Robot integrated clamping jaw for taking intermediate shafts

Abstract

The utility model relates to the technical field of machining of intermediate shafts of automobile parts, in particular to a robot integrated clamping jaw for taking intermediate shafts, which comprises a fixed joint fork clamping jaw, a finished workpiece clamping jaw, a shaft tube clamping jaw, a clamping jaw base and three pneumatic modules mounted on a bottom connecting plate of the clamping jaw base. The fixed joint fork clamping jaw, the finished workpiece clamping jaw and the shaft tube clamping jaw are installed at the bottoms of the corresponding pneumatic modules respectively. Compared with the prior art, a fixed joint fork clamping jaw, a shaft tube clamping jaw and a finished workpiece clamping jaw are integrated on one clamping jaw base, grabbing and placing of a plurality of parts and parts of different specifications are achieved, manual feeding and discharging are replaced, the assembling efficiency of the intermediate shaft is improved, and cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of automotive parts intermediate shaft processing technology, specifically a robotic integrated gripper for picking up intermediate shaft materials. Background Technology

[0002] The intermediate shaft assembly line has a high degree of automation, but the work of loading parts and unloading finished products is mainly the responsibility of operators, which results in high labor intensity and low overall efficiency.

[0003] To improve assembly efficiency and save labor costs, industrial robots are used to replace manual labor and automatically complete the loading and unloading of parts. However, due to the special structure of the fixed section fork, shaft, tube, and finished workpiece of the intermediate shaft, the existing robot integrated grippers cannot meet the requirements for loading and unloading the fixed section fork, shaft, and tube, as well as unloading the finished workpiece.

[0004] Therefore, it is necessary to design a robot integrated gripper for picking up intermediate shafts, so as to pick up fixed forks, shaft or tube parts and finished workpieces. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot integrated gripper for picking up intermediate shafts, so as to realize the picking up of fixed forks, shaft or tube parts and finished workpieces.

[0006] To achieve the above objectives, this utility model is a robot integrated gripper for intermediate shaft material handling, including a fixed fork gripper, a finished workpiece gripper, a shaft tube gripper, a gripper base, and a pneumatic module. Three pneumatic modules are installed on the bottom connecting plate of the gripper base, and the fixed fork gripper, the finished workpiece gripper, and the shaft tube gripper are respectively installed at the bottom of the corresponding pneumatic module.

[0007] The fixed fork gripper includes a guide rod, a spring, a floating guide plate, a center positioning block, and clamping plates. The guide rod is fixed to the bottom of the pneumatic module, and the lower end of the guide rod passes through the center positioning block. The spring is sleeved on the outside of the guide rod, and the two ends of the spring abut against the boss of the guide rod and the top surface of the center positioning block, respectively. The middle part of the floating guide plate is sleeved on the outside of the guide rod and is located above the center positioning block. The two ends of the floating guide plate pass through the through holes on the surface of the clamping plates. The upper ends of the two clamping plates are connected to the movable end of the pneumatic module, and the lower parts of the two clamping plates are located on both sides of the center positioning block.

[0008] The finished workpiece gripper includes a connecting positioning block 1, a finished workpiece gripper body, and an ear hole positioning block. The upper ends of the two finished workpiece gripper bodies are connected to the movable ends of the pneumatic module by the connecting positioning block 1, and ear hole positioning blocks are respectively installed on the lower inner side of the two finished workpiece gripper bodies.

[0009] The shaft tube gripper includes a connecting positioning block two and a shaft tube gripper body. The upper ends of the two shaft tube gripper bodies are connected to the movable end of the pneumatic module by the connecting positioning block two. The lower inner side of the two shaft tube gripper bodies is V-shaped.

[0010] The upper end of the claw base is connected to the end of the robot, and the robot is mounted on the base.

[0011] Two pneumatic modules are arranged along the length of the claw base connecting plate, and one pneumatic module is arranged along the width of the claw base connecting plate.

[0012] The pneumatic module includes a connector and a pneumatic clamp. The connector is installed on the bottom connecting plate of the claw base, and the pneumatic clamp is installed on the bottom of the connector.

[0013] The lower end of the guide rod and both ends of the floating guide plate are respectively provided with limiting blocks.

[0014] The finished workpiece clamp also includes an anti-rotation block and a bracket. The upper end of the bracket is fixed to the bottom rear side of the pneumatic module, and the lower front side of the bracket is equipped with an anti-rotation block, which is located between two ear hole positioning blocks.

[0015] Compared with the prior art, this utility model integrates the fixed section fork gripper, shaft tube gripper and finished workpiece gripper on a single gripper base, enabling the gripping and placement of multiple parts of different specifications. This replaces manual loading and unloading, improves the assembly efficiency of the intermediate shaft, and reduces costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a schematic diagram of the present invention for gripping and fixing the fork, shaft tube and finished workpiece.

[0018] Figure 3 This is a schematic diagram of the fixed fork gripper of the present invention gripping the fixed fork.

[0019] Figure 4 This is a schematic diagram of the workpiece clamping jaws of this utility model.

