Grabbing and clamping manipulator for pipe cone parts

Abstract

The utility model relates to a pipe cone part grabbing and clamping manipulator which comprises a flange shaft used for being connected with a six-shaft robot. The flange rotating assembly is connected with the flange shaft, and a purging module and a rotary air cylinder are arranged on the flange rotating assembly; the air cylinder rotating assembly is connected with the rotary air cylinder, and two sets of electric parallel clamping jaws are arranged on the air cylinder rotating assembly; and the clamping assembly is connected with the electric parallel clamping jaw, the clamping assembly comprises two clamping parts, at least one clamping area is arranged on the clamping assembly, the clamping area comprises arc-shaped grooves oppositely formed in the clamping parts, and a plurality of strip-shaped grooves are distributed in the arc-shaped grooves in the radian extending direction. According to the grabbing and clamping mechanical arm, the clamping part is located in the two arc-shaped grooves oppositely formed in the clamping area, the strip-shaped grooves are distributed in the arc-shaped grooves in the radian extending direction, zigzag arc distribution is formed in the clamping part, the sizes of the arcs correspond to clamping of pipe cone parts with different diameters, and the compatibility of the grabbing and clamping mechanical arm is effectively improved; the replacement frequency of the manipulator is reduced, and the grabbing efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of automatic loading and unloading technology, and in particular to a gripping robot for conical parts. Background Technology

[0002] Six-axis robots are widely used in manufacturing due to their high flexibility, precision, and programmability. Replacing manual labor with six-axis robots for loading and unloading has become a trend in automation development. The end effector, as a key component of a six-axis robot, has a crucial impact on the overall system operation due to its stability and high flexibility. Currently, commercially available end effectors have low compatibility, requiring frequent changes of grippers for different parts, and are difficult to adapt to different sizes of conical parts. Utility Model Content

[0003] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a gripper for conical parts, which solves the problem that existing grippers cannot be adapted to conical parts of different specifications.

[0004] To achieve the above and other related objectives, this utility model provides a gripper for conical parts, comprising:

[0005] Flange shaft, used for connection to a six-axis robot;

[0006] A flange rotation assembly is connected to one end of the flange shaft along the axial direction, and the flange rotation assembly is equipped with a purging module and a rotary cylinder;

[0007] A cylinder rotation assembly is connected to the rotary cylinder, and the cylinder rotation assembly is equipped with two sets of electric parallel grippers;

[0008] A clamping assembly is connected to the electric parallel gripper. The clamping assembly includes two clamping parts and at least one clamping area. The clamping area includes an arc-shaped groove disposed opposite to the clamping part, and the arc-shaped groove has multiple strip grooves distributed along the arc extension direction.

[0009] Optionally, the clamping component has two clamping areas, which are staggered along the height and length directions of the clamping component, and the two clamping areas are spatially perpendicular.

[0010] Optionally, the flange shaft includes a hollow shaft and connecting flanges disposed at both ends of the hollow shaft along the axial direction, the connecting flanges being used to connect the six-axis robot and the flange rotation assembly, respectively.

[0011] Optionally, the flange rotation assembly includes a flange connecting plate, a bamboo tube connecting plate, a bamboo tube base support, and a cylinder connecting main plate. The bamboo tube connecting plate is arranged perpendicularly to the flange connecting plate. The cylinder connecting main plate is connected between the flange connecting plate and the bamboo tube connecting plate. The bamboo tube base support is connected to the bamboo tube connecting plate. The purging module is connected to the bamboo tube base support.

[0012] Optionally, the flange connecting plate is provided with a first through hole, which is coaxially opened with the hollow shaft.

[0013] Optionally, the blowing module includes at least two bamboo tubes, and at least two air holes are provided on the bottom support of the bamboo tubes, with the bamboo tubes communicating with the air holes.

[0014] Optionally, the rotary cylinder is connected to the cylinder connection main board, and the cylinder connection main board is provided with a second through hole, which is coaxially arranged with the air passage of the rotary cylinder.

[0015] Optionally, the cylinder rotation assembly includes a cylinder connecting plate and two pneumatic gripper connecting plates. The two pneumatic gripper connecting plates are arranged vertically for mounting electric parallel grippers. The cylinder connecting plate is connected between the two pneumatic gripper connecting plates.

[0016] Optionally, a third through hole is provided on the cylinder connecting plate, and the third through hole is coaxially arranged with the air passage of the rotary cylinder.

[0017] Optionally, the pneumatic gripper connecting plate is provided with a mounting groove, which is used to position and install the electric parallel gripper.

