Robot gripper suitable for glue barrel

Abstract

The utility model discloses a robot gripper suitable for a glue barrel, and relates to the technical field of gluing equipment. The fixing plate is arranged on the side face of the assembling plate, a clamping jaw air cylinder is arranged at the lower end of the fixing plate, two clamping jaws are arranged at the output end of the clamping jaw air cylinder, and the two clamping jaws are used for clamping the glue barrel; the industrial camera is used for detecting the position of the glue barrel and collecting data of the glue barrel; the limiting plate is connected with the tail end of the robot; and the mounting seat is arranged on the top surface of the assembling plate, and the mounting seat is clamped on the circumferential outer side of the limiting plate. According to the robot gripper suitable for the glue barrel, the technical problems that a large amount of manpower is needed for glue barrel replacement, the replacement efficiency is low, and the production efficiency is affected are solved, the clamping jaw air cylinder is matched with the robot to replace manual carrying, a large amount of manpower is saved, and the glue barrel replacement efficiency is improved. The position of the new glue barrel is detected through the industrial camera, the position precision of the glue barrel after replacement is ensured, the pressing disc normally ascends and descends in the new glue barrel, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to gluing equipment technical field, especially in a kind of robot gripper suitable for glue bucket. BACKGROUND

[0002] With the application of gluing process in multiple processes of automobile production, the amount of gluing equipment is increasing sharply, and the gluing equipment will be replaced frequently due to lack of material during work. When replacing the glue bucket, the pressure disc is taken out from the old glue bucket, the old glue bucket is removed, and then the new glue bucket is placed in the original position of the old glue bucket, and then the pressure disc is lowered into the new glue bucket to complete the replacement of the glue bucket.

[0003] The existing glue bucket replacement mode is manual operation, which requires a large amount of manpower and has low replacement efficiency, thereby affecting the production efficiency. Therefore, a robot gripper suitable for glue bucket is proposed to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a robot gripper suitable for glue bucket, which solves the technical problems of requiring a large amount of manpower for glue bucket replacement, low replacement efficiency and affecting production efficiency.

[0005] To achieve the above-mentioned purpose, the utility model provides a robot gripper suitable for glue bucket, which comprises:

[0006] an assembly plate;

[0007] a fixed plate provided on the side of the assembly plate, a clamping jaw air cylinder is provided at the lower end of the fixed plate, two clamping jaws are provided at the output end of the clamping jaw air cylinder, and the two clamping jaws are used to clamp the glue bucket;

[0008] an industrial camera provided on the fixed plate, which is used to detect the position of the glue bucket and collect data of the glue bucket;

[0009] a limiting plate provided above the assembly plate, which is connected to the end of the robot;

[0010] a mounting seat, a plurality of mounting seats are provided on the top surface of the assembly plate, and a plurality of mounting seats are provided on the circumferential outer side of the limiting plate.

[0011] Preferably, the bottom surface of the assembly plate is provided with a plurality of telescopic cylinders, the limiting plate is held by the piston rod of the telescopic cylinder, the bottom surface of the limiting plate is provided with a plurality of limiting holes, and each limiting hole is matched with a piston rod.

[0012] Preferably, the top end of the piston rod is in the shape of a cone, and the tip of the cone faces the limiting plate.

[0013] Preferably, the upper end of each mounting seat is provided with a first limiting steel ball abutting against the top surface of the limiting plate.

[0014] Preferably, the top surface of the assembly plate is provided with a plurality of second limiting steel balls, each of which is located directly below a first limiting steel ball and abuts against the bottom surface of the limiting plate.

[0015] Preferably, a plurality of groups of pad plates are symmetrically arranged on both sides of the limiting plate, and the side surfaces of each group of pad plates abut against the first limiting steel ball and the second limiting steel ball, respectively.

[0016] Preferably, the top surface of the assembly plate is symmetrically provided with two baffle plates, and the side surfaces of the baffle plates are provided with first bolt rods for limiting the movement range of the limiting plate along the axis direction of the first bolt rods.

[0017] Preferably, the side surface of the mounting seat is provided with a second bolt rod for limiting the movement range of the limiting plate along the axis direction of the second bolt rod.

[0018] Preferably, the inner side surface of the clamping jaw is arc-shaped, and a plurality of anti-skid pads are arranged on the inner side surface of the clamping jaw.

