Industrial robot mechanical grabbing equipment

Abstract

The utility model discloses mechanical grabbing equipment of an industrial robot, which belongs to the field of industrial robots and comprises a robot body and clamping equipment, the robot body comprises a mechanical arm, and the end part of the mechanical arm is provided with a rotating disc; the clamping device comprises a connecting base, the connecting base is connected with the rotating disc, the two sides of the connecting base are each connected with a clamping component, each clamping component comprises an air cylinder, and the output end of each air cylinder is connected with two clamping plates which are close to or away from each other. The two clamping parts finish the process of taking out and putting in the workpiece at one time, so that the time for taking out and putting in the workpiece is shortened, and the efficiency is improved; by means of the two clamping grooves, clamping of various workpieces in right-angle shapes is facilitated, the two clamping grooves can also clamp columnar workpieces certainly, the vertical faces on the two clamping sleeves can also clamp workpieces with two parallel faces, and the clamping grooves in the clamping sleeves and the vertical faces are used in cooperation to be used for clamping various workpieces.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to an industrial robot mechanical gripping device. Background Technology

[0002] Industrial robots and CNC machine tools have been widely used in the assembly manufacturing industry. However, the assembly process of some high-precision, heavy-weight, and structurally complex parts is still done manually. This is because traditional industrial robots and CNC machine tools can only perform repetitive programmed tasks and cannot cope with uncertainties and unexpected events in the environment. For example, the assembly of major components of industrial robots (base, waist support, upper arm, forearm, three axes, wrist) is difficult to complete using traditional industrial robots (position control type) and CNC machine tools due to the diversity and complexity of the structure of various parts and the randomness of the feeding posture of the parts. Manual assembly is both time-consuming and labor-intensive and cannot guarantee the consistency of the assembly.

[0003] In the existing production process, before the robot feeds the workpiece to the CNC machine tool, it needs to first use a mechanical gripper to pick up the already processed workpiece, then leave the CNC machine tool and put it into the finished product area. After that, the mechanical gripper picks up the workpiece to be processed and puts it into the CNC machine tool. This process of picking up and putting in wastes time, and as the equipment runs for a long time, the wasted time also increases, which leads to the extension of the production cycle. Utility Model Content

[0004] The purpose of this invention is to solve the problem mentioned in the background art that time is wasted during the process of taking out and putting in workpieces, and the wasted time increases as the equipment runs for a long time, thus extending the production cycle.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An industrial robot mechanical gripping device includes a robot body and a gripping device. The robot body includes a robotic arm with a rotating disk at its end. The gripping device includes a connecting seat connected to the rotating disk. Each side of the connecting seat is connected to a gripping component, which includes a cylinder. The output end of the cylinder is connected to two clamping plates that are close to or far apart from each other. Each clamping plate has a clamping sleeve fixed to its opposite surface, and each clamping sleeve has a gripping groove.

[0007] Preferably, the clamping groove is V-shaped, and the V-shape is set at a right angle.

[0008] Preferably, the clamping groove has vertical surfaces on both sides.

[0009] Preferably, the cylinder is connected to a suction component, which includes a fixed part and a movable part slidably disposed on the fixed part. The fixed part and the movable part are located directly above the clamping groove. The lower end of the movable part is connected to a suction cup, and a spring is sleeved on the movable part.

[0010] Preferably, the suction component further includes a support plate, on which a sleeve is fixed, a piston is disposed inside the sleeve, and a connecting pipe is connected to the sleeve. One end of the connecting pipe communicates with the sleeve, and the other end of the connecting pipe is connected to the fixed part via a flexible hose.

[0011] Preferably, the sleeve and the connecting pipe are arranged perpendicularly, one end of the sleeve is open and the other end of the sleeve is closed, the open end of the sleeve is provided with a rod fixed to the piston, and the closed end of the sleeve is connected to the connecting pipe through a connecting pipe.

