Sheet workpiece grabbing manipulator

Abstract

The utility model relates to the technical field of grabbing manipulators, in particular to a flaky workpiece grabbing manipulator which comprises a body. The carrying assembly is used for carrying the sheet-shaped workpieces; the grabbing assembly comprises a driving structure for driving the clamping seats to slide on the main body, the clamping seats connected with the driving structure in a sliding mode, clamping jaws hinged to the clamping seats and driving parts arranged on the clamping seats, the driving parts are used for driving the clamping jaws to act, the number of the clamping seats is two, and the clamping seats are arranged on the main body. The two clamping seats are located on the two sides of the bottom of the main body correspondingly, and the multiple clamping jaws are hinged to the two clamping seats correspondingly. The device has the effects that the welding grooves are aligned in the carrying process of the sheet-shaped workpieces, and the sheet-shaped workpieces can be conveniently welded.

Description

Technical Field

[0001] This application relates to the field of gripping robot technology, and in particular to a gripping robot for sheet-like workpieces. Background Technology

[0002] When producing sheet metal workpieces, it is often necessary to stack the sheet workpieces one by one. Since the product is a metal structure, manual operation is time-consuming and labor-intensive.

[0003] Reference Figure 1 The sheet-like workpiece 111 has a ring-shaped structure. The inner ring of the sheet-like workpiece 111 has a toothed groove 112, and the outer ring of the sheet-like workpiece 111 has a welding groove 113. During the production process of the sheet-like workpiece 111, the workers need to stack several sheet-like workpieces 111 in the waiting area. At this time, the welding grooves 113 of several sheet-like workpieces 111 are connected to form a welding line. Then, the welding equipment is used to weld several sheet-like workpieces 111 together through the welding line.

[0004] The product is made entirely of metal. During the handling process, the workers spent a considerable amount of time aligning the welding grooves of several sheet-like workpieces, which is an area for improvement. Utility Model Content

[0005] In order to align the welding grooves of sheet-like workpieces during handling and facilitate welding of the sheet-like workpieces, this application provides a sheet-like workpiece gripping robot.

[0006] This application provides a sheet-like workpiece gripper, which adopts the following technical solution:

[0007] A sheet-like workpiece gripper includes:

[0008] main body;

[0009] A conveying assembly, wherein the conveying mechanism is used to convey sheet-like workpieces;

[0010] The gripping component includes a drive structure, a clamping seat slidably connected to the drive structure, grippers hinged to the clamping seat, and a drive member disposed on the clamping seat. The drive structure is used to drive the clamping seat to slide on the main body, and the drive member is used to drive the grippers to move. Two clamping seats are provided, and the two clamping seats are respectively located on both sides of the bottom of the main body. Several grippers are hinged to the two clamping seats respectively.

[0011] By adopting the above technical solution, when stacking sheet workpieces, the robot uses a handling component to transport a single sheet workpiece to the waiting area. At this time, several sheet workpieces are stacked, and the main body slides above and close to the stacked sheet workpieces. Then, the drive structure drives two clamping seats to move closer, so that the grippers are close to the sheet workpieces. The drive unit drives the grippers to clamp the sheet workpieces. Under the clamping action of several grippers, the stacked sheet workpieces are transported by the robot to the position of the welding equipment. This setting makes the welding grooves aligned during the transport of the sheet workpieces, which facilitates the welding work on the sheet workpieces.

[0012] Optionally, the clamping seat includes a clamping plate slidably connected to the main body, and a plurality of mounting posts fixed to the side of the clamping plate away from the main body. The mounting posts are arranged opposite to the jaws, the jaws are hinged to the mounting posts, the driving member is hinged to the side wall of the clamping plate, and the output end of the driving member is hinged to one end of the jaws.

[0013] By adopting the above technical solution, when the robot uses the gripping component to grip the sheet-like workpiece, the drive unit is activated to extend the output end. At this time, under the drive of the drive unit, the gripper rotates at the end of the mounting column, so that the end of the gripper abuts against the bottom of the sheet-like workpiece. Several grippers abut against the bottom of the sheet-like workpiece, realizing the gripper's clamping operation on the sheet-like workpiece.