[0019] Preferably, the inner side of each of the two clamping jaws is provided with a third limiting bolt for limiting the minimum distance between the two clamping jaws.

[0020] With respect to the above background art, the robot gripper for a glue barrel provided by the present application has the following beneficial effects: the clamping jaw is driven by the clamping jaw cylinder to tightly hold the old glue barrel, the old glue barrel is moved away from the working area under the driving of the robot, then the clamping jaw is driven by the clamping jaw cylinder to tightly hold the new glue barrel, the new glue barrel is transported to the working area under the driving of the robot, and the clamping jaw cylinder cooperates with the robot to replace manual transportation, thereby saving a large amount of manpower and material resources, improving the replacement efficiency of the glue barrel, and further improving the production efficiency. On the other hand, the position of the new glue barrel is detected by the industrial camera to ensure that the robot transports the new glue barrel to the center position before the old glue barrel, ensure the position accuracy after the replacement of the glue barrel, and the later pressing disc normally rises and falls in the new glue barrel, thereby further improving the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] 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 needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0022] Figure 1 Figure 1 is a perspective view of a robot gripper according to an embodiment of the present application;

[0023] Figure 2 Figure 2 is a perspective view of a robot gripper according to another embodiment of the present application;

[0024] Figure 3 Figure 3 is a plan view of a robot gripper according to an embodiment of the present application.

[0025] Specifically, 1 - assembly plate; 2 - fixed plate; 3 - clamping jaw cylinder; 4 - clamping jaw; 5 - industrial camera; 6 - limit plate; 7 - mounting seat; 8 - telescopic cylinder; 9 - mounting bracket; 10 - strip-shaped hole; 11 - first limit steel ball; 12 - second limit steel ball; 13 - backing plate; 14 - baffle; 15 - first bolt rod; 16 - second bolt rod; 17 - anti-slip pad; 18 - third limit bolt; 19 - connecting piece; 20 - limit hole. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0028] As shown in Figure 1 and Figure 2 To achieve the above object, the present application provides a robot gripper suitable for glue barrels, comprising: an assembly plate 1, a fixed plate 2, an industrial camera 5 and a clamping jaw cylinder 3.

[0029] The top surface of the assembly plate 1 is provided with a connecting piece 19, which is a cylindrical structure as a whole, and the connecting piece 19 is used to connect the end of a robot (not shown in the figure). The fixed plate 2 is arranged on the front side of the assembly plate 1, and the assembly plate 1 and the fixed plate 2 are arranged vertically. A rib plate is arranged between the assembly plate 1 and the fixed plate 2, the top surface of the rib plate is connected to the bottom surface of the assembly plate 1, the side surface of the rib plate is connected to the side surface of the fixed plate 2, and the connection strength between the assembly plate 1 and the fixed plate 2 is enhanced through the rib plate.

[0030] The lower end of the fixed plate 2 is provided with a clamping jaw cylinder 3 which is perpendicular to the fixed plate 2, and the output end of the clamping jaw cylinder 3 is provided with two clamping jaws 4, and the two clamping jaws 4 can be controlled to approach or move away from each other by the clamping jaw cylinder 3, and when the two clamping jaws 4 approach each other, the old rubber bucket can be clamped, and the old rubber bucket is clamped by the clamping jaw cylinder 3, and the old rubber bucket is moved away from the working area under the driving of the robot, and then the new rubber bucket is clamped by the clamping jaw cylinder 3, and the new rubber bucket is moved to the working area under the driving of the robot, and the clamping jaw cylinder 3 is matched with the robot to replace manual operation, which can save a lot of manpower and material resources, improve the replacement efficiency of the rubber bucket, and further improve the production efficiency.

[0031] An industrial camera 5 is arranged on the fixed plate 2, and the position of the rubber bucket can be detected by the industrial camera 5, so that the robot can move the new rubber bucket to the center position before the old rubber bucket, and the position accuracy after the rubber bucket is replaced is ensured, and the later pressure disc can normally rise and fall in the new rubber bucket without manual intervention, thereby effectively improving the production efficiency; in addition, the industrial camera 5 can collect data of the rubber bucket, wherein an identification code is attached to the rubber bucket, and the industrial camera 5 uploads and records the data of the newly replaced rubber bucket by scanning the code, so as to facilitate the later arrangement of the rubber bucket replacement related data.

