Robot composite clamping jaw based on passenger car swing bolster spring

Abstract

The utility model discloses a passenger car swing bolster spring-based robot composite clamping jaw, which comprises a clamping jaw mounting plate, an inner support clamping jaw assembly, a clamping assembly and a pneumatic valve assembly, a quick change disc is mounted on the outer side of the clamping jaw mounting plate, the inner support clamping jaw assembly is mounted on the inner side of the clamping jaw mounting plate, and the pneumatic valve assembly is mounted on the outer side of the clamping jaw mounting plate. The sliding assembly is mounted on the clamping jaw mounting plate, and the inner supporting clamping jaw is mounted on the sliding assembly; the clamping assembly is installed at the bottom of the clamping jaw installation plate and comprises a two-finger clamping jaw and two sets of clamping tools oppositely installed on the two-finger clamping jaw. The pneumatic valve assembly communicates with the inner supporting clamping jaw assembly and the clamping assembly. The composite clamping jaw is installed on a field robot, the three-jaw inner supporting clamping jaw is adopted to open an inner spring of a swing bolster spring, the two-finger clamping jaw is adopted to clamp an outer spring of the swing bolster spring, the inner spring and the outer spring of the swing bolster spring are grabbed at a time, and the time for grabbing the steel spring is saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot clamping jaw technical field, concretely relates to a robot composite clamping jaw based on passenger train swing bolster spring. BACKGROUND

[0002] The original robot spring grabbing scheme is as follows: first, an inner support three-jaw A is used to support the inner spring, the robot lifts the whole spring, and then another inner support three-jaw B is used to support the outer spring after the robot clamping jaw is rotated by 90 degrees.

[0003] The current grabbing method has the following disadvantages:

[0004] 1) The robot needs to grab twice, the grabbing time is long, the maintenance rhythm is affected, and the robot action needs to return to the original position when grabbing any spring;

[0005] 2) The vision camera needs to take pictures twice, which affects the maintenance rhythm;

[0006] In view of the above technical defects of the existing equipment, a robot grabbing mechanism for passenger train swing bolster springs is needed to shorten the grabbing and carrying time of the swing bolster spring. UTILITY MODEL CONTENTS

[0007] The utility model aims to provide a six-axis robot composite clamping jaw based on passenger train swing bolster springs, which can grab the inner spring and the outer spring of the steel spring at the same time, and save the time of grabbing the steel spring.

[0008] To achieve the above-mentioned purpose, the utility model is realized by the following technical scheme:

[0009] A robot composite clamping jaw based on passenger train swing bolster springs, comprising a clamping jaw mounting plate, an inner support clamping jaw assembly, a clamping assembly and a pneumatic valve assembly, a quick-change disc is installed on the outer side of the clamping jaw mounting plate, the inner support clamping jaw assembly is installed on the inner side of the clamping jaw mounting plate, and it comprises a sliding assembly installed on the clamping jaw mounting plate and an inner support clamping jaw installed on the sliding assembly; the clamping assembly is installed at the bottom of the clamping jaw mounting plate, and it comprises a two-finger clamping jaw and two sets of clamping tooling installed on the two-finger clamping jaw in opposite directions; the pneumatic valve assembly is in communication with the inner support clamping jaw assembly and the clamping assembly respectively.

[0010] Further, the clamping jaw mounting plate comprises a first mounting plate and a second mounting plate connected in an inverted L shape, the inner support clamping jaw assembly is installed on the inner side of the first mounting plate, and the clamping assembly is installed at the bottom of the second mounting plate.

[0011] Further, the sliding assembly comprises a sliding rail installed on the inner side of the clamping jaw mounting plate, a sliding block in sliding connection with the sliding rail and installed on the top surface of the inner support clamping jaw, and a sliding cylinder installed on the outer side of the clamping jaw mounting plate, and the extension end of the sliding cylinder is connected with the top of the inner support clamping jaw.

[0012] Further, the inner side of the clamping jaw mounting plate is provided with a stop pin.

[0013] Further, a booster spring is installed between the inner support clamping jaw and the clamping jaw mounting plate.

[0014] Further, the inner support clamping jaw is a three-jaw inner support structure.

[0015] Further, the inner support clamping jaw is a three-jaw inner support structure.

[0016] Further, the clamping tool includes a tool pad mounted on the two-finger clamping jaw movable end in opposition, and a clamping plate mounted on the inner side of the tool pad.