[0014] Optionally, the drive structure includes a lead screw rotatably engaged with the clamping seat, a nut rotatably connected to the lead screw, and a drive motor fixed to the main body. The nut is fixed to the side of the clamping seat near the main body, and the drive motor is used to drive the lead screw to rotate.

[0015] By adopting the above technical solution, when the robot uses the clamping assembly to clamp a sheet-like workpiece, the drive motor drives the lead screw to rotate. Under the fixing action of the clamping seat, the nut does not rotate, thereby causing the clamping seat to rotate on the side wall of the lead screw, thus realizing the clamping process of the clamping seat.

[0016] Optionally, the main body includes a base, a substrate rotatably engaged with the bottom of the base, and a motor disposed on the base. The motor is used to drive the substrate to rotate. The lead screw is rotatably engaged with the substrate, and the drive motor is fixed to the substrate. Slider blocks are fixed on both sides of the clamping seat. Both sliders are located on the side of the clamping seat closer to the substrate. Two slide rails are fixed on the substrate along the length direction of the lead screw. The two slide rails are respectively located on both sides of the lead screw. The sliders are disposed opposite to the slide rails and are slidably connected.

[0017] By adopting the above technical solution, before handling the sheet workpiece, the motor drives the base plate to rotate at the end of the substrate, thereby changing the angle at which the gripper holds the sheet workpiece. When the gripper rotates on the side wall of the lead screw, the gripper slides on the side wall of the slide rail through the slider, which facilitates the sliding process of the gripper. At the same time, the connection between the two sliders and the slide rail prevents the gripper from rotating on the side wall of the main body, so that the gripper slides on the side wall of the base plate under the action of the nut.

[0018] Optionally, the gripping assembly further includes a fixing seat fixed to both sides of the substrate, an adjusting seat fixed to the side of the fixing seat away from the substrate, and a plurality of positioning posts installed on the adjusting seat. The side of the fixing seat near the substrate is away from the slide rail, and the plurality of positioning posts can all cooperate with the inner ring of the sheet-like workpiece.

[0019] By adopting the above technical solution, when the clamping component holds the sheet-like workpiece, there is a possibility that the stacked sheet-like workpieces may shift to each other during the handling process. At this time, under the positioning action of the positioning rod, the sheet-like workpieces remain neat during the handling process, which further simplifies the process of aligning the welding grooves.

[0020] Optionally, one end of each of the positioning posts near the base plate is slidably engaged with the adjusting seat, and the adjusting seat can hold the positioning posts in place.

[0021] By adopting the above technical solution, when the model of the sheet workpiece changes, the operator can change the relative position of the positioning column by adjusting the seat, so that the positioning column matches the inner ring of the sheet workpiece. At this time, the positioning column is locked by adjusting the seat. This setting realizes the adjustment function of the positioning column, which makes it easier for the robot to clamp different models of sheet workpieces.

[0022] Optionally, the conveying assembly includes a lifting seat disposed on the side wall of the base, a plurality of suction cups fixed to the bottom of the lifting seat, and a drive cylinder installed on the side wall of the base. The plurality of suction cups are all connected to a vacuum power source, and the drive cylinder is used to drive the lifting seat to approach the sheet-like workpiece.

[0023] By adopting the above technical solution, before the sheet workpieces are stacked, the substrate is close to the sheet workpieces. At this time, the drive cylinder drives the lifting seat to approach the sheet workpieces, and the suction cup abuts against the side wall of the sheet workpieces. The vacuum power source is activated, causing the suction cup to adsorb the sheet workpieces. Then, the drive cylinder drives the lifting seat to slide upwards towards the substrate. The substrate transports the sheet workpieces to the waiting area. The vacuum power source introduces atmospheric pressure into the inside of the suction cup, and the sheet workpieces fall down and stack with the sheet workpieces below. This setting realizes the function of transporting sheet workpieces.

[0024] Optionally, the side wall of the base is provided with a sliding guide rail, and a sliding seat is slidably connected to the sliding guide rail. The lifting seat is fixed to the side of the sliding seat away from the base.