[0032] In addition, a mounting frame 9 is arranged on the fixed plate 2, the mounting frame 9 is provided with a strip-shaped hole 10, the industrial camera 5 is connected with the strip-shaped hole 10 through positioning bolts, the strip-shaped hole 10 extends along the length direction of the camera, the industrial camera 5 is fixed at different positions of the mounting frame 9 according to requirements, the focusing of the industrial camera 5 is assisted, and the definition of photographing of the rubber bucket is improved.

[0033] In an embodiment of the utility model, the upper portion of the assembly plate 1 is provided with a limiting plate 6, the limiting plate 6 is connected with the end of the robot, the top surface of the assembly plate 1 is provided with a plurality of mounting seats 7, specifically, four mounting seats 7 are arranged, and the four mounting seats 7 are clamped and arranged on the circumferential outer side of the limiting plate 6, and the limiting plate 6 is limited above the assembly plate 1 through the mounting seat 7. It should be noted that the limiting plate 6 is not connected with the assembly plate 1, so that the limiting plate 6 has a certain movement space on the inner side of the four mounting seats 7, that is, the assembly plate 1 can have a certain front and back and left and right floating space relative to the limiting plate 6, so that the pressure disc can be smoothly separated from the old rubber bucket, and the phenomenon of being stuck does not occur. Moreover, in the process that the pressure disc enters the new rubber bucket later, the position of the new rubber bucket is adjusted, and the pressure disc is further ensured to smoothly enter the new rubber bucket, so that the rubber bucket is replaced smoothly.

[0034] When the glue bucket needs to be replaced, the robot drives the whole device to move to the vicinity of the old glue bucket, the clamping jaw 4 is clamped tightly on the old glue bucket by the clamping jaw cylinder 3, the robot drives the whole device to move the old glue bucket away from the working area, then the clamping jaw 4 is clamped tightly on the new glue bucket by the clamping jaw cylinder 3, the robot drives the whole device to carry the new glue bucket to the working area, the replacement of the glue bucket is completed, the clamping jaw cylinder 3 cooperates with the robot to replace manual carrying, a large amount of manpower and material resources can be saved, the replacement efficiency of the glue bucket is effectively improved, and the production efficiency is improved.

[0035] In an embodiment of the utility model, the bottom surface of assembly plate 1 is provided with several telescopic cylinders 8, specifically, two telescopic cylinders 8 are provided and symmetrically arranged on the bottom surface of assembly plate 1, the telescopic cylinder 8 holds the limiting plate 6 through the piston rod (not shown in the figure), the bottom surface of limiting plate 6 is provided with several limiting holes 20, each limiting hole 20 is matched with a piston rod, wherein the movement direction of the piston rod is perpendicular to the top surface of assembly plate 1, before the robot drives the whole device to move the old glue bucket away from the working area and the robot drives the whole device to carry the new glue bucket to the working area, the two telescopic cylinders 8 drive the piston rod to elongate synchronously until the top end of the two piston rods enters the limiting hole 20, the position of limiting plate 6 relative to assembly plate 1 is locked, the safety during the replacement of the glue bucket is improved by ensuring that the new glue bucket and the old glue bucket do not shake during the carrying process.

[0036] Preferably, the top end of the piston rod is in the shape of a cone, and the tip of the cone faces the limiting plate 6, the piston rod in the shape of a cone is more easily inserted into the limiting hole 20, avoiding the damage of the whole device caused by the piston rod failing to enter the limiting hole 20 during the elongation process.

[0037] As shown in Figure 3 In an embodiment of the utility model, the top end of each mounting seat 7 is provided with a first limiting steel ball 11, and the first limiting steel ball 11 abuts against the top surface of the limiting plate 6. Meanwhile, several second limiting steel balls 12 are arranged on the top surface of assembly plate 1, and the second limiting steel balls 12 abut against the bottom surface of the limiting plate 6, wherein the first limiting steel ball 11 and the second limiting steel ball 12 are matched with the top corner position of the limiting plate 6.

[0038] It should be noted that when the piston rod is in the retracted state, the bottom surface of the limiting plate 6 abuts against the four second limiting steel balls 12 under the action of gravity, and the top surface of the limiting plate 6 does not contact the four first limiting steel balls 11 or the top surface of the limiting plate 6 does not simultaneously release the four first limiting steel balls 11, so as to ensure that assembly plate 1 has a certain floating space in front and back and left and right relative to the limiting plate 6, so that the pressure plate can enter or leave the glue bucket more quickly.

