Robot feeding gripper for full-automatic bracket line

Abstract

The utility model discloses a robot feeding gripper for a full-automatic support line, and belongs to the field of support machining. The robot feeding gripper comprises a gripper module arranged at the working end of a robot, the gripper module comprises a connecting flange connected with the working end of the robot and a connecting base fixedly connected with the connecting flange, at least two working positions are arranged on the connecting base, and each working position is provided with at least one clamping air cylinder; each clamping air cylinder is provided with two clamping moving seats, the two clamping moving seats synchronously move inwards or synchronously outwards, the two clamping moving seats of the same clamping air cylinder are fixedly provided with an inner supporting clamping arm or an outer clamping arm respectively, the inner supporting clamping arms conduct inner supporting type clamping on products, and the outer clamping arms conduct outer side clamping on the products. By means of the at least two working stations, feeding and discharging can be carried out at the same time, an inner supporting mode can be adopted for feeding, an outer clamping mode can be adopted for discharging, it is guaranteed that products cannot interfere with one another, and the stability of independent operation is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of bracket processing equipment, in particular to a robot loading gripper for a bracket full-automatic line. Background Technique

[0002] In the new energy vehicle industry, brackets are commonly used parts, and brackets are divided into front brackets and rear brackets. In the actual production process, they need to be tested before being put into use. In the existing production equipment, there is a lack of a safe and reliable conveying device to cooperate with the automated detection of such a large number of products. The transfer of products at each work station is generally achieved by a manipulator, and a module matching the product is set at the end of the manipulator to clamp the product. However, the current clamping module is not reasonably designed, with low efficiency and difficult to meet the requirements of full-automatic and high-speed production. Content of the Utility Model

[0003] To solve the above technical problems, the utility model provides a robot loading gripper for a bracket full-automatic line.

[0004] The technical solution of the utility model is: a robot loading gripper for a bracket full-automatic line, including a gripper module arranged at the working end of the robot, and the gripper module includes:

[0005] A connecting flange, which is connected to the working end of the robot;

[0006] A connecting seat, which is fixedly connected to the connecting flange. At least two working positions are arranged on the connecting seat, and at least one clamping cylinder is arranged at each working position. There are two clamping moving seats on the clamping cylinder, and the two clamping moving seats move inwards or outwards synchronously. An inner support clamping arm or an outer clamping arm is fixedly arranged on each of the two clamping moving seats of the same clamping cylinder. The inner support clamping arm clamps the product in an inner support manner, and the outer clamping arm clamps the product on the outside.

[0007] Further, at least two working positions of the connecting seat are arranged vertically or parallelly. Here, parallel includes being arranged along the same straight line.

[0008] Further, the connecting seat is in the shape of an isosceles right triangle or an isosceles trapezoid with a base angle of 45 degrees. By setting the connecting seat in this special shape, it can be ensured that the two working positions are arranged vertically.

[0009] Further, the connecting seat is a connecting plate. The setting of the connecting plate can set parallel or collinear working positions, and the number of working positions can be freely set according to the size of the connecting plate.

[0010] Furthermore, when the working positions of the connecting seat are arranged vertically, a clamping cylinder with an inner support clamping arm is arranged at one working position, and a clamping cylinder with an outer clamping arm is arranged at another working position, and the clamping directions of the two working positions are arranged outward. This structural arrangement can clamp in a narrow space, and inner support or outer clamping can be selected according to actual needs, which can improve the versatility of the equipment.

[0011] Furthermore, the inner support clamp arm comprises: a fixed portion, the fixed portion is fixedly connected to the clamping movable seat, an inner support portion is further arranged on the fixed portion, and the inner support portion and the clamping movable seat are arranged perpendicularly. Generally speaking, the two are arranged in a straight line.

[0012] Furthermore, a bending portion is provided between the fixing portion and the inner supporting portion, and the inner supporting portion is located on one side of the fixing portion. The provision of the bending portion enables the inner supporting portion and the fixing portion to be located in different planes, making it convenient to clamp products at different positions.

