Robot feeding clamping jaw

Abstract

The utility model belongs to the technical field of robot clamping jaws, and particularly relates to a robot feeding clamping jaw which comprises a bottom plate assembly, a driving assembly, an elastic positioning assembly and a clamping assembly. The driving assembly is connected with the bottom plate assembly and comprises a clamping air cylinder and a plurality of air cylinder sliding blocks, the air cylinder sliding blocks are evenly distributed on the clamping air cylinder in the circumferential direction, and the elastic positioning assembly is connected with the clamping air cylinder; the clamping assembly comprises a plurality of outer clamping jaws, the multiple air cylinder sliding blocks are connected with the multiple outer clamping jaws in a one-to-one correspondence mode, and the air cylinder sliding blocks can drive the outer clamping jaws to be tightened or opened so as to clamp or release an object. The robot feeding clamping jaw clamps a workpiece to move to the feeding position, the driving assembly drives the clamping assembly to open so as to release the workpiece, the elastic positioning assembly pushes the workpiece through elastic force so that the workpiece can be kept horizontal, and the situation that the workpiece inclines is avoided.

Description

Technical Field

[0001] The utility model relates to a robot loading gripper, belonging to the technical field of robot grippers. Background Art

[0002] With the popularization of intelligent production and manufacturing, intelligent robots are also accelerating their application in intelligent manufacturing. Among them, robot grippers are mainly used for grasping, transporting, and assembling various materials. In actual production, currently, robot grippers are used to replace manual feeding. Since some workpieces need to be fed horizontally, when the robot holds the workpiece for feeding, the feeding sequence is that the robot gripper releases, and the hydraulic tooling gripper clamps. During this process, the robot gripper releases. Due to the small gap between the two grippers, although the workpiece will not fall, since the workpiece was originally in a horizontal state, the release of the robot gripper causes the workpiece to fall under the action of gravity, affecting the original horizontal balance state of the workpiece; when the workpiece is clamped by the hydraulic tooling gripper again, this kind of fall is likely to cause the feeding position of the workpiece to be incorrect, that is, it appears skewed, thus affecting the subsequent processing accuracy. Content of the Utility Model

[0003] The purpose of the utility model is to provide a robot loading gripper to improve or solve the technical problems existing in the above-mentioned prior art.

[0004] The technical solution provided by the utility model is as follows: a robot loading gripper, comprising: a bottom plate assembly, a driving assembly, an elastic positioning assembly, and a clamping assembly; the bottom plate assembly is used to connect with the robot; the driving assembly is connected with the bottom plate assembly, including a clamping cylinder and a plurality of cylinder sliders, and the plurality of cylinder sliders are circumferentially distributed on the clamping cylinder, and the clamping cylinder is used to drive the cylinder sliders to move in the slideway; the elastic positioning assembly is connected with the clamping cylinder; the clamping assembly includes a plurality of outer clamping grippers, and the plurality of cylinder sliders are connected to the plurality of outer clamping grippers in one-to-one correspondence, and the cylinder sliders can drive the outer clamping grippers to tighten or open to clamp or release an object.

[0005] The technical solution provided by the utility model, compared with the prior art, has the following beneficial effects: the robot loading gripper holds the workpiece and moves it to the loading position, and the driving assembly drives the clamping assembly to open to release the workpiece, and the elastic positioning assembly pushes the workpiece through elastic force to keep the workpiece horizontal, avoiding the situation of the workpiece being skewed.

[0006] On the basis of the above technical solution, the utility model can also be improved as follows.

[0007] Further, the elastic positioning component includes a guide shaft, a plunger connecting piece, a push plate and a spring; there are multiple guide shafts, springs and plunger connecting pieces, and the multiple plunger connecting pieces are circumferentially distributed on the clamping cylinder. One end of each guide shaft is connected to the push plate, and the other end of each guide shaft is connected to the plunger connecting piece. A spring is sleeved on the guide shaft, and the spring is located between the push plate and the plunger connecting piece. The push plate can compress the spring to generate a thrust force.

[0008] The beneficial effect of adopting the above further solution is that the push plate squeezes the workpiece, causing the spring to deform and generating an elastic force acting on the workpiece, so that the workpiece is subjected to a force in the horizontal direction and abuts against the hydraulic tooling jaw, preventing the workpiece from skewing during feeding, avoiding the situation of inaccurate machining accuracy, ensuring the product quality, increasing the service life of the overall tooling, and improving the production efficiency.

[0009] Further, the plunger connecting piece includes a connecting hole, and the guide shaft is limitedly installed in the connecting hole, and the guide shaft can move axially in the connecting hole.

[0010] The beneficial effect of adopting the above further solution is that the limited installation of the guide shaft can ensure its stable operation in the connecting hole, reduce the offset or instability caused by axial movement, and thus improve the overall stability.

[0011] Further, a linear bearing is sleeved on the guide shaft. The outer ring of the linear bearing is connected to the plunger connecting piece, and the inner ring of the linear bearing is connected to the guide shaft.