[0039] When the piston rod is in the elongated state, the bottom surface of the limiting plate 6 abuts against the four second limiting steel balls 12 under the jacking force of the piston rod, and the top surface of the limiting plate 6 abuts against the four first limiting steel balls 11, so that the assembly plate 1 cannot float up and down relative to the limiting plate 6 in the vertical plane while ensuring that the assembly plate 1 cannot shift in the horizontal plane relative to the limiting plate 6, thereby ensuring that the rubber bucket is always in a stable state when the robot drives the overall device to carry the rubber bucket. Moreover, each second limiting steel ball 12 is located directly below a first limiting steel ball 11, which can ensure that the first limiting steel ball 11 and the second limiting steel ball 12 jointly act on the limiting plate 6, thereby further enhancing the stability of the assembly plate 1 relative to the limiting plate 6.

[0040] Preferably, a plurality of groups of pad plates 13 are symmetrically arranged on the two sides of the limiting plate 6, the side surface of each group of pad plates 13 abuts against the first limiting steel ball 11 and the second limiting steel ball 12 respectively, and each group of pad plates 13 is fixed on the upper and lower side surfaces of the limiting plate 6 by means of a countersunk screw. The arrangement of the pad plates 13 can prevent the first limiting steel ball 11 and the second limiting steel ball 12 from directly contacting the limiting plate 6, thereby preventing the limiting plate 6 from being worn too quickly and protecting the limiting plate 6 to some extent, thereby improving the service life of the overall device.

[0041] In an embodiment of the utility model, the top surface of the assembly plate 1 is symmetrically provided with two baffle plates 14, and the two baffle plates 14 are arranged on the two sides of the limiting plate 6. The baffle plates 14 limit the left and right floating space of the limiting plate 6, thereby preventing the limiting plate 6 from being separated from above the assembly plate 1. In addition, the side surface of the baffle plate 14 is provided with a first bolt rod 15, the first bolt rod 15 is threadedly connected with the baffle plate 14, and the first bolt rod 15 is perpendicular to the side surface of the limiting plate 6. The first bolt rod 15 limits the movement range of the limiting plate 6 along the axis direction of the first bolt rod 15, and the length of the first bolt rod 15 extending out of the inner side of the baffle plate 14 can be adjusted to accurately adjust the left and right floating space of the assembly plate 1 relative to the limiting plate 6.

[0042] Meanwhile, the side surface of the mounting seat 7 is provided with a second bolt rod 16, the second bolt rod 16 is threadedly connected with the mounting seat 7, and the second bolt rod 16 is perpendicular to the side surface of the limiting plate 6. The first bolt rod 15 limits the movement range of the limiting plate 6 along the axis direction of the second bolt rod 16, that is, the length of the second bolt rod 16 extending out of the inner side of the mounting seat 7 can be adjusted to accurately adjust the front and back floating space of the assembly plate 1 relative to the limiting plate 6.

[0043] In an embodiment of the utility model, the inner side surface of the clamping jaw 4 is arc-shaped, and a plurality of anti-skid pads 17 are arranged on the inner side surface of the clamping jaw 4. Specifically, the anti-skid pads 17 are column-shaped and are arranged at equal intervals on the inner side surface of the clamping jaw 4. The anti-skid pads 17 can enhance the friction between the rubber bucket and the clamping jaw 4, thereby ensuring that the clamping jaw 4 stably clamps the rubber bucket.

[0044] Preferably, the anti-skid pad 17 is made of rubber material, which has certain elastic deformation capacity, so as to avoid damage to the structure of the rubber bucket due to excessive force of the clamping jaw 4, and the rubber material can provide greater friction to increase the clamping effect on the rubber bucket.

[0045] Further, the third limiting bolt 18 is arranged on the inner side of the two clamping jaws 4, and the minimum distance between the two clamping jaws 4 is limited by the two third limiting bolts 18, so as to prevent the two clamping jaws 4 from continuously approaching each other after holding the rubber bucket tightly, thereby avoiding that the clamping force of the clamping jaw 4 on the rubber bucket is too large to cause the barrel wall of the rubber bucket to be damaged and affect the entry of the pressure plate, and further playing a role in protecting the rubber bucket.