[0018] As described above, this utility model has the following beneficial effects: By connecting a clamping assembly to the electric parallel gripper, and setting a clamping area on the clamping assembly to clamp the workpiece, the clamping component has two arc-shaped grooves located opposite each other in the clamping area, and multiple strip-shaped grooves distributed along the arc extension direction within the arc-shaped grooves, forming a sawtooth arc distribution on the clamping component. The arc size corresponds to the clamping of pipe tapered parts of different diameters, thereby effectively improving the compatibility of the gripping robot, reducing the robot's replacement frequency, and improving gripping efficiency. The electric parallel gripper is connected to a rotary cylinder through a cylinder rotation assembly, enabling the electric parallel gripper to rotate within a 190° range, allowing the blowing module to blow away the parts gripped by each set of electric parallel grippers, avoiding iron filings that could scratch the parts. The flange rotation assembly is connected to a six-axis robot through a flange shaft, enabling 360° rotation, allowing the electric parallel gripper to grip parts at any angle and any position. Attached Figure Description

[0019] Figure 1The diagram shown is a structural schematic of a manipulator for gripping conical parts as illustrated in an embodiment of this application.

[0020] Figure 2 Displayed as Figure 1 Enlarged schematic diagram of the structure of section A in the middle;

[0021] Figure 3 Displayed as Figure 1 Schematic diagram of the middle flange rotating assembly;

[0022] Figure 4 Displayed as Figure 1 A schematic diagram of the rotating assembly of the central cylinder.

[0023] Explanation of reference numerals in the attached figures

[0024] Flange shaft 1, hollow shaft 101, connecting flange 102, flange rotating assembly 2, flange connecting plate 201, first through hole 201a, bamboo tube connecting plate 202, bamboo tube bottom support 203, air hole 203a, cylinder connecting main plate 204, second through hole 204a, bamboo tube 3, rotary cylinder 4, cylinder rotating assembly 5, cylinder connecting sub-plate 501, third through hole 501a, pneumatic gripper connecting plate 502, mounting groove 502a, electric parallel gripper 6, clamping component 7, arc groove 701, strip groove 702. Detailed Implementation

[0025] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0026] Please see Figures 1 to 4It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this utility model. Therefore, the drawings only show components relevant to this utility model and are not drawn according to the actual number, shape, and size of the components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex. The structures, proportions, and sizes shown in the accompanying drawings are only for illustrative purposes and to assist those skilled in the art in understanding and reading the content disclosed in the specification. They are not intended to limit the implementation conditions of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives of this utility model, should still fall within the scope of the technical content disclosed in this utility model. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0027] Before describing the embodiments of this utility model in detail, the application environment of this utility model will be described first. The technology of this utility model is mainly applied to the field of automatic loading and unloading technology. This utility model is used to solve the problem that existing robotic arms cannot adapt to tube-shaped parts of different specifications.

[0028] Please combine Figures 1 to 4 As shown, this utility model provides a gripper for conical parts.

[0029] In an exemplary embodiment of this application, the pipe-tapered part gripper includes: a flange shaft 1 for connection to a six-axis robot; a flange rotation assembly 2 connected to one axial end of the flange shaft 1, the flange rotation assembly 2 being provided with a purging module and a rotary cylinder 4; a cylinder rotation assembly 5 connected to the rotary cylinder 4, the cylinder rotation assembly 5 being provided with two sets of electric parallel grippers 6; and a clamping assembly connected to the electric parallel grippers 6, the clamping assembly including two clamping components 7, the clamping assembly being provided with at least one clamping area, the clamping area including an arc-shaped groove 701 disposed opposite to each other on the clamping component 7, the arc-shaped groove 701 having a plurality of strip grooves 702 distributed along the arcuate extension direction.

[0030] In this embodiment, a clamping assembly is connected to the electric parallel gripper 6. The clamping assembly has a clamping area to clamp the workpiece. Two arc-shaped grooves 701 are positioned opposite each other in the clamping area of ​​the clamping component 7. Multiple strip-shaped grooves 702 are distributed along the arc direction within the arc-shaped grooves 701, forming a sawtooth arc distribution on the clamping component 7. The arc size corresponds to the clamping of pipe tapered parts of different diameters, thereby effectively improving the compatibility of the gripping robot, reducing the robot's replacement frequency, and increasing gripping efficiency. The electric parallel gripper 6 is connected to the rotary cylinder 4 via the cylinder rotation assembly 5, allowing the electric parallel gripper 6 to rotate within a 190° range. This enables the blowing module to blow away the parts gripped by each set of electric parallel grippers 6, preventing iron filings from scratching the parts. The flange rotation assembly 2 is connected to the six-axis robot via the flange shaft 1, enabling 360° rotation, allowing the electric parallel gripper 6 to grip parts at any angle and position.