[0012] The beneficial effect of adopting the above further solution is that the use of the linear bearing can effectively reduce the friction between the guide shaft and the plunger connecting piece, reduce energy loss, and improve work efficiency.

[0013] Further, the limit block is installed at one end of the guide shaft away from the push plate.

[0014] The beneficial effect of adopting the above further solution is to limit the moving range of the guide shaft, prevent it from moving excessively or deviating from the predetermined track during the working process, and thus keep the device running normally.

[0015] Further, a clamping block is fixed on the inner side of the outer clamping jaw.

[0016] Further, the material of the clamping block is one or more composites of polyurethane PU elastomer, copper block, and urethane rubber block.

[0017] The beneficial effects of adopting the above further solution are that the clamping block is detachable. When the clamping block is damaged or worn, there is no need to replace the entire jaw or fixture, saving time and cost. The clamping block can specifically select materials according to the workpiece material. The clamping block can provide good clamping force, reduce friction and wear, improve wear resistance and corrosion resistance, increase stability and accuracy, while reducing noise and vibration, and improving the performance and service life of the jaw.

[0018] Further, the contact surface between the clamping block and the workpiece is a profiling surface made according to the outer circle of the workpiece.

[0019] The beneficial effects of adopting the above further solution are that the profiling surface can better fit the outer circle shape of the workpiece, thereby providing a larger contact area, making the force on the clamping block more uniform when clamping the workpiece, enhancing the clamping stability, reducing the movement or sliding of the workpiece during processing, and effectively reducing the deformation of the workpiece during the clamping process.

[0020] Further, a nylon block is provided on the surface of the push plate that contacts the workpiece.

[0021] The beneficial effects of adopting the above further solution are that the nylon block has a certain elasticity and can provide a more uniform pressure distribution when the push plate contacts the workpiece, avoiding deformation or damage to the workpiece.

[0022] Further, the bottom plate assembly includes a connecting plate and a cylinder bottom plate, and is used to connect the jaw and the robot. Description of the Drawings

[0023] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0024] Figure 2 is a schematic diagram of the structure of the clamping assembly and the elastic positioning assembly of the present utility model;

[0025] Figure 3 is an enlarged view of the elastic positioning assembly of the present utility model;

[0026] Figure 4 is a schematic diagram of the plunger connecting piece of the present utility model.

[0027] In the figure, 1. Bottom plate assembly; 11. Cylinder bottom plate; 12. Connecting plate; 2. Driving assembly; 21. Clamping cylinder; 22. Cylinder slider; 3. Elastic positioning assembly; 31. Plunger connecting piece; 311. Connecting hole; 32. Guide shaft; 33. Spring; 34. Push plate; 35. Linear bearing; 36. Limit block; 4. Clamping assembly; 41. Outer clamping jaw; 42. Clamping block. Detailed Embodiments

[0028] The principles and features of the present utility model will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present utility model and are not intended to limit the scope of the present utility model.

[0029] An embodiment of the present utility model discloses a robot loading gripper.

[0030] As Figures 1-4 shown, a robot loading gripper includes: a bottom plate assembly 1, a driving assembly 2, an elastic positioning assembly 3, and a clamping assembly 4; the bottom plate assembly 1 includes a connecting plate 12 and a cylinder bottom plate 11, the cylinder bottom plate 11 is L-shaped, the connecting plate 12 is provided on the L-shaped cylinder bottom plate 11, and the cylinder bottom plate 11 is connected to the driving assembly 2 through the connecting plate 12, and the driving assembly 2 can be adapted to different models of clamping assemblies 4; the driving assembly 2 includes a clamping cylinder 21 and a plurality of cylinder sliders 22, the plurality of cylinder sliders 22 are circumferentially distributed on the clamping cylinder 21, and the clamping cylinder 21 is used to drive the cylinder sliders 22 to move in the slideway of the clamping cylinder 21; the elastic positioning assembly 3 is connected to the clamping cylinder 21; the clamping assembly 4 includes a plurality of outer clamping jaws 41, the plurality of cylinder sliders 22 are connected to the plurality of outer clamping jaws 41 in one-to-one correspondence, and the cylinder sliders 22 drive the outer clamping jaws 41 to tighten or open to clamp or release an object. The robot loading gripper clamps the workpiece and moves it to the loading position, the driving assembly 2 drives the outer clamping jaws 41 to open to release the workpiece, and the elastic positioning assembly 3 pushes the workpiece through elastic force to keep the workpiece horizontal and avoid the workpiece from being skewed.