[0017] The composite clamping jaw mounting field robot of the utility model adopts the three-jaw inner support clamping jaw to support the inner spring of the rocker spring, adopts the two-finger clamping jaw to clamp the outer spring of the rocker spring, realizes the one-time grabbing of the inner spring and the outer spring of the rocker spring, and saves the time for grabbing the steel spring. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is the whole structure schematic view of the utility model;

[0019] Fig. 2 It is the schematic view of the utility model after removing the first mounting plate;

[0020] Fig. 3 It is another side three-dimensional structure schematic view of the utility model.

[0021] In the figure, 1-clamping jaw mounting plate; 11-first mounting plate; 12-second mounting plate; 13-stop pin; 2-inner support clamping jaw assembly; 21-sliding assembly; 211-slideway; 212-sliding block; 213-sliding cylinder; 214-elongated rod; 22-inner support clamping jaw; 23-booster spring; 24-inner support pad; 3-clamping assembly; 31-two-finger clamping jaw; 32-clamping tool; 321-tool pad; 322-clamping plate; 4-pneumatic valve assembly; 5-fast-changing disc. DETAILED DESCRIPTION

[0022] The utility model will be further explained in detail in combination with the drawings and examples.

[0023] In the description of the embodiments of the utility model, it needs to explain, the term "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and so on indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the embodiments of the utility model and simplifying the description, and it is not indicated or implied that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore it cannot be understood as the limitation of the embodiments of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the embodiments of the utility model, it needs to explain, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the embodiments of the utility model can be understood according to the specific circumstances.

[0025] In the embodiments of the utility model, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be directly above or obliquely above the first feature, or just indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be directly below or obliquely below the first feature, or just indicate that the horizontal height of the first feature is less than that of the second feature.

[0026] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the utility model. In the specification, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0027] As Figs. 1 to 3As shown, the utility model of a kind of robot composite gripper based on passenger car swing bolster spring, including gripper mounting plate 1, inner support gripper assembly 2, embrace clamping component 3 and pneumatic valve component 4, quick-change disc 5 is installed in gripper mounting plate 1 outside, gripper mounting plate 1 is used to install each spare part of composite gripper, and composite gripper is installed on six-axis robot in situ by quick-change disc 5, six-axis robot controls each movement action of robot by control box, drives composite gripper to move to different positions.

[0028] Inner support gripper assembly 2 is installed in the inside of gripper mounting plate 1, it includes sliding assembly 21 installed on gripper mounting plate 1 and inner support gripper 22 installed on sliding assembly 21, preferably, inner support gripper 22 is three gripper inner support structure.Inner support gripper 22 is the drive mechanism of the inner spring of the axial inner support swing bolster spring from top, sliding assembly 21 is used to movably connect gripper mounting plate 1 with inner support gripper 22, and it plays a guiding role to its front and rear movement.

[0029] Embrace clamping component 3 is installed at the bottom of gripper mounting plate 1, it includes two-finger gripper 31 and two groups of embrace clamping tool 32 oppositely installed on two-finger gripper 31, two-finger gripper 31 is the drive mechanism of the outer spring of the outer embrace swing bolster spring, and embrace is contacted by embracing tool and outer wall of outer spring to realize embrace tightly;Pneumatic valve component 4 is communicated with inner support gripper assembly 2 and embrace clamping component 3 respectively, pneumatic valve component 4 is divided into pneumatic reversing valve for controlling the opening of inner support gripper 22 and pneumatic reversing valve for controlling the opening of two-finger gripper 31, and is respectively used for controlling the opening and closing of inner support gripper 22 and the opening and closing of two-finger gripper 31.

[0030] Preferably, as shown in Fig. 1 And Fig. 3 As shown, gripper mounting plate 1 includes first mounting plate 11 and second mounting plate 12 integrally connected in inverted L type, inner support gripper assembly 2 is installed on the inner side of first mounting plate 11, and embrace clamping component 3 is installed at the bottom of second mounting plate 12.

[0031] Preferably, sliding assembly 21 includes slide rail 211 installed on the inner side of gripper mounting plate 1, sliding block 212 slidably connected with slide rail 211 and installed on the top surface of inner support gripper 22, and sliding cylinder 213 installed on the outside of gripper mounting plate 1, the extension end of sliding cylinder 213 is connected with the top of inner support gripper 22, preferably, sliding cylinder 213 can be connected with the top of inner support gripper through extension rod 214 and be limited, and stop block is arranged between gripper mounting plate 1 and inner support gripper 22, to limit the movement of inner support gripper 22 along sliding assembly 21.

[0032] Preferably, stop pin 13 is arranged on the inner side of gripper mounting plate 1, to limit the movement of inner support gripper 22 on gripper mounting plate 1.