[0025] By adopting the above technical solution, when the robot handles the sheet-like workpiece, the drive cylinder drives the lifting seat to slide on the side wall of the sliding seat. This setting facilitates the sliding process of the lifting seat on the side wall of the sliding seat.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. When handling sheet-like workpieces, the robot uses a handling assembly to move a single sheet-like workpiece to the waiting area. Then, the robot approaches the sheet-like workpiece, and under the driving action of the drive unit, several grippers clamp the sheet-like workpiece. At this time, the robot moves the sheet-like workpiece to the working area of ​​the welding equipment. This setting ensures that the welding grooves of the sheet-like workpiece are aligned during the handling process, which facilitates the welding work on the sheet-like workpiece.

[0028] 2. Before handling sheet-like workpieces, the operator can change the relative position of the positioning column on the side wall of the adjusting seat according to the model of the sheet-like workpiece, so that the positioning column and the inner ring of the sheet-like workpiece are engaged, thus realizing the handling of sheet-like workpieces of different models by the robot arm. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the sheet-like workpiece in the embodiments of this application.

[0030] Figure 2 This is a schematic diagram of the overall structure of a sheet-like workpiece gripping robot according to an embodiment of this application.

[0031] Figure 3 This is the book Figure 2 Enlarged view of point A in the middle.

[0032] Figure 4 This is a cross-sectional view of the sheet-like workpiece gripping robot in the embodiments of this application.

[0033] Figure 5 This is a schematic diagram of the overall structure of the main body in the embodiments of this application.

[0034] Reference numerals: 111, sheet-like workpiece; 112, toothed groove; 113, welding groove; 1, main body; 2, handling assembly; 3, gripping assembly; 31, clamping seat; 32, drive structure; 33, gripper; 34, drive component; 311, clamping plate; 312, mounting column; 11, base; 12, base plate; 13, motor; 321, lead screw; 322, nut; 323, drive motor; 4, slider; 5, slide rail; 35, fixed seat; 36, adjusting seat; 37, positioning column; 21, lifting seat; 22, suction cup; 23, drive cylinder; 6, sliding guide rail; 7, sliding seat; 8, L-shaped plate; 9, rotating bearing; 101, first gear; 102, support plate; 103, second gear. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0036] This application discloses a robotic arm for gripping sheet-like workpieces.

[0037] Reference Figure 1 The sheet-like workpiece 111 has a circular ring structure. The inner ring of the sheet-like workpiece 111 is evenly spaced with toothed grooves 112, and the outer ring of the sheet-like workpiece 111 is evenly spaced with welding grooves 113.

[0038] Reference Figure 2 and Figure 3 A sheet-shaped workpiece gripper includes a main body 1, a conveying assembly 2 disposed on the side wall of the main body 1, and a gripping assembly 3 disposed at the end of the main body 1. The conveying assembly 2 is used to convey a single sheet-shaped workpiece 111. The gripping assembly 3 includes a driving structure 32 for driving a gripping seat 31 to slide, and a gripping seat 31 slidably connected to the main body 1. Two gripping seats 31 are provided, and the two gripping seats 31 are respectively located on both sides of the end face of the main body 1, and the two gripping seats 31 slide in opposite directions on the main body 1. The gripping structure also includes a gripper 33 hinged to the gripping seat 31, and a driving member 34 mounted on the gripping seat 31. The driving member 34 is used to drive the gripper 33 to rotate on the gripping seat 31. A number of grippers 33 are mounted on a gripping seat 31. In this embodiment, two grippers 33 are mounted on the gripping seat 31, and the two grippers 33 are respectively located on both sides of the gripping seat 31.

[0039] When the robot arm moves the sheet-shaped workpiece 111, the moving component 2 approaches the sheet-shaped workpiece 111. At this time, the moving component 2 moves the single sheet-shaped workpiece 111, and the robot arm moves the single sheet-shaped workpiece 111 to the waiting area. Several sheet-shaped workpieces 111 are stacked. Then, the gripping component 3 approaches the sheet-shaped workpiece 111, and then the drive structure 32 drives the gripper 31 to slide, so that the gripper 33 approaches the sheet-shaped workpiece 111. At the same time, the drive component 34 drives the gripper 33 to rotate on the gripper 31, so that the end of the gripper 33 abuts against the bottom of the sheet-shaped workpiece 111. Several grippers 33 abut against the bottom of the sheet-shaped workpiece 111, so that the robot arm can stably move the stacked sheet-shaped workpieces 111.

