Dual-purpose quick-change gripping apparatus for bending robot

Abstract

The utility model belongs to the technical field of sheet metal processing, and particularly relates to a dual-purpose quick-change gripping apparatus for a bending robot, which comprises a seat plate, a clamp assembly, a connecting column, a sucker assembly and a quick-change chuck, the clamp assembly is arranged on the seat plate, the seat plate is connected with the quick-change chuck through the connecting column, and the sucker assembly is arranged on the quick-change chuck. The suction cup assembly is installed on the connecting column, the clamp assembly comprises a fixed clamp arm, a movable clamp arm and a clamp air cylinder, a cylinder body of the clamp air cylinder is fixedly installed on the base plate, the fixed clamp arm is fixedly installed on the cylinder body, the movable clamp arm is movably installed on the cylinder body, and the clamp air cylinder is fixedly installed on the base plate. A piston rod of the clamp air cylinder is in transmission connection with the movable clamp arm. The clamp assembly and the suction cup assembly are integrated together, quick connection with a robot is achieved through the quick-change chuck, workpieces of different structures can be grabbed and sucked, the use range is wider, and it is guaranteed that tools of different sizes can be replaced more efficiently and conveniently.

Description

TECHNICAL FIELD

[0001] The utility model relates to a dual -purpose quick change grab for bending robot belongs to sheet metal processing technical field. BACKGROUND

[0002] With the application and popularization of bending robot, the bending robot is used more and more widely in various trades, especially in sheet metal processing industry, and the automatic bending processing of robot is more and more mature, but along with it, the problems are more and more exposed. Because different products have different structures, some product parts have small structures and many holes, and when taking materials by means of vacuum chuck, the adsorption force on the surface with many holes is insufficient, so that the parts are easy to fall off, and the area for adsorption is reduced after bending, so that the material cannot be taken by adsorption. The above problems limit the application of the bending robot, so that the utilization rate of the bending robot is not high. In view of the above problems, the prior art uses a clamping jaw and a vacuum chuck dual-purpose grabbing tool, one end of which is a clamping jaw and the other end of which is a vacuum chuck, and the hollow plate part is clamped by the clamping jaw at one end and the large plate part is sucked by the vacuum chuck at the other end. However, this kind of tool has a clamping jaw at one end and a vacuum chuck at the other end, and can only use one of the two grabs to grab the parts each time, so the application range is small, and the efficiency is low when cooperating with the robot. In addition, the vacuum chuck is not suitable for parts with small shapes and many round holes, so the application range of this kind of tool is limited. SUMMARY

[0003] The utility model provides a dual -purpose quick change grab for bending robot for above -mentioned problems of prior art.

[0004] The utility model discloses a technical scheme that solves the above technical problems: a dual -purpose quick change grab for bending robot, including seat board, clamp assembly, connecting column, chuck assembly and quick -change chuck, the clamp assembly is established on the seat board, the seat board passes through connecting column and connects the quick -change chuck, the chuck assembly is installed on the connecting column, the clamp assembly includes fixed jaw arm, movable jaw arm and clamp cylinder, the cylinder body of clamp cylinder is fixedly installed on the seat board, the fixed jaw arm is fixedly installed on the cylinder body, the movable jaw arm is movably installed on the cylinder body, the piston rod of clamp cylinder is transmission connection with movable jaw arm.

[0005] The utility model has the advantages that the clamp assembly and the chuck assembly are integrated together, and the quick -change chuck is used for quick connection with the robot, so that different workpieces can be grabbed and sucked, the application range is wider, and different sizes of tooling can be replaced more efficiently and conveniently.

[0006] Further, one end of the cylinder is fixedly installed on the seat plate, the other end of the cylinder is fixedly connected with a mounting plate, the fixed jaw arm is installed on the mounting plate, and the movable jaw arm is rotatably installed on the mounting plate.

[0007] Further, two mounting plates are symmetrically arranged, the mounting plates are connected with mounting seats, the fixed jaw arm is fixedly installed on the mounting seat, and the movable jaw arm is rotatably installed on the mounting seat through a pin shaft.