[0012] Preferably, the rod body is fixed to one of the clamping plates by a connecting plate, and the support plate is provided with a through groove through which the connecting plate passes.

[0013] Preferably, an adjusting bolt is rotatably connected to the support plate, a lifting plate is fixedly connected to the fixed part, the adjusting bolt is threadedly connected to the lifting plate, a limiting rod passing through the lifting plate is fixed on the support plate, and a base plate is fixed to the lower side of the cylinder.

[0014] Preferably, the width of the lifting plate is less than the distance between the two clamps, and the fixed part and the movable part can pass through the clamping slot by the movement of the lifting plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] By setting up two gripping components, the two gripping components complete the workpiece removal and placement in one go, which reduces the time for picking up and placing the workpiece and improves efficiency.

[0017] The two clamping slots are advantageous for clamping various workpieces with right angles. Of course, the two clamping slots can also clamp cylindrical workpieces. The vertical surfaces on the two clamps can also clamp workpieces with two parallel surfaces. The clamping slots and vertical surfaces on the clamps can be used together to clamp various workpieces.

[0018] The clamping sleeve holds the workpiece so that the suction cup also holds the workpiece. The suction cup and the clamping sleeve work together to prevent the workpiece from falling during movement. After the clamping sleeve separates from the workpiece, the suction cup is connected to the outside world, so there is no resistance when the suction cup separates from the workpiece.

[0019] When the suction cup needs to work alone, there is no need to change the clamping device. By adjusting the bolt, the suction cup can be gradually moved through the clamping slot and below the clamping slot to pick up the workpiece. One suction cup is used to pick up the workpiece and the other is used to put the workpiece in. Like the two clamping components, it has the effect of reducing the time for picking up and putting down the workpiece. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0022] Figure 2 This is a schematic diagram showing the connection between the clamping component and the auxiliary swing arm of this utility model.

[0023] Figure 3 This is a schematic diagram of the clamping component of this utility model.

[0024] Figure 4 This is a schematic diagram showing the separation of the clamping component and the suction component of this utility model.

[0025] Figure 5 This is a schematic diagram showing the separation of the lifting plate and the adjusting bolt of this utility model.

[0026] Figure 6 This is a schematic diagram of the piston before it moves according to this utility model.

[0027] Figure 7 This is a schematic diagram of the suction cup of this utility model after it has descended.

[0028] Drawing number explanation: 1. Robot body; 11. Mechanical arm; 111. Main swing arm; 112. Secondary swing arm; 12. Rotary disk; 2. Gripping device; 21. Connecting seat; 22. Gripping component; 221. Cylinder; 222. Clamping plate; 223. Gripping sleeve; 224. Gripping groove; 225. Vertical surface; 23. Suction component; 231. Fixed part; 232. Moving part; 233. Suction cup; 234. Spring; 235. Support plate; 236. Sleeve; 2361. Connecting pipe; 237. Piston; 2371. Rod; 2372. Connecting plate; 238. Flexible hose; 239. Connecting pipe; 3. Adjusting bolt; 4. Lifting plate; 5. Limiting rod; 6. Base plate; 7. Base. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious modifications will be apparent to those skilled in the art. The basic principles of the present invention defined in the following description can be used in other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0031] Those skilled in the art should understand that in the disclosure of this utility model, the terms "longitudinal", "lateral", "up", "down", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or position based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this utility model and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this utility model.

[0032] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0033] Please see Figure 1 - Figure 7 An industrial robot mechanical gripping device includes a robot body 1 and a gripping device 2. The robot body 1 includes a robotic arm 11, a rotating disk 12 is provided at the end of the robotic arm 11, and a base 7 is provided on the lower side of the robotic arm 11. The robotic arm 11 includes a main swing arm 111 and a secondary swing arm 112. The bottom end of the main swing arm 111 is rotatably connected to the base 7, and the rotating disk 12 is located at the end of the secondary swing arm 112. Both the robot body 1 and the rotating disk 12 are existing technologies.