[0046] In use, the robot drives the overall device to move near the old rubber bucket, the clamping jaw cylinder 3 drives the clamping jaw 4 to hold the old rubber bucket tightly, the pressure plate is taken out from the old rubber bucket, the robot drives the overall device to move the old rubber bucket away from the working area, the clamping jaw cylinder 3 drives the clamping jaw 4 to hold the new rubber bucket tightly, the robot drives the overall device to carry the new rubber bucket to the working area, and the pressure plate is lowered into the new rubber bucket to complete the replacement of the rubber bucket.

[0047] In summary, the clamping jaw cylinder 3 cooperates with the robot to replace manual carrying, thereby saving a lot of manpower and resources and improving the replacement efficiency of the rubber bucket. Meanwhile, the position of the new rubber bucket is detected by the industrial camera 5, so as to ensure the position accuracy after the replacement of the rubber bucket, the pressure plate normally rises and falls in the new rubber bucket in the later period, and the production efficiency is further improved.

[0048] It should be noted that in the present specification, the relational terms such as first and second are used merely to distinguish one entity from another, without necessarily requiring or implying that there is any such actual relationship or order between these entities.

[0049] The principles and implementation modes of the present application are described by using specific examples in the present document, and the above description of the examples is only used to help understand the method and core idea of the present application. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A robot gripper suitable for a plastic barrel, characterized in that: include: Assembly plate; A fixing plate is provided on the side of the assembly plate, a clamping cylinder is provided at the lower end of the fixing plate, and two clamping claws are provided at the output end of the clamping claw cylinder, and the two clamping claws are used to clamp the plastic barrel; An industrial camera is provided on the fixed plate, and is used to detect the position of the plastic barrel and collect data about the plastic barrel; A limit plate is provided above the assembly plate and is connected to the end of the robot; The mounting seats are arranged on the top surface of the assembly plate, and the mounting seats are clamped and arranged on the circumferential outer side of the limiting plate.

2. The robot gripper suitable for a plastic barrel according to claim 1, characterized in that: A plurality of telescopic cylinders are arranged on the bottom surface of the assembly plate, and the telescopic cylinders support the limit plate through piston rods. A plurality of limit holes are arranged on the bottom surface of the limit plate, and each limit hole is adapted to one of the piston rods.

3. The robot gripper suitable for a plastic barrel according to claim 2, characterized in that: The top end of the piston rod is in a cone shape, and the tip of the cone faces the limiting plate.

4. The robot gripper for a plastic barrel according to claim 1, characterized in that: A first limiting steel ball is provided on the upper end portion of each mounting seat, and the first limiting steel ball abuts against the top surface of the limiting plate.

5. The robot gripper suitable for a plastic barrel according to claim 4, characterized in that: A plurality of second limiting steel balls are provided on the top surface of the assembly plate, each of the second limiting steel balls is located directly below one of the first limiting steel balls, and the second limiting steel balls abut against the bottom surface of the limiting plate.

6. The robot gripper suitable for a plastic barrel according to claim 5, characterized in that: A plurality of groups of pads are symmetrically arranged on both sides of the limiting plate, and the side surfaces of each group of pads respectively abut against the first limiting steel ball and the second limiting steel ball.

7. A robot gripper suitable for a plastic barrel according to any one of claims 1 to 6, characterized in that: Two baffles are symmetrically arranged on the top surface of the assembly plate, and a first bolt rod is provided on the side surface of the baffle. The first bolt rod is used to limit the range of movement of the limit plate along the axis direction of the first bolt rod.

8. The robot gripper suitable for a plastic barrel according to claim 7, characterized in that: A second bolt rod is provided on the side of the mounting seat, and the second bolt rod is used to limit the range of movement of the limiting plate along the axis direction of the second bolt rod.

9. A robot gripper suitable for a plastic barrel according to any one of claims 1 to 6, characterized in that: The inner side surface of the clamping jaw is in an arc shape, and a plurality of anti-slip pads are arranged in an array on the inner side surface of the clamping jaw.

10. The robot gripper suitable for a plastic barrel according to claim 9, characterized in that: A third limiting bolt is provided on the inner side of the two clamping jaws, and the two third limiting bolts are used to limit the minimum distance between the two clamping jaws.

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