Feeding and discharging mechanical arm clamping jaw

Abstract

The utility model discloses a feeding and discharging mechanical arm clamping jaw which comprises a fixing shaft rod, a fixing base, a driving assembly and a clamping jaw assembly, the fixing base is arranged on the fixing shaft rod, the driving assembly is arranged on the fixing shaft rod and the fixing base, the driving assembly comprises a first sensor, a second sensor and two sets of driving parts, the two sets of driving components are arranged on the fixing shaft rod and the fixing base respectively, the first sensor is arranged on one set of driving components, the second sensor is arranged on one set of driving components, and the clamping jaw assembly is arranged at the output ends of the driving components. Therefore, the fastening block and the ejector rod are additionally arranged on the clamping jaw, the clamping force of the clamping jaw and the surface of the oil seal is enhanced through the fastening block and the ejector rod, the mechanical arm can clamp the oil seal with smaller force, the stability is guaranteed, meanwhile, the surface of the oil seal cannot be damaged, meanwhile, the placing position and the square direction of the oil seal are judged through the two sets of sensors, and the oil seal is prevented from being installed mistakenly; the product quality is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a loading and unloading manipulator jaw. Background Art

[0002] In the processing flow of oil seals, an efficient and continuous cyclic operation mode is widely used: the oil seal is first automatically placed on an oil seal loading machine, and then through the cyclic transportation of this machine, it is ready to enter the next processing stage. When the oil seal reaches the designated position, the collaborative manipulator accurately intervenes, gently and accurately grabs the oil seal from the loading machine, and transfers it to a special oil filling workbench for oil filling treatment. After the oil filling is completed, the manipulator plays its role again, stacking the oil seals steadily on the positioning posts to ensure the smooth progress of subsequent processes.

[0003] However, in this automated process, the performance of the manipulator jaw is directly related to the efficiency and quality of oil seal processing. Due to the diversity of the shapes of oil seals, the designs of manipulator jaws in the prior art often fail to perfectly fit all oil seal shapes, which may cause the oil seal to slip or shift in position during grasping, increasing the uncertainty of the operation. In addition, the precise control of the clamping force is also a major challenge: too much force may damage the surface of the oil seal, leaving indentations or even causing deformation; while insufficient force cannot ensure the stability of the oil seal during movement, increasing the risk of dropping off.

[0004] A further challenge is that when the manipulator places the oil seal at the designated position, if its positioning accuracy is insufficient, it will directly cause a slight deviation in the position of the oil seal, which poses a potential threat to the accuracy of subsequent assembly. In addition, for the identification of the front and back directions of the oil seal, if the manipulator lacks the corresponding intelligent judgment ability, it may also cause assembly errors and affect the product quality. Summary of the Utility Model

[0005] The utility model aims to solve at least one of the technical problems in the related art to a certain extent.

[0006] For this reason, the purpose of the utility model is to propose a loading and unloading manipulator jaw, on which a fastening block and a ejector rod are installed. The fastening block and the ejector rod strengthen the clamping force between the jaw and the surface of the oil seal, enabling the manipulator to clamp the oil seal with less force, ensuring stability without damaging the surface of the oil seal. At the same time, two groups of sensors are used to judge the placement position and the front and back directions of the oil seal, avoiding incorrect installation of the oil seal and ensuring product quality.

[0007] To achieve the above object, the present utility model provides a loading and unloading manipulator jaw, which includes a fixed shaft rod, a fixed seat, a driving component, and a jaw component. Among them, the fixed seat is arranged on the fixed shaft rod; the driving component is arranged on the fixed shaft rod and the fixed seat; the driving component includes a first sensor, a second sensor, and a driving part. Among them, there are two groups of the driving parts, and the two groups of the driving parts are respectively arranged on the fixed shaft rod and the fixed seat; the first sensor is arranged on one of the groups of the driving parts; the second sensor is arranged on one of the groups of the driving parts; the jaw component is arranged at the output end of the driving part.