[0031] In an exemplary embodiment of this application, the clamping member 7 is provided with two clamping areas, which are staggered along the height and length directions of the clamping member 7, and the two clamping areas are spatially perpendicular.

[0032] In this embodiment, by providing two spatially vertical clamping areas on the clamping component 7, the clamping assembly shown in this application embodiment can simultaneously grasp parts in different spatial positions (e.g., it can simultaneously grasp parts in horizontal and vertical states), thereby improving the flexibility of use.

[0033] In an exemplary embodiment of this application, the flange shaft 1 includes a hollow shaft 101 and connecting flanges 102 disposed at both ends of the hollow shaft 101 along the axial direction. The connecting flanges 102 are used to connect the six-axis robot and the flange rotation assembly 2, respectively.

[0034] In this embodiment, the flange shaft 1 adopts a hollow structure design. The air pipe is inserted through the hollow shaft 101 to connect the purging module and the electric parallel gripper 6, providing an air source for the purging module and the electric parallel gripper 6 as power. The flange shaft 1 is connected to the six-axis robot by bolts.

[0035] In an exemplary embodiment of this application, the flange rotation assembly 2 includes a flange connecting plate 201, a bamboo tube connecting plate 202, a bamboo tube base support 203, and a cylinder connecting main plate 204. The bamboo tube connecting plate 202 is arranged perpendicularly to the flange connecting plate 201. The cylinder connecting main plate 204 is connected between the flange connecting plate 201 and the bamboo tube connecting plate 202. The bamboo tube base support 203 is connected to the bamboo tube connecting plate 202. The purging module is connected to the bamboo tube base support 203.

[0036] In this embodiment, the flange connecting plate 201, the bamboo joint pipe connecting plate 202, and the cylinder connecting main plate 204 are connected to form a triangular structure, which supports each other and effectively improves the structural strength and stability of the flange rotating assembly 2.

[0037] In an exemplary embodiment of this application, the flange connecting plate 201 is provided with a first through hole 201a, which is coaxially opened with the hollow shaft 101.

[0038] In this embodiment, the air pipe passes through the first through hole 201a into the flange rotating assembly 2.

[0039] In an exemplary embodiment of this application, the blowing module includes at least two bamboo tubes 3, and at least two air holes 203a are provided on the bottom support 203 of the bamboo tubes, and the bamboo tubes 3 are connected to the air holes 203a.

[0040] In this embodiment, the air tube is connected to the air hole 203a of the bamboo tube base 203 by passing through the hollow shaft 101 and the first through hole 201a. Since the bamboo tube 3 is connected to the air hole 203a, the air tube can provide air to the bamboo tube 3 through the air hole 203a. The high-pressure gas is blown to the electric parallel gripper 6 through the bamboo tube 3, thereby blowing away the iron filings on the surface of the part gripped by the electric parallel gripper 6.

[0041] In an exemplary embodiment of this application, a rotary cylinder 4 is connected to a cylinder connection main board 204, and a second through hole 204a is provided on the cylinder connection main board 204. The second through hole 204a is coaxially arranged with the air passage of the rotary cylinder 4.

[0042] In this embodiment, the rotary cylinder 4 is provided with an air passage in the middle, through which the heat generated inside the rotary cylinder 4 is dissipated; by opening a second through hole 204a on the cylinder connecting main board 204 coaxially with the air passage, the air source pipeline can pass through the cylinder connecting main board 204 and the rotary cylinder 4 to enter the cylinder rotating assembly 5, avoiding messy pipeline layout.

[0043] In an exemplary embodiment of this application, the cylinder rotation assembly 5 includes a cylinder connecting plate 501 and two pneumatic gripper connecting plates 502. The two pneumatic gripper connecting plates 502 are vertically arranged and used to install an electric parallel gripper 6. The cylinder connecting plate 501 is connected between the two pneumatic gripper connecting plates 502.

[0044] In this embodiment, a triangular structure is formed by connecting the cylinder connecting plate 501 and the two pneumatic gripper connecting plates 502, which support each other and effectively improve the connection strength and stability of the cylinder rotation assembly 5.

[0045] In an exemplary embodiment of this application, a third through hole 501a is provided on the cylinder connecting plate 501, and the third through hole 501a is coaxially arranged with the air passage of the rotary cylinder 4.

[0046] In this embodiment, the air supply line enters the cylinder rotation assembly 5 through the third through hole 501a.