[0040] Reference Figure 3The clamping seat 31 includes a clamping plate 311 slidably connected to the driving structure 32, and two mounting posts 312 fixed to the side of the clamping plate 311 away from the main body 1. The two mounting posts 312 are located on both sides of the clamping plate 311. The jaws 33 are hinged to the end of the mounting posts 312 away from the clamping plate 311. In this embodiment, the driving member 34 is preferably a cylinder. The piston rod end of the driving member 34 is hinged to the end of the jaws 33 away from the clamping sheet workpiece 111. An L-shaped plate 8 is integrally fixed to the side wall of the clamping seat 31 away from the other clamping seat 31. The cylinder of the driving member 34 is hinged to the L-shaped plate 8 at the position away from the clamping plate 311.

[0041] When the robotic arm handles the sheet-like workpiece 111, the piston rod of the drive member 34 extends, and the end of the gripper 33 near the drive member 34 rotates towards the ground with the end of the mounting column 312 as the fulcrum, while the end of the gripper 33 away from the drive member 34 rotates away from the ground. At this time, the end of the gripper 33 away from the drive member 34 abuts against the bottom of the sheet-like workpiece 111, thus realizing the gripper 33 clamping the sheet-like workpiece 111.

[0042] Reference Figure 4 and Figure 5 The main body 1 includes a base 11 disposed on the workshop operating system, a base plate 12 rotatably connected to the end of the base 11, and a motor 13 disposed on the base 11. A rotating shaft is fixed to the upper side wall of the base plate 12. A rotating bearing 9 is interference-fitted to the end of the rotating shaft away from the base plate 12. The base 11 is fixed to the outer ring of the rotating bearing 9. A first gear 101 is interference-fitted to the end of the rotating shaft away from the base plate 12. A placement groove is opened on the side of the base 11 near the base plate 12. A support plate 102 is fixed to the inner wall of the placement groove. The motor 13 is fixed to the support plate 102 away from the base plate 12 with some bolts. A through hole is opened on the support plate 102. A second gear 103 is fixed to the end of the rotating shaft of the motor 13 that passes through the through hole. The second gear 103 meshes with the first gear 101.

[0043] Reference Figure 2 Two slide rails 5 are fixed at the end of the main body 1. The two slide rails 5 are located on both sides of the end face of the main body 1. The length direction of the clamping plate 311 is perpendicular to the length direction of the slide rails 5. Two sliders 4 are fixed on the side of the clamping plate 311 near the main body 1. The sliders 4 are arranged opposite to the slide rails 5, and the sliders 4 slide and cooperate with the slide rails 5. This arrangement facilitates the sliding process of the clamping plate 311 on the slide rails 5.

[0044] When the robotic arm handles the sheet-like workpiece 111, the motor 13 drives the base plate 12 to rotate according to the angle at which the sheet-like workpiece 111 is placed. The rotation of the base plate 12 drives the clamping plate 311 to rotate, making the angle of the gripper 33 more suitable for gripping the sheet-like workpiece 111. The further drive structure 32 drives the clamping plate 311 to slide on the bottom of the base plate 12. At this time, the drive component 34 drives the gripper 33 to clamp the sheet-like workpiece 111. This setting makes the process of the robotic arm gripping the sheet-like workpiece 111 smoother and reduces the possibility of the sheet-like workpiece 111 slipping when the robotic arm grips it.

