpiece 9 tilts towards the vertical portion 92, resulting in a gap between the horizontal portion 91 and the suction cup group 2 and the workpiece falling off.

[0027] In the above technical solution, by using the deformation seat 31 and the offset seat 32 of the anti-tilting component 3, when the suction cup group 2 adsorbs and fixes the horizontal portion 91, the offset seat 32 can be clamped on both sides of the vertical portion 92 to further fix the L-shaped workpiece 9. This can reduce the shaking of the L-shaped workpiece 9 during the handling process and avoid the problem that the L-shaped workpiece 9 tilts towards the vertical portion 92, resulting in a gap between the horizontal portion 91 and the suction cup group 2 and the workpiece falling off.

[0028] As a further embodiment provided by the present utility model, an air pipe 12 is connected to the fixture seat 1. The air pipe 12 is respectively connected to the deformation seat 31 and the suction cup group 2. And magnetic members 34 with opposite polarities are symmetrically arranged on the inner side of the arc-shaped portion 311 of the deformation seat 31. The deformation of the deformation seat 31 causes the magnetic members 34 to adsorb each other to keep the offset seat 32 clamped to the vertical portion 92.

[0029] Specifically, as Figure 3 shown, the air pipe 12 is connected into the fixture seat 1 so that the air pipe 12 is simultaneously connected to the deformation seat 31 and the suction cup group 2. In the existing process of adsorbing and grasping a workpiece by the suction cup group 2, first, the air pipe 12 is often used to suck air to generate a suction force on the suction cup group 2 to adsorb the workpiece. And when the workpiece needs to be put down, the air pipe 12 is used to blow air back into the suction cup group 2 to avoid the vacuum suction force causing the workpiece to be continuously adhered to the suction cup group 2. And as Figure 4As shown, magnetic members 34 with opposite poles are symmetrically arranged inside the arc-shaped portion 311. When the L-shaped workpiece 9 is adsorbed and fixed, the suction cup group 2 first adsorbs and fixes the horizontal portion 91, and the deformation seat 31 deforms so that the offset seat 32 clamps both sides of the vertical portion 92. At this time, the magnetic members 34 approach and adsorb each other so that the offset seat 32 maintains the clamping of both sides of the vertical portion 92. If due to accidental severe shaking of the swing arm of the handling robot, a gap is formed between the horizontal portion 91 and the suction cup group 2 and they are separated, the offset seat 32 still continues to clamp both sides of the vertical portion 92 due to the existence of the magnetic members 34, thereby further improving the handling stability of the L-shaped workpiece 9 and reducing the risk of falling. Only when the swing arm moves in place, the air pipe 12 blows back gas, and the gas enters the deformation seat 31 to separate the magnetic members 34 through air pressure, and the offset seat 32 moves relatively away to unlock the L-shaped workpiece 9.

[0030] As a further embodiment provided by the present utility model, a flexible arc-shaped protruding contact member 33 is provided at the end of the offset seat 32. The offset seat 32 is driven to clamp the vertical portion 92 so that the contact member 33 abuts against both sides of the vertical portion 92.

[0031] Specifically, as Figure 4 shown, a contact member 33 is provided at the end of the offset seat 32. When the offset seat 32 is deformed by the deformation seat 31 to clamp both sides of the vertical portion 92, the contact member 33 abuts against both sides of the vertical portion 92 to increase the friction force with the L-shaped workpiece 9, thereby further improving the clamping and handling stability of the L-shaped workpiece 9.

[0032] As a further embodiment provided by the present utility model, the offset seat 32 is hollow so that the inside of the contact member 33 is connected to the inner cavity of the deformation seat 31. The flexibility of the deformation seat 31 is greater than that of the contact member 33. A plurality of concave arc grooves 331 are formed on the outer arc surface of the contact member 33 to form a plurality of protruding portions 332. The deformation seat 31 deforms under negative pressure so that the contact member 33 deforms and contracts, and the protruding portions 332 contract and approach to squeeze the side surface of the vertical portion 92.