[0008] The beneficial effects of the above further technical solutions are that: the mounting plate is connected with the mounting seat, the fixed jaw arm and the movable jaw arm are installed through the mounting seat, the transmission connection between the clamp cylinder and the movable jaw arm is not affected, and the stability of the installation of the movable jaw arm and the fixed jaw arm is ensured.

[0009] Further, the piston rod of the clamp cylinder is in transmission connection with the movable jaw arm through a driving connecting piece.

[0010] Further, the driving connecting piece comprises a pull rod and a pull block, one end of the pull block is connected with the piston rod, the other end of the pull block is hingedly connected with the pull rod, and the pull rod is connected with the movable jaw arm.

[0011] Further, the end of the movable jaw arm is connected with a connecting arm, a long hole is arranged on the connecting arm, the pull rod is inserted into the long hole, and the two ends of the pull rod are movably installed on the mounting plate.

[0012] The beneficial effects of the above further technical solutions are that: the piston rod of the clamp cylinder is connected with the connecting arm of the movable jaw arm through the pull block and the pull rod, the piston rod drives the pull block and the pull rod to move forward and backward in the extension and contraction process, thereby driving the connecting arm to move, the connecting arm cannot move forward and backward because the movable jaw arm is installed on the mounting plate through a pin shaft, the pull rod moves in the long hole of the connecting arm under the action of the piston of the cylinder and the pull block, the connecting arm can only rotate upward or downward, thereby driving the movable jaw arm to rotate around the pin shaft, the opening and closing of the movable jaw arm are realized, and the workpiece is gripped.

[0013] Further, a sliding hole is arranged on the mounting seat, and the end of the pull rod is movably installed in the sliding hole.

[0014] The beneficial effects of the above further technical solutions are that: the pull rod is installed through the sliding hole, the installation and movement of the pull rod are more stable, the movement of the pull rod is guided, and the pull rod is not easy to deviate.

[0015] Further, the suction cup assembly comprises a magnetic suction cup, a connecting rod and a suction cup cylinder, the magnetic suction cup is connected with the suction cup cylinder, one end of the connecting rod is installed on the connecting column, and the other end of the connecting rod is installed on the suction cup cylinder.

[0016] The beneficial effects of the further technical scheme are that the magnetic suction chuck and the suction cylinder are installed on the connecting column through the connecting rod, the magnetic suction chuck and the clamp assembly are arranged on the same side of the quick-change chuck, thus, the connection of the quick-change chuck and the bending robot does not affect the use of the magnetic suction chuck and the clamp assembly, and the magnetic suction chuck and the clamp assembly are convenient to switch and select; the magnetic suction chuck is used to easily suck the plate with more holes, the plate is not easy to fall off, and the process of sucking the workpiece is more stable.

[0017] Further, the quick-change chuck comprises a male disc and a female disc, the male disc is connected with a flange disc, and the flange disc is used to be connected with the bending robot.

[0018] The beneficial effects of the further technical scheme are that the quick connection is realized through the male disc and the female disc,

[0019] Further, the clamp assembly is provided with two groups on the seat plate. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic view of the three-dimensional structure of the utility model;

[0021] Figure 2 It is a schematic view of the three-dimensional structure of the clamp assembly;

[0022] Figure 3 It is an exploded view of the clamp assembly;

[0023] Figure 4 It is a schematic view of the three-dimensional structure of the utility model from another angle.

[0024] The reference signs are recorded as follows: 1, seat plate; 2, clamp assembly; 201, fixed clamp arm; 202, movable clamp arm; 203, clamp cylinder; 2031, cylinder body; 2032, piston rod; 204, pin shaft; 205, connecting arm; 2051, long hole; 206, pull rod; 207, pull block; 208, mounting plate; 209, mounting seat; 3, connecting column; 4, suction assembly; 401, magnetic suction chuck; 402, connecting rod; 403, suction cylinder; 5, quick-change chuck; 501, male disc; 502, female disc; 6, flange disc. DETAILED DESCRIPTION

[0025] The principles and characteristics of the utility model are described below in combination with the drawings, and the examples are only used to explain the utility model, and are not used to limit the range of the utility model.