[0047] In an exemplary embodiment of this application, the pneumatic gripper connecting plate 502 is provided with a mounting groove 502a, which is used to position and install the electric parallel gripper 6.

[0048] In this embodiment, the mounting groove 502a is a rectangular groove formed on the pneumatic gripper connecting plate 502, and is a contoured structure of the electric parallel gripper 6, which facilitates the quick positioning and installation of the electric parallel gripper 6 and the pneumatic gripper connecting plate 502. The electric parallel gripper 6 and the pneumatic gripper connecting plate 502 are connected by bolts.

[0049] The working principle involves connecting a clamping assembly to the electric parallel gripper 6. The clamping assembly has a clamping area to hold the workpiece. Two arc-shaped grooves 701 are positioned opposite each other within the clamping area of ​​the clamping component 7. Multiple strip-shaped grooves 702, extending along the arc direction within the arc-shaped grooves 701, form a serrated arc distribution on the clamping component 7. The size of the arc corresponds to the clamping of tapered parts of different diameters, effectively improving the compatibility of the gripping robot, reducing the robot's replacement frequency, and increasing gripping efficiency. The electric parallel gripper 6 is connected to the rotary cylinder 4 via the cylinder rotation assembly 5, allowing the electric parallel gripper 6 to rotate within a 190° range. This enables the blowing module to blow away the parts gripped by each set of electric parallel grippers 6, preventing iron filings from scratching the parts. The flange rotation assembly 2 is connected to the six-axis robot via the flange shaft 1, enabling 360° rotation. This allows the electric parallel gripper 6 to grip parts at any angle and position.

[0050] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A gripper for conical parts, characterized in that, include: Flange shaft, used for connection to a six-axis robot; A flange rotation assembly is connected to one end of the flange shaft along the axial direction, and the flange rotation assembly is equipped with a purging module and a rotary cylinder; A cylinder rotation assembly is connected to the rotary cylinder, and the cylinder rotation assembly is equipped with two sets of electric parallel grippers; A clamping assembly is connected to the electric parallel gripper. The clamping assembly includes two clamping parts and at least one clamping area. The clamping area includes an arc-shaped groove disposed opposite to the clamping part, and the arc-shaped groove has multiple strip grooves distributed along the arc extension direction.

2. The manipulator for gripping conical parts according to claim 1, characterized in that: The clamping component has two clamping areas, which are staggered along the height and length directions of the clamping component, and the two clamping areas are spatially perpendicular.

3. The manipulator for gripping tapered parts according to claim 1, characterized in that: The flange shaft includes a hollow shaft and connecting flanges disposed at both ends of the hollow shaft along the axial direction. The connecting flanges are used to connect the six-axis robot and the flange rotation assembly, respectively.

4. The manipulator for gripping conical parts according to claim 3, characterized in that: The flange rotation assembly includes a flange connecting plate, a bamboo tube connecting plate, a bamboo tube base support, and a cylinder connecting main plate. The bamboo tube connecting plate is perpendicular to the flange connecting plate. The cylinder connecting main plate is connected between the flange connecting plate and the bamboo tube connecting plate. The bamboo tube base support is connected to the bamboo tube connecting plate. The purging module is connected to the bamboo tube base support.

5. The manipulator for gripping conical parts according to claim 4, characterized in that: The flange connecting plate is provided with a first through hole, which is coaxial with the hollow shaft.

6. The manipulator for gripping conical parts according to claim 4, characterized in that: The blowing module includes at least two bamboo tubes, and at least two air holes are provided on the bottom of the bamboo tubes, with the bamboo tubes communicating with the air holes.

7. The manipulator for gripping conical parts according to claim 4, characterized in that: The rotary cylinder is connected to the cylinder connection main board, and the cylinder connection main board is provided with a second through hole, which is coaxially arranged with the air passage of the rotary cylinder.

8. The manipulator for gripping tapered parts according to claim 7, characterized in that: The cylinder rotation assembly includes a cylinder connecting plate and two pneumatic gripper connecting plates. The two pneumatic gripper connecting plates are arranged vertically for mounting electric parallel grippers. The cylinder connecting plate is connected between the two pneumatic gripper connecting plates.

9. The manipulator for gripping tapered parts according to claim 8, characterized in that: The cylinder connecting plate has a third through hole, which is coaxially arranged with the air passage of the rotary cylinder.

10. The manipulator for gripping tapered parts according to claim 8, characterized in that: The pneumatic gripper connecting plate is provided with a mounting groove, which is used to position and install the electric parallel gripper.

Images