[0008] For the loading and unloading manipulator jaw of the present utility model, a fastening block and a top rod are installed on the jaw. The fastening block and the top rod strengthen the clamping force on the surface of the jaw and the oil seal, enabling the manipulator to clamp the oil seal with less force and ensuring stability without damaging the surface of the oil seal. At the same time, two groups of sensors are used to judge the placement position and the correct direction of the oil seal, avoiding incorrect installation of the oil seal and ensuring product quality.

[0009] In addition, the loading and unloading manipulator jaw proposed according to the above application may also have the following additional technical features:

[0010] Specifically, the jaw component includes an outer baffle, movable sliders, and a transmission mechanism. Among them, the outer baffle is arranged on the driving part; there are two groups of the movable sliders, and the two groups of the movable sliders are movably arranged on the outer baffle; there are two groups of the transmission mechanisms, and the two groups of the transmission mechanisms are respectively arranged on the corresponding movable sliders.

[0011] Specifically, the transmission mechanism includes a base, a positioning groove, a jaw, a fastening block, and a top rod. Among them, the base is detachably arranged on the movable slider; the positioning groove is opened on the base; the jaw is arranged on the base; the fastening block is detachably arranged on the jaw; there are multiple groups of the top rods, and the multiple groups of the top rods are respectively arranged on the jaw.

[0012] Specifically, a support plate is provided on the top wall of one of the groups of the driving parts, and the first sensor is movably arranged on the support plate.

[0013] Specifically, arc angles are respectively provided on the opposite end faces of the two groups of the fastening blocks. Through holes are provided on the fastening blocks, and the top rods are arranged in the through holes.

[0014] Specifically, a limit card slot and a positioning screw hole are provided on the inner wall of the positioning groove. An outer card plate matching the limit card slot is provided on the movable slider, and a threaded hole matching the positioning screw hole is provided on the movable slider.

[0015] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present utility model. Description of the Drawings

[0016] The above-mentioned and / or additional aspects and advantages of the present utility model will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0017] Figure 1 is a schematic structural diagram of a loading and unloading manipulator gripper according to an embodiment of the present utility model;

[0018] Figure 2 is a schematic structural diagram of a transmission mechanism of a loading and unloading manipulator gripper according to an embodiment of the present utility model.

[0019] As shown in the figure: 10, fixed shaft rod; 20, fixed seat; 30, drive assembly; 301, first sensor; 302, second sensor; 303, drive component; 40, gripper assembly; 401, outer baffle; 402, movable slider; 403, transmission mechanism; 4031, base; 4032, positioning groove; 4033, gripper; 4034, fastening block; 4035, ejector rod. Detailed Embodiment

[0020] The embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model. On the contrary, the embodiments of the present utility model include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0021] The loading and unloading manipulator gripper of the embodiment of the present utility model will be described below in conjunction with the drawings.

[0022] As Figure 1-2 shown, the loading and unloading manipulator gripper of the embodiment of the present utility model includes a fixed shaft rod 10, a fixed seat 20, a drive assembly 30, and a gripper assembly 40.

[0023] Among them, the fixed seat 20 is arranged on the fixed shaft rod 10, and the drive assembly 30 is arranged on the fixed shaft rod 10 and the fixed seat 20.

[0024] It should be noted that in this embodiment, the described fixed shaft rod 10 is installed on a cooperative manipulator, and the cooperative manipulator is installed on an oil seal oil filling and feeding machine. The cooperative manipulator drives the fixed shaft rod 10 to adjust the angle and direction.

[0025] The driving assembly 30 includes a first sensor 301, a second sensor 302, and a driving component 303.

[0026] Among them, there are two sets of driving components 303, which are respectively arranged on the fixed shaft rod 10 and the fixed seat 20. The first sensor 301 is arranged on one set of driving components 303, the second sensor 302 is arranged on one set of driving components 303, and the jaw assembly 40 is arranged at the output end of the driving component 303.