[0020] Figure 5 This is a schematic diagram of the shaft tube clamp of this utility model.

[0021] Figure 6 This is a schematic diagram of the connection between the present invention and a robot. Detailed Implementation

[0022] The present invention will now be further described with reference to the accompanying drawings.

[0023] See Figure 1This utility model is a robot integrated gripper for picking up intermediate shafts, including a fixed fork gripper, a finished workpiece gripper, a shaft tube gripper, a gripper base, and a pneumatic module. Three pneumatic modules 2 are installed on the bottom connecting plate of the gripper base 1. The fixed fork gripper 5, the finished workpiece gripper 6, and the shaft tube gripper 7 are respectively installed on the bottom of the corresponding pneumatic module 2.

[0024] See Figure 6 The upper end of the gripper base 1 is connected to the end of the robot 9. The robot 9 is mounted on the base 10 and the pneumatic module 2 is opened and closed by the PLC, thereby realizing the opening and closing of different grippers of the integrated gripper 11.

[0025] Two pneumatic modules 2 are arranged along the length of the connecting plate of the claw base 1, and one pneumatic module 2 is arranged along the width of the connecting plate of the claw base 1 to save space.

[0026] The pneumatic module 2 includes a connector 21 and a pneumatic clamp 22. The connector 21 is installed on the bottom connecting plate of the claw base 1, and the pneumatic clamp 22 is installed on the bottom of the connector 21.

[0027] See Figure 2 , Figure 3 The fixed fork gripper 5 includes a guide rod 51, a spring 52, a floating guide plate 53, a center positioning block 54, and clamping plates 55. The guide rod 51 is fixed to the bottom of the pneumatic module 2, and the lower end of the guide rod 51 passes through the center positioning block 54. The spring 52 is sleeved on the outside of the guide rod 51, and the two ends of the spring 52 abut against the boss of the guide rod 51 and the top surface of the center positioning block 54, respectively. The middle part of the floating guide plate 53 is sleeved on the outside of the guide rod 51 and is located above the center positioning block 54. The two ends of the floating guide plate 53 pass through the through holes on the surface of the clamping plates 55. The upper ends of the two clamping plates 55 are connected to the movable end of the pneumatic module 2, and the lower parts of the two clamping plates 55 are located on both sides of the center positioning block 54.

[0028] Limiting blocks are provided at the lower end of the guide rod 51 and at both ends of the floating guide plate 53 to prevent the center positioning block 54 from falling off the lower end of the guide rod 51 and the two ends of the floating guide plate 53 from coming out of the clamping piece 55.

[0029] When the fixed fork gripper 5 grasps the fixed fork 8, the two gripping plates 55 are in the open state under the action of the pneumatic gripper 22. The robot 9 drives the gripper to move downward, and the center positioning block 54 pushes into the spline of the fixed fork 8. The center positioning block 54 moves upward along the guide rod 51, the spring 52 is compressed, and the floating guide plate 53 moves upward, so that the fixed fork 8 enters the clamping area between the two gripping plates 55. The pneumatic gripper 22 drives the two gripping plates 55 to clamp the fixed fork 8.

[0030] When the fixed fork 8 is placed, after the robot 9 moves the gripper to the designated position, the pneumatic clamp 22 drives the two clamping plates 55 to open. The elastic force of the spring 52 provides axial thrust to the fixed fork 8. Combined with the weight of the fixed fork 8, the fixed fork 8 is released, so that the fixed fork 8 can be accurately placed with the positioning fixture.

[0031] The cooperation between the center positioning block 54 and the floating guide plate 53 enables floating centering, which can play a vertical centering role for fixed forks of different sizes and specifications.

[0032] See Figure 4 The finished workpiece gripper 6 includes a connecting positioning block 61, a finished workpiece gripper body 62, an ear hole positioning block 63, an anti-rotation block 64, and a bracket 65. The upper end of the bracket 65 is fixed to the bottom rear side of the pneumatic module 2, and the anti-rotation block 64 is installed on the lower front side of the bracket 65. The upper ends of the two finished workpiece gripper bodies 62 are connected to the movable end of the pneumatic module 2 by the connecting positioning block 61. The lower inner side of the two finished workpiece gripper bodies 62 is respectively equipped with an ear hole positioning block 63, and the anti-rotation block 64 is located between the two ear hole positioning blocks 63.

[0033] See Figure 2 When the finished workpiece gripper 6 grasps the finished workpiece 3, the finished workpiece gripper body 62 is in the open state under the action of the pneumatic clamp 22. When the robot 9 moves to the gripping position, the pneumatic clamp 22 drives the finished workpiece gripper body 62 to close, the ear hole positioning block 63 is inserted into the fixed fork ear hole of the finished workpiece 3, and the finished workpiece gripper body 62 clamps and fixes it.

[0034] When the finished workpiece 3 is placed in the finished workpiece gripper 6, the pneumatic clamp 22 drives the finished workpiece gripper body 62 to open, and the finished workpiece 3 falls into the placement area under its own gravity.