[0034] The clamping device 2 includes a connecting base 21, which is connected to a rotating disk 12. When the rotating disk 12 rotates, it causes the clamping device 2 to rotate as well. A clamping component 22 is connected to each side of the connecting base 21. The two clamping components 22 complete the removal and placement of the workpiece in one operation. Each clamping component 22 includes a cylinder 221, which is fixed to the connecting base 21. The output end of the cylinder 221 is connected to two clamping plates 222 that are close to or far apart from each other. Each clamping plate 222 has a clamping sleeve 223 fixed to its opposite surface. Each clamping sleeve 223 has a clamping groove 224. The clamping groove 224 is V-shaped, with the V-shape set at a right angle. The two clamping grooves 224 facilitate the clamping of various workpieces with right-angled shapes. The two clamping grooves 224 can also clamp cylindrical workpieces. The clamping slot 224 has vertical surfaces 225 on both sides. The vertical surfaces 225 on the two clamps 223 can also clamp workpieces with two parallel surfaces. The clamping slot 224 and vertical surfaces 225 on the clamps 223 can be used together to clamp a variety of workpieces.

[0035] A suction component 23 is connected to the cylinder 221. The suction component 23 includes a fixed part 231 and a movable part 232 that is slidably disposed on the fixed part 231. The fixed part 231 and the movable part 232 are located directly above the clamping groove 224. A suction cup 233 is connected to the lower end of the movable part 232. A spring 234 is sleeved on the movable part 232. The spring 234 in the figure is in a compressed state, so that the suction cup 233 can stably contact the workpiece. Air is drawn out so that the suction cup 233 can pick up the workpiece. The suction cup 233, together with the clamping sleeve 223, prevents the workpiece from falling during the movement.

[0036] The suction component 23 also includes a support plate 235, on which a sleeve 236 is fixed. A piston 237 is provided inside the sleeve 236, and a sealing plug is provided on one side of the piston 237. A connecting pipe 2361 is connected to the sleeve 236. One end of the connecting pipe 2361 is connected to the sleeve 236, and the other end of the connecting pipe 2361 is connected to the fixed part 231 through a hose 238. The fixed part 231 and the movable part 232 have channels connecting to the suction cup 233. These channels communicate with the flexible hose 238. The sleeve 236 and the connecting pipe 2361 are arranged perpendicularly. One end of the sleeve 236 is open, and the other end is closed. A rod 2371, which is fixed to the piston 237, is provided at the open end of the sleeve 236. The closed end of the sleeve 236 is connected to the connecting pipe 2361 through a connecting pipe 239. Both ends of the connecting pipe 239 are connected to the connecting pipe 2361 and the sleeve 236, respectively. Before clamping the workpiece, the piston 237 approaches the closed end of the sleeve 236, at which time the connecting pipe 2361 is connected to the outside. The rod 2371 is fixed to one of the clamping plates 222 through a connecting plate 2372. The connecting plate 2372 is fixed to the clamping plate 222 below the closed end of the sleeve. A through groove is provided on the support plate 235 through which the connecting plate 2372 passes, enhancing the stability of the connecting plate 2372. The clamping plate 222 moves together with the connecting plate 2372, the rod 2371 and the piston 237, thereby drawing out the air in the suction cup 233 and causing the suction cup 233 to hold the workpiece.

[0037] An adjusting bolt 3 is rotatably connected to the support plate 235, and a lifting plate 4 is fixedly connected to the fixed part 231. The adjusting bolt 3 is threadedly connected to the lifting plate 4. A limiting rod 5 passing through the lifting plate 4 is fixed to the support plate 235. A base plate 6 is fixed to the lower side of the cylinder 221. The lower end of the adjusting bolt 3 is rotatably connected to the base plate 6, and the lower end of the limiting rod 5 is fixed to the base plate 6. The length of the hose 238 is sufficient for the suction cup 233 to move downward. The width of the lifting plate 4 is less than the distance between the two clamps 223, so that the clamps 223 do not collide with the lifting plate 4 when they are closed. The fixed part 231 and the movable part 232 can pass through the clamping slot 224 through the movement of the lifting plate 4. The suction cup 233 can be positioned below the clamps 223 by adjusting the adjusting bolt 3. Workpieces that are not suitable for clamping can be adsorbed by the suction cup 233. This setting does not require replacement of the clamping component 22.