[0013] Furthermore, buffer pads are provided on both the inner support clamp arm and the outer clamp arm, which can protect the product and increase the friction force.

[0014] Furthermore, the two outer clamping arms on each clamping cylinder are respectively a first clamping arm and a second clamping arm.

[0015] The first clamping arm comprises: a first lower plate, the first lower plate is fixedly connected to a clamping movable seat and extends outward along the opening direction of the clamping movable seat, and a first clamping plate is vertically arranged at the extending end of the first lower plate;

[0016] The second clamping arm includes: a second lower plate, the second lower plate is fixedly connected to another clamping movable seat, a second clamping plate is arranged above the second lower plate, the second clamping plate is parallel to the first lower plate and extends in the same direction, and the extending end of the second clamping plate faces the first clamping plate. Buffer pads are symmetrically arranged on the first clamping plate and the second clamping plate to ensure the stability of clamping.

[0017] Furthermore, a clearance groove is provided on the first lower plate, and the clearance groove is located below the working area of ​​the first clamping plate and the second clamping plate, which can ensure that the product can be extended more and also ensure the convenience of installing the buffer pad.

[0018] Furthermore, the clamping cylinders for the outer clamping are arranged in groups, and each group has two, so as to ensure the stability of the clamping.

[0019] Furthermore, an inner support groove is provided inside the product. The inner support groove is an existing groove on the product, which is only used for clamping.

[0020] Furthermore, the product has external ears for external clamping.

[0021] Furthermore, the robot is a six-axis manipulator, which can achieve free movement for clamping, facilitating loading and unloading.

[0022] The beneficial technical effects of the present utility model are as follows: there are at least two working positions, enabling simultaneous loading and unloading. Moreover, internal support can be adopted for loading and external clamping for unloading, ensuring that there is no interference between products and guaranteeing the stability of independent operation.

[0023] Meanwhile, the setting of multiple working positions can also achieve efficient production. For example, two grabs and two releases can be carried out, providing a reliable guarantee for the full-automatic production of the bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structural schematic diagram of the robot loading gripper.

[0025] Figure 2 It is a schematic diagram of the gripper module.

[0026] Figure 3 It is a schematic diagram of the external clamping arm.

[0027] Figure 4 It is a schematic diagram of the second type of internal support arm.

[0028] Figure 5 It is a schematic diagram of different internal support methods.

[0029] Figure 6 It is a schematic diagram of the first type with four clamping cylinders.

[0030] Figure 7 It is a schematic diagram of the second type with four clamping cylinders.

[0031] Figure 8 It is a schematic diagram of the third type with four clamping cylinders.

[0032] In the figure:

[0033] 1. Gripper module,

[0034] 2. Connecting flange,

[0035] 3. Connecting seat,

[0036] 4. Clamping cylinder, 41. Clamping moving seat,

[0037] 5. Internal support arm, 51. Fixed part, 52. Internal support part, 53. Bending part,

[0038] 6. External clamping arm, 61. First clamping arm, 611. First lower plate, 612. First clamping plate, 613. Relief groove, 62. Second clamping arm, 621. Second lower plate, 622. Second clamping plate,

[0039] 7. Buffer pad. Specific implementation manner

[0040] In order to clearly understand the technical means of the present utility model and implement it in accordance with the content of the specification, the following further describes the specific implementation manner of the present utility model in detail with reference to the drawings and embodiments. The following embodiments are used to illustrate the present utility model but not to limit the scope of the present utility model.