[0027] It should be noted that the driving component 303 is a hydraulic cylinder. The driving component 303 is connected to the power supply through a control switch and operates. The driving component 303 drives the jaw assembly 40 to clamp the oil seal 60, and moves the oil seal 60 to the refueling station, and installs the refueled oil seal on the positioning column 50. Whether the oil seal is placed in place is judged by the first sensor 301 on the driving component 303, and whether the oil seal is placed correctly in terms of positive and negative is judged by the second sensor 302.

[0028] In an embodiment of the present utility model, as Figure 1 shown, the jaw assembly 40 includes an outer baffle 401, a movable slider 402, and a transmission mechanism 403.

[0029] Among them, the outer baffle 401 is arranged on the driving component 303. There are two sets of movable sliders 402, and the two sets of movable sliders 402 are movably arranged on the outer baffle 401. There are two sets of transmission mechanisms 403, and the two sets of transmission mechanisms 403 are respectively arranged on the corresponding movable sliders 402.

[0030] It should be noted that a through groove is provided on the outer baffle 401, and the movable slider 402 slides in the through groove. The output end of the driving component 303 is connected to the movable slider 402. The two sets of movable sliders 402 are driven by the driving component 303 to move relatively, so as to drive the transmission mechanism 403 to clamp the oil seal 60.

[0031] In an embodiment of the present utility model, as Figure 2 shown, the transmission mechanism 403 includes a base 4031, a positioning groove 4032, a jaw 4033, a fastening block 4034, and a top rod 4035.

[0032] Among them, the base 4031 is detachably arranged on the movable slider 402, the positioning groove 4032 is opened on the base 4031, the jaw 4033 is arranged on the base 4031, the fastening block 4034 is detachably arranged on the jaw 4033, and there are multiple sets of top rods 4035, and the multiple sets of top rods 4035 are respectively arranged on the jaw 4033.

[0033] It should be noted that in this embodiment, the base 4031 and the movable slider 402 are assembled in a limited way and fixed by screws. When the fastening block 4034 and the ejector rod 4035 on the jaw 4033 hold the oil seal 60, they are closely attached to the surface of the oil seal 60, so as to fix the oil seal 60.

[0034] In an embodiment of the present invention, as Figure 1 shown, a support plate is provided on the top wall of one group of driving components 303, and the first sensor 301 is movably arranged on the support plate.

[0035] It should be noted that the support plate is an L-shaped plate. The driving component 303 moves and adjusts on the support plate to select the most suitable detection angle and position to feedback on the oil seal 60.

[0036] In an embodiment of the present invention, as Figure 2 shown, arc angles are respectively provided on the opposite end faces of the two groups of fastening blocks 4034. Through holes are provided on the fastening blocks 4034, and the ejector rod 4035 is arranged in the through holes.

[0037] It should be noted that arc angles are provided on the opposite end faces of the two groups of fastening blocks 4034, and the radian of the arc angle is designed according to the size of the outer diameter of the oil seal.

[0038] In an embodiment of the present invention, as Figure 1 and Figure 2 shown, a limit card slot and a positioning screw hole are provided on the inner wall of the positioning groove 4032. An outer card plate matching the limit card slot is provided on the movable slider 402, and a threaded hole matching the positioning screw hole is provided on the movable slider 402.

[0039] It should be noted that the movable slider 402 is clamped together with the limit card slot through the outer card plate to limit the movable slider 402. Then, through the docking of the mutually matching positioning screw hole and the threaded hole, the movable slider 402 and the positioning groove 4032 are fixedly connected by screw thread connection.