[0038] After the workpiece is processed, the robotic arm 11 moves the left-side clamping sleeve 223 to both sides of the workpiece, placing the workpiece between the two clamping slots 224. Then, the cylinder 221 is activated, causing the two clamping plates 222 to move closer together. The clamping plates 222 move the clamping sleeve 223, and finally, the clamping slots 224 fit against the workpiece to clamp it. During the movement towards the CNC machine tool (not shown in the CNC machine tool diagram), the rotating disk 12 rotates the clamping device 2 180°, aligning the right-side clamping component 22 with the CNC machine tool. Then, the door of the CNC machine tool opens, and the CNC machine tool clamping component 22 enters the CNC machine tool. The cylinder 221 drives the clamping sleeve 223 to clamp the processed workpiece. The device 2 is moved outside the CNC machine tool. The rotating disk 12 causes the connecting seat 21 to rotate 180°, so that the left clamping component 22 is aligned with the CNC machine tool. Then, the robotic arm 11 controls the clamping component 22 to bring the workpiece to be processed into the CNC machine tool and place it on the processing platform. After that, the robotic arm 11 controls the clamping device 2 to move outside the CNC machine tool. Then, the robotic arm 11 rotates on the base 7 to put the processed workpiece into the finished product area. Specifically, the cylinder 221 causes the two clamping plates 222 to move away from each other, and the clamping plates 222 with the clamping sleeve 223 move away from each other, thereby separating them from the workpiece. Then, it waits to clamp the next workpiece to be processed. In this process, the time for picking up and putting down workpieces is reduced, and the efficiency is improved.

[0039] When the two clamping components 22 clamp the workpiece to be processed and the finished workpiece in the CNC machine tool respectively, the suction cup 233 simultaneously picks up the workpiece. Specifically, when the two clamping plates 222 approach each other, one of the clamping plates 222 moves with the connecting plate 2372. The connecting plate 2372 moves together with the rod 2371 and the piston 237. The piston 237 causes the connecting pipe 2361, which is connected to the outside, to gradually close. Before closing, outside air enters the connecting pipe 2361 through the sleeve 236, and then the gas enters the closed end of the sleeve 236 from the connecting pipe 2361. After the piston 237 closes the connection between the connecting pipe 2361 and the outside, the piston 237 continues to move, and the gas in the connecting pipe 2361 also enters the closed end of the sleeve 236. Finally, a negative pressure is formed in the suction cup 233, which enables the suction cup 233 to stably pick up the workpiece. In conjunction with the clamping sleeve 223, the stability of the workpiece during movement is increased.

[0040] After the processed workpiece is placed in the finished product area, the suction cup 233 separates from the finished workpiece. Specifically, the cylinder 221 causes the two clamping plates 222 to move away from each other. The clamping plates 222 move with the clamping sleeve 223. One of the clamping plates 222 moves with the connecting plate 2372. The connecting plate 2372 moves together with the rod 2371 and the piston 237. The piston 237 causes the connecting pipe 2361 to gradually connect to the outside. When the connecting pipe 2361 is connected to the outside, the air pressure inside the suction cup 233 gradually recovers. The suction cup 233 has no suction force on the workpiece, and the suction cup 233 will not adhere to the workpiece due to the elastic force of the spring 234. At this time, the suction cup 233 separates from the workpiece without resistance.