[0031] The elastic positioning assembly 3 includes a guide shaft 32, a plunger connecting piece 31, a push plate 34, and a spring 33; the guide shaft 32, the spring 33, and the plunger connecting piece 31 are all multiple, the plurality of plunger connecting pieces 31 are circumferentially distributed on the clamping cylinder 21, one end of each guide shaft 32 is connected to the push plate 34, the other end is connected to the plunger connecting piece 31, a spring 33 is sleeved on the guide shaft 32, and the spring 33 is located between the push plate 34 and the plunger connecting piece 31, and the push plate 34 can compress the spring 33 to generate a thrust force. More specifically, the center of the push plate 34 is coaxially arranged with the axis of the clamping cylinder 21, the push plate 34 extends outwards to form connecting legs, each connecting leg is located between every two outer clamping jaws 41, and the end of the connecting leg is connected to one end of the guide shaft 32; the plunger connecting piece 31 includes a connecting hole 311, the other end of the guide shaft 32 is limit-mounted in the connecting hole 311, and the guide shaft 32 can move axially in the connecting hole. A linear bearing 35 is sleeved on the guide shaft 32, the outer ring of the linear bearing 35 is connected to the plunger connecting piece 31, and the inner ring of the linear bearing 35 is connected to the guide shaft 32. The limit block 36 is installed at one end of the guide shaft 32 away from the push plate 34 to limit the moving range of the guide shaft 32 and prevent it from falling off the plunger connecting piece 31.

[0032] A clamping block 42 is fixedly arranged inside the outer clamping jaw 41. The material of the clamping block 42 is composed of one or more of polyurethane PU elastomer, copper block, and urethane rubber block. The clamping block 42 is detachable, which is convenient for replacement when the clamping block 42 is damaged or worn.

[0033] Specifically, the contact surface between the clamping block 42 and the workpiece is a profiling surface made according to the outer circle of the workpiece; the profiling surface can better fit the outer circle shape of the workpiece and enhance the clamping stability.

[0034] Specifically, a nylon block is arranged on the surface of the push plate 34 in contact with the workpiece to prevent the workpiece from being damaged; the nylon block has a certain elasticity, which can provide a more uniform pressure distribution when the push plate 34 contacts the workpiece, avoiding deformation or damage of the workpiece.

[0035] Working principle of the utility model:

[0036] This solution uses an elastic positioning component to assist in positioning the workpiece. When grasping the workpiece, the workpiece presses the push plate, and the push plate pushes the guide shaft to move towards the clamping cylinder. The spring is pressed against the push plate and deforms. The outer clamping jaw clamps the workpiece. The robot drives the workpiece to the feeding area. After aligning the workpiece with the feeding position, when the outer clamping jaw is loosened, the elastic force generated by the spring restoration acts on the push plate, and the push plate presses the workpiece, so that the workpiece is subjected to a horizontal force and abuts against the hydraulic tooling jaw, preventing the workpiece from skewing during feeding and ensuring the stability and smoothness of workpiece feeding.

[0037] The above are only the preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robot loading gripper, characterized in that, Comprising: a bottom plate assembly, a driving assembly, an elastic positioning assembly, and a clamping assembly; The bottom plate assembly is used for connecting with a robot; The driving assembly is connected to the bottom plate assembly and includes a clamping cylinder and a plurality of cylinder sliders. The plurality of cylinder sliders are circumferentially distributed on the clamping cylinder, and the clamping cylinder is used to drive the cylinder sliders to move within a slideway; The elastic positioning assembly is connected to the clamping cylinder; The clamping assembly includes a plurality of outer clamping jaws. The plurality of cylinder sliders are respectively connected to the plurality of outer clamping jaws one by one, and the cylinder sliders can drive the outer clamping jaws to tighten or open so as to clamp or release an object.

2. The robot loading gripper according to claim 1, wherein The elastic positioning assembly includes a guide shaft, a plunger connecting member, a push plate, and a spring; there are a plurality of the guide shafts, springs, and plunger connecting members. The plurality of plunger connecting members are circumferentially distributed on the clamping cylinder. One end of each guide shaft is connected to the push plate, and the other end of each guide shaft is connected to the plunger connecting member. A spring is sleeved on the guide shaft, and the spring is located between the push plate and the plunger connecting member. The push plate can compress the spring to generate a thrust force.

3. The robot loading gripper according to claim 2, wherein The plunger connecting member includes a connection hole. The guide shaft is limitedly installed in the connection hole, and the guide shaft can axially move within the connection hole.

4. The robot loading gripper according to claim 3, wherein, A linear bearing is sleeved on the guide shaft. The outer ring of the linear bearing is connected to the plunger connecting member, and the inner ring of the linear bearing is connected to the guide shaft.

5. The robot loading gripper according to claim 3, wherein, It further includes a limit block, and the limit block is installed at one end of the guide shaft away from the push plate.

6. The robot loading gripper according to claim 1, wherein, A clamping block is fixed to the inner side of the outer clamping jaw.

7. The robot loading gripper according to claim 6, wherein The material of the clamping block is composed of one or more of polyurethane PU elastomer, copper block, and urethane rubber block.

8. The robot loading gripper according to claim 6 or 7, characterized in that The contact surface of the clamping block with the workpiece is a profiling surface made according to the outer circle of the workpiece.

9. The robot loading gripper according to claim 5, wherein, A nylon block is provided on the surface of the push plate in contact with the workpiece.

10. The robot loading gripper according to claim 1, characterized in that, The bottom plate assembly includes a connecting plate and a cylinder bottom plate.

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