[0033] Specifically, as Figure 4 shown, the offset seat 32 is hollow so that the inside of the contact member 33 is connected to the inner cavity of the deformation seat 31. When the suction cup group 2 adsorbs on the horizontal portion 91, the deformation seat 31 deforms under vacuum negative pressure, and then drives the offset seat 32 to clamp on the vertical portion 92. Since the inside of the contact member 33 is connected to the inner cavity of the deformation seat 31, the contact member 33 deforms and contracts against the surface of the vertical portion 92 under vacuum negative pressure, and then the plurality of protruding portions 332 on the contact member 33 contract and squeeze on the side surface of the vertical portion 92, further increasing the friction force and clamping stability between the contact member 33 and the L-shaped workpiece 9.

[0034] As an embodiment further provided by the present invention, a vertical hard plate 35 is disposed on the opposite side of the deformation seat 31 .

[0035] Specifically, the hard plate 35 is arranged on the opposite side of the deformation seat 31, thereby improving the deformation degree of the deformation seat 31 on the opposite side and improving the movement stability of the displacement seat 32 being driven to deflect relatively.

[0036] As a further embodiment provided by the present invention, the resisting member 33 is a rubber member.

[0037] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An end fixture of a handling robot, comprising an L-shaped workpiece (9), which can be divided into a horizontal part (91) and a vertical part (92), characterized in that: It also includes a fixture seat (1) on which is arranged: A suction cup assembly (2) for vertically sucking and fixing a horizontal portion (91) of an L-shaped workpiece (9); The anti-tilt assembly (3) comprises a symmetrically arranged deformation seat (31) and an offset seat (32), wherein the offset seat (32) is connected to the fixture seat (1) via the deformation seat (31), the deformation seat (31) is hollow inside and is connected to the suction cup group (2), an arc-shaped portion (311) is provided on the opposite side of the deformation seat (31), the suction cup group (2) absorbs the horizontal portion (91) to form a vacuum negative pressure in the deformation seat (31), and the arc-shaped portion (311) is deformed and contracted to drive the offset seat (32) to move relatively close to clamp the vertical portion (92) of the L-shaped workpiece (9).

2. The end fixture of a handling robot according to claim 1, characterized in that: The clamp seat (1) is connected to an air pipe (12), the air pipe (12) is respectively connected to the deformation seat (31) and the suction cup group (2), and magnetic parts (34) with different polarities are symmetrically arranged on the inner side of the arc-shaped part (311) of the deformation seat (31), and the deformation seat (31) is driven to deform so that the magnetic parts (34) are attracted to each other so that the offset seat (32) keeps clamping the vertical part (92).

3. The end fixture of a handling robot according to claim 2, characterized in that: The end of the offset seat (32) is provided with a flexible arc-shaped protruding resistance piece (33), and the offset seat (32) is driven to clamp the vertical portion (92) so that the resistance piece (33) is in resistance against two sides of the vertical portion (92).

4. The end fixture of a handling robot according to claim 3, characterized in that: The offset seat (32) is hollow so that the inner side of the abutment (33) is connected to the inner cavity of the deformation seat (31); the flexibility of the deformation seat (31) is greater than that of the abutment (33); a plurality of concave arc grooves (331) are provided on the outer arc surface of the abutment (33) to form a plurality of raised portions (332); the deformation seat (31) is deformed under negative pressure so that the abutment (33) is deformed and contracted, and the raised portions (332) contract and come together to squeeze the side surfaces of the vertical portion (92).

5. The end fixture of a handling robot according to claim 1, characterized in that: A vertical hard plate (35) is arranged inside the side of the deformation seat (31) facing away from the deformation seat (31).

6. The end fixture of a handling robot according to claim 4, characterized in that: The resisting member (33) is a rubber member.

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