[0035] The ear hole positioning block 63 has the function of detecting the deformation of the ear hole during pressing of the finished workpiece 3. If the ear hole structure is abnormal, the ear hole positioning block 63 cannot be inserted. The anti-rotation stop block 64 can prevent the finished workpiece 3 from rotating and tipping due to its own weight, thus avoiding the problem of the finished workpiece colliding with the machine.

[0036] See Figure 5 The shaft tube gripper 7 includes a connecting positioning block 2 71 and a shaft tube gripper body 72. The upper ends of the two shaft tube gripper bodies 72 are connected to the movable end of the pneumatic module 2 by the connecting positioning block 2 71. The lower inner side of the two shaft tube gripper bodies 72 is V-shaped.

[0037] See Figure 2When the shaft and tube gripper 7 grasps the shaft or tube part 4, the gripper body 72 is in the open state under the action of the pneumatic gripper 22. When the robot 9 moves to the grasping position, the pneumatic gripper 22 drives the gripper body 72 to close, and the gripper body 72 clamps the shaft or tube part 4.

[0038] When placing shaft or tube parts 4, the pneumatic clamp 22 drives the shaft or tube clamp body 72 to open, and the shaft or tube parts 4 fall into the placement area under their own gravity.

[0039] The V-shaped shaft and tube gripper body 72 can adaptively grip shaft or tube parts 4 of different sizes without requiring the shaft or tube part 4 to be changed due to different sizes.

[0040] This invention integrates a fixed fork gripper, a shaft tube gripper, and a finished workpiece gripper onto a single gripper base, enabling the gripping and placement of multiple parts of different specifications. This replaces manual loading and unloading, improves the assembly efficiency of the intermediate shaft, and reduces costs.

Claims

1. A robot integrated gripper for intermediate shaft taking, comprising a fixed knuckle gripper, a finished piece gripper, a shaft pipe gripper, a jaw base, a pneumatic module, characterized in that: Three pneumatic modules (2) are installed on the bottom connecting plate of the claw base (1), and the fixed yoke clamp jaw (5), the finished workpiece clamp jaw (6) and the shaft pipe clamp jaw (7) are respectively installed at the bottom of the corresponding pneumatic module (2). The fixed yoke clamp jaw (5) comprises a guide rod (51), a spring (52), a floating guide plate (53), a center positioning block (54) and a clamping piece (55), the guide rod (51) is fixed at the bottom of the pneumatic module (2), the lower end of the guide rod (51) penetrates through the center positioning block (54), the spring (52) is sleeved outside the guide rod (51), the two ends of the spring (52) are respectively abutted against the boss of the guide rod (51) and the top surface of the center positioning block (54), the middle part of the floating guide plate (53) is sleeved outside the guide rod (51) and located above the center positioning block (54), the two ends of the floating guide plate (53) penetrate through the through holes in the surface of the clamping piece (55), the upper ends of the two clamping pieces (55) are connected with the movable end of the pneumatic module (2), and the lower parts of the two clamping pieces (55) are located on the two sides of the center positioning block (54). The finished workpiece clamp jaw (6) comprises a connecting positioning block one (61), a finished workpiece clamp jaw body (62) and an ear hole positioning block (63), the upper ends of the two finished workpiece clamp jaw bodies (62) are connected with the movable end of the pneumatic module (2) through the connecting positioning block one (61), and the inner sides of the lower parts of the two finished workpiece clamp jaw bodies (62) are respectively provided with the ear hole positioning block (63). The shaft pipe clamp jaw (7) comprises a connecting positioning block two (71) and a shaft pipe clamp jaw body (72), the upper ends of the two shaft pipe clamp jaw bodies (72) are connected with the movable end of the pneumatic module (2) through the connecting positioning block two (71), and the inner sides of the lower parts of the two shaft pipe clamp jaw bodies (72) are V-shaped.

2. The robotically integrated gripper for midshaft retrieval of claim 1, wherein: The upper end of the claw base (1) is connected with the tail end of the robot (9), and the robot (9) is installed on the base (10).

3. The robotically integrated gripper for midshaft retrieval of claim 1, wherein: The two pneumatic modules (2) are arranged along the length direction of the connecting plate of the claw base (1), and one pneumatic module (2) is arranged along the width direction of the connecting plate of the claw base (1).

4. The robotically integrated gripper for midshaft retrieval of claim 1, wherein: The pneumatic module (2) comprises a connecting piece (21) and a pneumatic clamp (22), the connecting piece (21) is installed on the bottom connecting plate of the claw base (1), and the pneumatic clamp (22) is installed at the bottom of the connecting piece (21).

5. The robotically integrated gripper for midshaft retrieval of claim 1, wherein: The lower end of the guide rod (51) and the two ends of the floating guide plate (53) are respectively provided with limit blocks.

6. The robotically integrated gripper for midshaft retrieval of claim 1, wherein: The finished workpiece clamp jaw (6) further comprises an anti-rotation stop block (64) and a support (65), the upper end of the support (65) is fixed at the bottom rear side of the pneumatic module (2), the lower end of the support (65) is provided with the anti-rotation stop block (64) at the front side, and the anti-rotation stop block (64) is located between the two ear hole positioning blocks (63).

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