[0026] Reference is made to Figure 1 - Figure 4The utility model provides a dual -purpose quick -change gripper for bending robot, including seat board 1, clamp assembly 2, connecting column 3, sucking disc subassembly 4 and quick -change chuck 5, and clamp assembly 2 is equipped with two groups on seat board 1, clamp assembly 2 is located on seat board 1, and seat board 1 is connected quick -change chuck 5 through connecting column 3, and sucking disc subassembly 4 is installed on connecting column 3, and clamp assembly 2 includes fixed jaw arm 201, movable jaw arm 202 and clamp cylinder 203, the cylinder body 2031 of clamp cylinder 203 is fixedly installed on seat board 1, and fixed jaw arm 201 is fixedly installed on the cylinder body 2031, and movable jaw arm 202 is movably installed on the cylinder body 2031, and the piston rod 2032 of clamp cylinder 203 is transmission connection with movable jaw arm 202.

[0027] Specifically, one end of the cylinder body 2031 is fixedly installed on the seat board 1, and the other end of the cylinder body 2031 is fixedly connected with the mounting plate 208, the mounting plate 208 is symmetrically provided with two, the two mounting plates 208 are fixedly connected with the mounting seat 209, the fixed jaw arm 201 is fixedly installed on the mounting seat 209, and the movable jaw arm 202 is rotatably installed on the mounting seat 209 through the pin shaft 204. The piston rod 2032 of the clamp cylinder 203 is transmission connection with the movable jaw arm 202 through the driving connecting piece. Specifically, the driving connecting piece includes the pull rod 206 and the pull block 207, one end of the pull block 207 is connected with the piston rod 2032, the other end of the pull block 207 is hingedly connected with the pull rod 206, specifically, the pull block 207 is provided with a connecting plate connected with the pull rod 206, the connecting plate is symmetrically provided with two, the connecting plate is provided with a through hole, the pull rod 206 is inserted into the through hole, and the pull rod 206 is connected with the movable jaw arm 202. Specifically, the end of the movable jaw arm 202 is connected with the connecting arm 205, the connecting arm 205 is provided with a long hole 2051, the long hole 2051 is inclinedly arranged, that is, the height of one end of the long hole 2051 away from the movable jaw arm 202 is higher than the height of the other end of the long hole 2051 close to the movable jaw arm 202, and the pull rod 206 is inserted into the long hole 2051, so that when the piston rod 2032 of the clamp cylinder 203 drives the pull block 207 and the pull rod 206 to move back and forth in the extension process, the pull rod 206 moves in the long hole 2051 of the connecting arm 205 in the process, and since the long hole 2051 is inclinedly arranged, the connecting arm 205 and the movable jaw arm 202 are driven to rotate around the pin shaft 204. The two ends of the pull rod 206 are movably installed on the mounting plate 208, specifically, the mounting seat 209 is provided with a sliding hole, and the end of the pull rod 206 is movably installed in the sliding hole.

[0028] The sucking disc subassembly 4 includes a magnetic sucking disc 401, a connecting rod 402 and a sucking disc cylinder 403, the magnetic sucking disc 401 is connected with the sucking disc cylinder 403, one end of the connecting rod 402 is installed on the connecting column 3, and the other end of the connecting rod 402 is installed with the sucking disc cylinder 403.

[0029] The quick-change chuck 5 comprises a male disc 501 and a female disc 502, the male disc 501 is connected with a flange plate 6 used for being connected with a bending robot, and the female disc 502 is connected with the connecting column 3.