[0041] like Figure 6 As shown, when the suction cup 233 needs to work alone, the lifting plate 4, along with the fixed part 231 and the movable part 232, is lowered by rotating the adjusting bolt 3. The suction cup 233 gradually passes through the clamping slot 224 and moves below the clamping slot 224. When it is necessary to pick up the workpiece, the mechanical arm 11 moves the suction cup 233 above the workpiece and into contact with it. At this time, the spring 234 is in a compressed state. The cylinder 221 is activated to bring the clamping plates 222 closer together. One of the clamping plates 222 moves along with the connecting plate 2372, the rod 2371, and the piston 237. The same principle creates a negative pressure inside the suction cup 233, which picks up the workpiece. One of the two suction cups 233 is used to pick up the workpiece, and the other is used to put in the workpiece. Like the two clamping parts 22, they have the function of reducing the time for picking up and putting in the workpiece.

[0042] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations or modifications.

Claims

1. An industrial robot mechanical gripping device, characterized in that, Include: Robot body (1), comprising a mechanical arm (11), the mechanical arm (11) end is provided with a rotating disc (12); Clamping device (2), comprising a connecting seat (21), the connecting seat (21) is connected with rotating disc (12), both sides of the connecting seat (21) are connected with one clamping component (22), the clamping component (22) comprises a cylinder (221), the output end of the cylinder (221) is connected with two clamping plates (222) close to or away from each other, the opposite surface of the two clamping plates (222) is fixed with a clamp sleeve (223), and the clamp sleeve (223) is provided with a clamping groove (224).

2. An industrial robot mechanical gripping device according to claim 1, characterized in that: The clamping groove (224) is V-shaped, which is arranged at a right angle.

3. An industrial robot mechanical gripping device according to claim 1, characterized in that: The clamping groove (224) has a vertical surface (225) on both sides.

4. An industrial robotic mechanical gripping device according to claim 1, characterized in that: The cylinder (221) is connected with a suction component (23), the suction component (23) comprises a fixed part (231) and a movable part (232) slidably arranged on the fixed part (231), the fixed part (231) and the movable part (232) are located directly above the clamping groove (224), the lower end of the movable part (232) is connected with a suction disc (233), and the movable part (232) is sleeved with a spring (234).

5. An industrial robot mechanical gripping device according to claim 4, characterized in that: The suction component (23) further comprises a support plate (235), the support plate (235) is fixed with a sleeve (236), the sleeve (236) is provided with a piston (237), the sleeve (236) is connected with a connecting pipe (2361), one end of the connecting pipe (2361) communicates with the sleeve (236), and the other end of the connecting pipe (2361) is connected with the fixed part (231) through a hose (238).

6. An industrial robot mechanical gripping device according to claim 5, characterized in that: The sleeve (236) and the connecting pipe (2361) are arranged vertically, one end of the sleeve (236) is open, the other end of the sleeve (236) is closed, the open end of the sleeve (236) is provided with a rod body (2371) fixed with the piston (237), and the closed end of the sleeve (236) communicates with the connecting pipe (2361) through a communication pipe (239).

7. An industrial robot mechanical gripping device according to claim 6, characterized in that: The rod body (2371) is fixed with one of the clamping plates (222) through a connecting plate (2372), and the support plate (235) is provided with a through groove through which the connecting plate (2372) passes.

8. An industrial robot mechanical gripping device according to claim 5, characterized in that: The support plate (235) is rotationally connected with an adjusting bolt (3), the fixed part (231) is fixedly connected with a lifting plate (4), the adjusting bolt (3) is threadedly connected with the lifting plate (4), the support plate (235) is fixedly connected with a limiting rod (5) penetrating through the lifting plate (4), and the bottom plate (6) is fixed to the lower side of the cylinder (221).

9. An industrial robot mechanical gripping device according to claim 8, characterized in that: The width of the lifting plate (4) is less than the distance between the two clamp sleeves (223), and the fixed part (231) and the movable part (232) can pass through the clamping groove (224) by moving the lifting plate (4).

Images