[0041] See the attached Figure 1-8 , a robot loading gripper for a bracket full-automatic line in this embodiment includes a gripper module 1 arranged at the working end of the robot. The gripper module 1 includes:

[0042] Connecting flange 2, and the connecting flange 2 is connected to the working end of the robot;

[0043] Connecting seat 3, the connecting seat 3 is fixedly connected to the connecting flange 2. At least two working positions are arranged on the connecting seat 3, and at least one clamping cylinder 4 is arranged at each working position. There are two clamping moving seats 41 on the clamping cylinder 4, and the two clamping moving seats 41 move inwards or outwards synchronously. Inner support clamping arms 5 or outer clamping arms 6 are respectively fixedly arranged on the two clamping moving seats 41 of the same clamping cylinder 4. The inner support clamping arms 5 perform inner support clamping on the product, and the outer clamping arms 6 perform outer clamping on the product.

[0044] Further, at least two working positions of the connecting seat 3 are arranged vertically or parallelly. Here, parallel includes being arranged along the same straight line.

[0045] Further, the connecting seat 3 is an isosceles right triangle or an isosceles trapezoid with a base angle of 45 degrees. By setting the connecting seat 3 with this special shape, it can be ensured that the two working positions are arranged vertically.

[0046] Further, the connecting seat 3 is a connecting plate. The setting of the connecting plate can set parallel or collinear working positions, and the number of working positions can be freely set according to the size of the connecting plate.

[0047] Further, when the working positions of the connecting seat 3 are arranged vertically, a clamping cylinder 4 with inner support clamping arms 5 is arranged at one working position, and a clamping cylinder 4 with outer clamping arms 6 is arranged at the other working position, and the clamping directions of the two working positions are both arranged outwards. The setting of this structure can perform clamping in a narrow space, and inner support or outer clamping can be selected according to actual needs, which can improve the versatility of the equipment. See the structures shown in the attached Figure 2 and 3 .

[0048] Furthermore, the inner support clamp arm 5 comprises: a fixed portion 51, the fixed portion 51 is fixedly connected to the clamping movable seat 41, and an inner support portion 52 is arranged on the fixed portion 51, and the inner support portion 52 is arranged perpendicular to the clamping movable seat 41. Generally speaking, the two are arranged in a straight line.

[0049] Furthermore, a bending portion 53 is provided between the fixing portion 51 and the inner supporting portion 52, and the inner supporting portion 52 is located on one side of the fixing portion 51. The provision of the bending portion 53 enables the inner supporting portion 52 and the fixing portion 51 to be located in different planes, making it convenient to clamp products at different locations.

[0050] Furthermore, a buffer pad 7 is provided on both the inner support clamp arm 5 and the outer clamp arm 6. It can protect the product and also increase the friction.

[0051] Furthermore, the two outer clamping arms 6 on each clamping cylinder 4 are respectively a first clamping arm 61 and a second clamping arm 62.

[0052] The first clamping arm 61 includes: a first lower plate 611, which is fixedly connected to a clamping movable seat 41 and extends outward along the opening direction of the clamping movable seat 41, and a first clamping plate 612 is vertically arranged at the extending end of the first lower plate 611;

[0053] The second clamp arm 62 includes: a second lower plate 621, which is fixedly connected to another clamping movable seat 41, and a second clamping plate 622 is arranged above the second lower plate 621. The second clamping plate 622 is parallel to the first lower plate 611 and extends in the same direction, and the extending end of the second clamping plate 622 faces the first clamping plate 612. Moreover, buffer pads 7 are symmetrically arranged on the first clamping plate 612 and the second clamping plate 622 to ensure the stability of clamping.

[0054] Furthermore, a clearance groove 613 is provided on the first lower plate 611, and the clearance groove 613 is located below the working area of ​​the first clamping plate 612 and the second clamping plate 622. On the one hand, it can ensure that the product can be extended more, and at the same time, it also ensures that the buffer pad 7 is easy to install.

[0055] The clamping cylinders for the outer clamping are arranged in groups, and each group consists of two to ensure the stability of the clamping.

[0056] The inner support groove is set inside the product. The inner support groove is an existing groove on the product, which is only used for clamping. The product has an outer ear. The outer ear is for external clamping.

[0057] The robot is a six-axis manipulator, which can realize free movement of gripping and facilitate loading and unloading.