[0030] The grabbing and sucking operations of the utility model are all powered by compressed air, wherein the quick-change chuck 5 is provided with a gas path opening, the male disc 501, the female disc 502, the connecting column 3 and the connecting rod 402 are all provided with passages for the gas path connecting pipes to pass through, and the gas path connecting pipes are respectively connected with the clamp cylinder 203 on the clamp assembly 2 and the suction disc cylinder 403 on the suction disc assembly 4. After being ventilated, the magnetic suction disc 401 has suction force and can suck the plate material; after being ventilated, the movable clamp arm rotates and the fixed clamp arm is stationary, and the plate material is grabbed by controlling the opening and closing of the movable clamp arm.

[0031] The above only describes the preferred embodiments of the utility model and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A dual-purpose quick-change gripper for a bending robot, characterized in that, The utility model provides a quick change chuck, including seat board (1), clamp assembly (2), connecting column (3), sucking disc subassembly (4) and quick change chuck (5), clamp assembly (2) is established in seat board (1), seat board (1) is connected quick change chuck (5) through connecting column (3), sucking disc subassembly (4) is installed on connecting column (3), clamp assembly (2) includes fixed jaw arm (201), movable jaw arm (202) and clamp cylinder (203), the cylinder body (2031) of clamp cylinder (203) is fixedly installed on seat board (1), fixed jaw arm (201) is fixedly installed on the cylinder body (2031), movable jaw arm (202) is movably installed on the cylinder body (2031), the piston rod (2032) of clamp cylinder (203) is transmission connection with movable jaw arm (202).

2. The dual-purpose quick-change gripper for a bending robot according to claim 1, characterized in that, One end of the cylinder body (2031) is fixedly installed on the seat plate (1), and the other end of the cylinder body (2031) is fixedly connected with the mounting plate (208). The fixed jaw arm (201) is installed on the mounting plate (208), and the movable jaw arm (202) is rotatably installed on the mounting plate (208).

3. The dual-purpose quick-change gripper for a bending robot according to claim 2, characterized in that, The mounting plate (208) is symmetrically provided with two mounting plates (208), and the mounting plate (208) is connected with the mounting seat (209). The fixed jaw arm (201) is fixedly installed on the mounting seat (209), and the movable jaw arm (202) is rotatably installed on the mounting seat (209) through the pin shaft (204).

4. The dual-purpose quick-change gripper for a bending robot according to claim 3, characterized in that, The piston rod (2032) of the clamp cylinder (203) is transmission connection with the movable jaw arm (202) through the driving connecting piece.

5. The dual-purpose quick-change gripper for a bending robot according to claim 4, characterized in that, The driving connecting piece includes a pull rod (206) and a pull block (207). One end of the pull block (207) is connected with the piston rod (2032), and the other end of the pull block (207) is hingedly connected with the pull rod (206). The pull rod (206) is connected with the movable jaw arm (202).

6. The dual-purpose quick-change gripper for a bending robot according to claim 5, characterized in that, The end of the movable jaw arm (202) is connected with a connecting arm (205), and the connecting arm (205) is provided with a long hole (2051). The pull rod (206) is inserted into the long hole (2051), and the two ends of the pull rod (206) are movably installed on the mounting plate (208).

7. The dual-purpose quick-change gripper for a bending robot according to claim 6, characterized in that, The mounting seat (209) is provided with a sliding hole, and the end of the pull rod (206) is movably installed in the sliding hole.

8. The dual-purpose quick-change gripper for a bending robot according to claim 1, characterized in that, The sucking disc subassembly (4) includes a magnetic sucking disc (401), a connecting rod (402), and a sucking disc cylinder (403). The magnetic sucking disc (401) is connected with the sucking disc cylinder (403). One end of the connecting rod (402) is installed on the connecting column (3), and the other end of the connecting rod (402) is installed on the sucking disc cylinder (403).

9. The dual-purpose quick-change gripper for a bending robot according to claim 8, characterized in that, The quick change chuck (5) includes a male disc (501) and a female disc (502). The male disc (501) is connected with a flange disc (6) for connecting with a bending robot. The female disc (502) is connected with the connecting column (3).

10. The dual-purpose quick-change gripper for a bending robot according to claim 9, characterized in that, The clamp assembly (2) is provided with two groups on the seat plate (1).

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