[0045] Reference Figure 3 The drive structure 32 includes a lead screw 321 that rotatably engages with the base plate 12, a nut 322 that rotatably engages with the side wall of the lead screw 321, and a drive motor 323 that is snapped and fixed to the side wall of the main body 1. Two bearings with seats are fixed on the side of the base plate 12 away from the base 11. The line connecting the openings of the two bearings with seats is parallel to the length direction of the slide rail 5. The lead screw 321 rotatably engages with the end face of the main body 1 through the bearings with seats. In this embodiment, the lead screw 321 is preferably a bidirectional lead screw 321. Two nuts 322 are provided. The two nuts 322 are respectively fixed to the side of the two clamping plates 311 near the base plate 12, and the two nuts 322 are respectively located at the two ends of the bidirectional lead screw 321. An extension plate is bolted to the side wall of the base plate 12. The extension plate has a placement hole. The drive motor 323 is snapped and fixed to the extension plate through the placement hole. The rotation shaft of the drive motor 323 is connected to the bidirectional lead screw 321 through a coupling. This arrangement realizes the directional sliding of the two clamping seats 31.

[0046] Reference Figure 2 and Figure 3 The gripping assembly 3 also includes a fixing seat 35 bolted to the side of the substrate 12 away from the base 11, an adjusting seat 36 bolted to the fixing seat 35 away from the main body 1, and a positioning post 37 snapped onto the side wall of the adjusting seat 36. A positioning plate is fixed to the end of the positioning post 37 near the substrate 12. The adjusting seat 36 is preferably a three-jaw chuck, and three positioning posts 37 are preferably provided. The positioning posts 37 are fixed to the side wall of the adjusting seat 36 by the positioning plate. When handling the sheet-like workpiece 111, the operator adjusts the relative position of the positioning post 37 on the side wall of the adjusting seat 36 according to the inner diameter of the sheet-like workpiece 111, so that the positioning post 37 engages with the inner diameter of the sheet-like workpiece 111, thus limiting the stacked sheet-like workpieces 111 and reducing the possibility of slippage between adjacent sheet-like workpieces 111.

[0047] Reference Figure 2 and Figure 4Two sliding guide rails 6 are bolted to the side of the base 11 away from the motor 13 along the length of the base 11. The two sliding guide rails 6 are respectively fixed to both sides of the base 11. A sliding seat 7 is slidably arranged on the sliding guide rail 6. Two sliders 4 are fixed to the side of the sliding seat 7 near the base 11. The two sliders 4 are located at the end of the sliding seat 7 away from the base plate 12, and the sliders 4 slide and cooperate with the sliding guide rail 6. A lifting seat 21 is fixed to the side of the sliding seat 7 away from the base 11. The lifting seat 21 is located at the end of the sliding seat 7 away from the sliders 4. The lifting seat 21 is preferably a square plate. Four suction cups 22 are inserted through the four corners of the lifting seat 21. The air inlets of the suction cups 22 face upward and are connected to an external vacuum power source. A drive cylinder 23 is also bolted to the side of the base 11 away from the motor 13. The drive cylinder 23 is preferably an electric cylinder. The piston rod of the drive cylinder 23 is fixed to the side wall of the lifting seat 21.

[0048] When the robotic arm moves the sheet-like workpiece 111, the drive cylinder 23 drives the lifting seat 21 to approach the sheet-like workpiece 111. At this time, the suction cup 22 abuts against the side wall of the sheet-like workpiece 111. The vacuum power source draws out the air inside the suction cup 22 through the air inlet of the suction cup 22, thereby fixing the sheet-like workpiece 111 to the side wall of the suction cup 22. Then, the drive pump drives the lifting seat 21 to rise. At this time, the lifting seat 21 slides on the sliding guide rail 6 through the sliding seat. The robotic arm slides to the waiting area. At the same time, the drive cylinder 23 drives the lifting seat 21 to approach the stacked sheet-like workpieces 111. The vacuum power source vents air into the air inlet of the suction cup 22 to restore atmospheric pressure. The process of moving the sheet-like workpiece 111 ends here.

[0049] The implementation principle of the sheet workpiece gripping robot in this application embodiment is as follows: When the robot grips the sheet workpiece 111, the robot slides to the waiting area. At this time, the positioning post 37 engages with the inner ring of the sheet workpiece 111. The drive motor 323 drives the two clamping plates 311 to slide towards each other. The gripper 33 approaches the sheet workpiece 111. The drive member 34 drives the gripper 33 to rotate at the end of the mounting post 312 away from the base plate 12, so that the end of the gripper 33 away from the mounting post 312 abuts against the bottom of the sheet workpiece 111. The four grippers 33 simultaneously clamp the stacked sheet workpieces 111. The robot slides away from the ground to lift the stacked sheet workpieces 111. This arrangement aligns the welding grooves 113 of the sheet workpiece 111 during the handling process, which facilitates the welding work on the sheet workpiece 111.