[0058] At least two working positions can realize simultaneous loading and unloading. Moreover, internal support can be used for loading and external clamping for unloading, ensuring that there is no interference between products and the stable independent operation.

[0059] Meanwhile, the setting of multiple working positions can also achieve efficient production. For example, two-grip and two-release operations can provide reliable guarantee for the full-automatic production of the bracket.

[0060] Attached Figure 4 Shown is a way of internal support clamping. Attached Figure 5 Is another way of internal support clamping, which can be selected according to actual needs.

[0061] Attached Figure 6-8 Is a four-position clamping, which respectively reflects the clamping in the length direction, width direction and oblique direction, and can be selected according to actual needs.

[0062] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A robot feeding gripper for a stent fully automatic line, comprising a gripper module (1) arranged at a working end of the robot, characterized in that: The gripper module (1) comprises: A connecting flange (2), wherein the connecting flange (2) is connected to the working end of the robot; A connecting seat (3), the connecting seat (3) is fixedly connected to the connecting flange (2), at least two working positions are arranged on the connecting seat (3), and each working position is provided with at least one clamping cylinder (4), the clamping cylinder (4) has two clamping movable seats (41), and the two clamping movable seats (41) move inwardly or outwardly synchronously, and the two clamping movable seats (41) of the same clamping cylinder (4) are respectively fixedly provided with an inner support clamping arm (5) or an outer clamping clamping arm (6), the inner support clamping arm (5) performs inner support clamping on the product, and the outer clamping clamping arm (6) performs outer side clamping on the product.

2. The robot feeding gripper for the bracket full-automatic line according to claim 1 is characterized in that: At least two working positions of the connecting seat (3) are arranged vertically or in parallel.

3. The robot feeding gripper for the bracket full-automatic line according to claim 2 is characterized in that: When the working positions of the connecting seat (3) are arranged vertically, a clamping cylinder (4) having an inner clamping arm (5) is arranged at one working position, and a clamping cylinder (4) having an outer clamping arm (6) is arranged at the other working position, and the clamping directions of the two working positions are both arranged outwards.

4. The robot feeding gripper for the bracket automatic line according to claim 1 is characterized in that: The inner support clamp arm (5) comprises: a fixing portion (51), the fixing portion (51) is fixedly connected to the clamping movable seat (41), and an inner support portion (52) is also arranged on the fixing portion (51), and the inner support portion (52) is arranged perpendicular to the clamping movable seat (41).

5. The robot feeding gripper for the bracket full-automatic line according to claim 4 is characterized in that: A bending portion (53) is also provided between the fixing portion (51) and the inner supporting portion (52), and the inner supporting portion (52) is located on one side of the fixing portion (51).

6. The robot feeding gripper for the bracket automatic line according to claim 1 is characterized in that: Buffer pads (7) are provided on both the inner support clamp arm (5) and the outer clamp arm (6).

7. The robot feeding gripper for the bracket automatic line according to claim 1 is characterized in that: The two outer clamping arms (6) on each clamping cylinder (4) are respectively a first clamping arm (61) and a second clamping arm (62). The first clamping arm (61) comprises: a first lower plate (611), the first lower plate (611) is fixedly connected to a clamping movable seat (41) and extends outward along the opening direction of the clamping movable seat (41), and a first clamping plate (612) is vertically arranged at the extending end of the first lower plate (611); The second clamping arm (62) comprises: a second lower plate (621), the second lower plate (621) is fixedly connected to another clamping movable seat (41), a second clamping plate (622) is arranged above the second lower plate (621), the second clamping plate (622) is parallel to the first lower plate (611) and extends in the same direction, and the extending end of the second clamping plate (622) faces the first clamping plate (612).

8. The robot feeding gripper for the bracket full-automatic line according to claim 7 is characterized in that: A clearance groove (613) is also provided on the first lower plate (611), and the clearance groove (613) is located below the working area of ​​the first clamping plate (612) and the second clamping plate (622).

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