[0033] Preferably, a boosting spring 23 is installed between the inner support clamp jaw 22 and the clamp jaw mounting plate 1, and the boosting spring 23 is used to pull the inner support clamp jaw 22, so as to prevent the force of the sliding cylinder 213 of the slide assembly 21 from being too small to pull when the seat spring is horizontally placed.

[0034] Preferably, an inner support pad 24 is arranged on the outer side of the inner support clamp jaw 22, and the inner support pad 24 is a nylon piece, which is used to abut against the inner spring of the seat spring, so as to avoid that the inner support clamp jaw causes bruise to the workpiece.

[0035] Preferably, the clamp tool 32 comprises a tool pad 321 oppositely mounted at the movable end of the two-finger clamp jaw 31, and a clamp plate 322 mounted at the inner side of the tool pad 321.

[0036] The action sequence of the composite clamp jaw and the robot equipment of the utility model is as follows:

[0037] 1) The seat spring is placed on the buffer rack;

[0038] 2) The six-axis robot moves the composite clamp jaw to a specified position;

[0039] 3) The vision camera takes a photo of the inner spring of the seat spring, and performs center positioning on the round hole;

[0040] 4) The composite clamp jaw moves downward from top to bottom and moves to a specified position;

[0041] 5) The inner support clamp jaw 22 of the inner support clamp jaw assembly 2 props open the inner spring;

[0042] 6) The two-finger clamp jaw 31 of the clamp assembly 3 clamps the outer spring;

[0043] 7) The six-axis robot places the seat spring to the tray unloading position on the conveying line;

[0044] 8) The two-finger clamp jaw 31 releases the outer spring of the seat spring;

[0045] 9) The sliding cylinder 213 pushes the inner support clamp jaw 22 to move outward;

[0046] 10) The inner support clamp jaw 22 releases the inner spring of the seat spring;

[0047] 11) The six-axis robot retreats to the original position with the composite clamp jaw.

[0048] The specific embodiments in the utility model are merely explanations of the utility model, and are not limitations of the utility model, and the person skilled in the art can make modifications without creative contribution according to the needs after reading the specification, but as long as it is within the scope of the claims of the utility model, it is protected by the patent law.

Claims

1. A robotic composite gripper based on a bus bolster spring, characterized in that, The device includes a gripper mounting plate (1), an inner support gripper assembly (2), a clamping assembly (3), and a pneumatic valve assembly (4). A quick-change disc (5) is mounted on the outside of the gripper mounting plate. The inner support gripper assembly is mounted on the inside of the gripper mounting plate and includes a sliding assembly (21) mounted on the gripper mounting plate and an inner support gripper (22) mounted on the sliding assembly. The clamping assembly is mounted on the bottom of the gripper mounting plate and includes a two-finger gripper (31) and two sets of clamping fixtures (32) mounted opposite to each other on the two-finger gripper. The pneumatic valve assembly is connected to the inner support gripper assembly and the clamping assembly respectively.

2. The robot composite gripper based on a bus bolster spring according to claim 1, characterized in that, The gripper mounting plate includes a first mounting plate (11) and a second mounting plate (12) integrally connected in an inverted L-shape. The inner support gripper assembly is installed on the inner side of the first mounting plate, and the clamping assembly is installed on the bottom of the second mounting plate.

3. The robot composite gripper based on a bus bolster spring according to claim 1, characterized in that, The sliding assembly includes a slide rail (211) mounted on the inner side of the gripper mounting plate, a slider (212) slidably connected to the slide rail and mounted on the top surface of the inner support gripper, and a sliding cylinder (213) mounted on the outer side of the gripper mounting plate, with the telescopic end of the sliding cylinder connected to the top of the inner support gripper.

4. The robot composite gripper based on a bus bolster spring according to claim 3, characterized in that, A stop pin (13) is provided on the inner side of the gripper mounting plate.

5. The robot composite gripper based on a bus bolster spring according to claim 1, characterized in that, An assist spring (23) is installed between the inner support claw and the claw mounting plate.

6. The robotic composite gripper based on a bus bolster spring according to claim 1, characterized in that, The internal support claws are a three-claw internal support structure.

7. The robot composite gripper based on a bus bolster spring according to claim 1, characterized in that, An inner support pad (24) is provided on the outside of the inner support gripper.

8. The robot composite gripper based on a bus bolster spring according to claim 1, characterized in that, The clamping fixture includes a fixture pad (321) mounted opposite to the movable end of the two-finger gripper, and a clamping plate (322) mounted inside the fixture pad.

Images