[0050] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A sheet workpiece gripping robot characterized by comprising: Include: The main body (1); Carrying assembly (2) for carrying metal workpieces; Grabbing assembly (3) including driving structure (32), clamping seat (31) slidingly connected with the driving structure (32), clamping jaw (33) hinged to the clamping seat (31), and driving member (34) provided on the clamping seat (31), the driving structure (32) is used to drive the clamping seat (31) to slide on the main body (1), the driving member (34) is used to drive the clamping jaw (33) to act, the clamping seat (31) is provided with two, two clamping seats (31) are respectively located on both sides of the bottom of the main body (1), and a plurality of clamping jaws (33) are respectively hinged to the two clamping seats (31).

2. A sheet workpiece gripping robot according to claim 1, characterized in that: The clamping seat (31) includes a clamping plate (311) slidingly connected with the main body (1), and a plurality of mounting columns (312) fixed to the side of the clamping plate (311) away from the main body (1), the mounting column (312) is arranged opposite to the clamping jaw (33), the clamping jaw (33) is hinged to the mounting column (312), the driving member (34) is hinged to the side wall of the clamping plate (311), and the output end of the driving member (34) is hinged to one end of the clamping jaw (33).

3. A sheet workpiece gripping robot according to claim 2, characterized in that: The driving structure (32) includes a lead screw (321) rotatably connected with the clamping seat (31), a nut (322) rotatably connected with the lead screw (321), and a driving motor (323) fixed to the main body (1), the nut (322) is fixed to the side of the clamping seat (31) close to the main body (1), and the driving motor (323) is used to drive the lead screw (321) to rotate.

4. A sheet workpiece gripping robot according to claim 3, characterized in that: The main body (1) includes a base body (11), a base plate (12) rotatably connected with the bottom of the base body (11), and a motor (13) provided on the base body (11), the motor (13) is used to drive the base plate (12) to rotate, the lead screw (321) is rotatably connected with the base plate (12), and the driving motor (323) is fixed to the base plate (12); both sides of the clamping seat (31) are fixed with a sliding block (4), both the sliding blocks (4) are located on the side of the clamping seat (31) close to the base plate (12), the base plate (12) is fixed with two slide rails (5) along the length direction of the lead screw (321), and the two slide rails (5) are located on both sides of the lead screw (321); the sliding block (4) is arranged opposite to and slidingly connected with the slide rail (5).

5. A sheet workpiece gripping robot according to claim 4, characterized in that: The grabbing assembly (3) further includes a fixing seat (35) fixed on both sides of the main body (1), an adjusting seat (36) fixed on the side of the fixing seat (35) away from the main body (1), and a plurality of positioning columns (37) mounted on the adjusting seat (36), the side of the fixing seat (35) close to the main body (1) is away from the slide rail (5), and the plurality of positioning columns (37) can be matched with the inner ring of the metal workpiece.

6. A sheet workpiece gripping robot according to claim 5, characterized in that: The positioning columns (37) near one end of the base plate (12) are in sliding fit with the adjusting seats (36), and the adjusting seats (36) can clamp the positioning columns (37).

7. A sheet workpiece gripping robot according to claim 6, characterized in that: The carrying assembly (2) comprises a lifting seat (21) arranged on the side wall of the base body (11), a plurality of suction cups (22) fixed to the bottom of the lifting seat (21), and a driving cylinder (23) mounted on the side wall of the base body (11), wherein the suction cups (22) are connected with a vacuum power source, and the driving cylinder (23) is used for driving the lifting seat (21) to approach the metal workpiece.

8. A sheet workpiece gripping robot according to claim 7, characterized in that: The side wall of the base body (11) is provided with a sliding guide rail (6), the sliding guide rail (6) is connected with a sliding seat (7) in sliding mode, and the lifting seat (21) is fixed to the side, away from the base body (11), of the sliding seat (7).

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