[0040] Specifically, the steps of clamping the oil seal by the gripper of the loading and unloading manipulator are as follows: The fixed shaft rod 10 is installed on the collaborative manipulator. When it is necessary to clamp the oil seal 60, the collaborative manipulator drives the driving component 30 and the gripper component 40 to move through the fixed shaft rod 10. When the driving part 303 in the driving component 30 operates, it drives the gripper 4033 in the gripper component 40 to clamp the oil seal 60. When clamping the oil seal 60, the fastening block 4034 and the ejector rod 4035 are tightly attached to the surface of the oil seal 60. After filling the oil seal 60, the oil seal 60 is clamped and placed on the positioning post 50, so that the oil seal 60 is placed on the positioning post 50 at one time. During the clamping process, the first sensor 301 feeds back whether the oil seal 60 is placed in place, and the second sensor 302 feeds back whether the positive and negative directions of the placement of the oil seal 60 are correct.

[0041] In summary, for the gripper of the loading and unloading manipulator in the embodiment of the present invention, a fastening block and an ejector rod are installed on the gripper. The fastening block and the ejector rod strengthen the clamping force between the gripper and the surface of the oil seal, enabling the manipulator to clamp the oil seal with less force and ensuring stability without damaging the surface of the oil seal. At the same time, two groups of sensors are used to judge the placement position and the positive and negative directions of the oil seal, avoiding incorrect installation of the oil seal and ensuring product quality.

[0042] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A loading and unloading manipulator gripper, characterized in that: It comprises a fixed shaft (10), a fixed seat (20), a driving assembly (30), and a clamping jaw assembly (40), wherein: The fixing seat (20) is arranged on the fixing shaft (10); The driving assembly (30) is arranged on the fixed shaft (10) and the fixed seat (20); The driving assembly (30) comprises a first sensor (301), a second sensor (302) and a driving component (303), wherein: The driving components (303) are divided into two groups, and the two groups of driving components (303) are respectively arranged on the fixed shaft (10) and the fixed seat (20); The first sensor (301) is arranged on one group of the driving components (303); The second sensor (302) is arranged on one set of the driving components (303); The clamping jaw assembly (40) is arranged at the output end of the driving component (303).

2. The loading and unloading robot gripper according to claim 1 is characterized in that: The clamping jaw assembly (40) comprises an outer baffle (401), a movable slider (402) and a transmission mechanism (403), wherein: The outer baffle (401) is arranged on the driving component (303); The movable sliding blocks (402) are in two groups, and the two groups of movable sliding blocks (402) are movably arranged on the outer baffle (401); The transmission mechanisms (403) are divided into two groups, and the two groups of transmission mechanisms (403) are respectively arranged on the corresponding movable slide blocks (402).

3. The loading and unloading robot gripper according to claim 2 is characterized in that: The transmission mechanism (403) comprises a base (4031), a positioning groove (4032), a clamping claw (4033), a fastening block (4034) and a push rod (4035), wherein: The base (4031) is detachably arranged on the movable slider (402); The positioning groove (4032) is provided on the base (4031); The clamping claw (4033) is arranged on the base (4031); The fastening block (4034) is detachably arranged on the clamping jaw (4033); The push rods (4035) are in multiple groups, and the multiple groups of push rods (4035) are respectively arranged on the clamping jaws (4033).

4. The loading and unloading robot gripper according to claim 1 is characterized in that: A top wall of one group of the driving components (303) is provided with a supporting plate, and the first sensor (301) is movably arranged on the supporting plate.

5. The loading and unloading robot gripper according to claim 3 is characterized in that: The opposite end faces of the two groups of the fastening blocks (4034) are respectively provided with arc angles, the fastening blocks (4034) are provided with through holes, and the push rods (4035) are arranged in the through holes.

6. The loading and unloading robot gripper according to claim 3 is characterized in that: The inner wall of the positioning groove (4032) is provided with a limiting card slot and a positioning screw hole, the movable slider (402) is provided with an outer card plate matching the limiting card slot, and the movable slider (402) is provided with a threaded hole matching the positioning screw hole.

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