Manipulator flexible grabbing equipment

Abstract

The utility model relates to the field of throttle valve production equipment, in particular to manipulator flexible grabbing equipment. The equipment is used for solving the problems of low manual feeding efficiency and inaccurate positioning. The mechanical arm structurally comprises a base and a mechanical arm body. A threaded rod with a threaded groove and a driving circular ring are arranged in the mechanical arm body. The bottom of the screw is connected with a floating platform below which a floating pressing plate is arranged. And two pneumatic clamping and positioning clamping jaws are arranged in a chute at the bottom of the floating platform. When the floating pressing plate makes contact with the workpiece, the compressed spring is compressed, and the pneumatic clamping and positioning clamping jaw synchronously moves inwards to grab the workpiece. The inner cavity of the floating platform is connected with an air source through an electromagnetic valve to drive the clamping jaw. The equipment absorbs grabbing impact through an elastic buffer structure and is matched with a photoelectric sensor to realize automatic positioning grabbing. The efficient and continuous feeding effect can be achieved, the manual operation cost is reduced, and the positioning precision of the throttle valve production line is improved.

Description

Technical Field

[0001] This utility model relates to the field of throttle body manufacturing technology, and in particular to a robotic arm flexible gripping device. Background Technology

[0002] The throttle body is one of the core components of a car engine. In the current production process, manual loading is not only inefficient and slow, but also inconsistent. Manual placement is prone to inaccurate positioning and displacement, and labor costs are also high.

[0003] To address the aforementioned shortcomings, a flexible gripping throttle body robot is provided, offering a highly efficient, stable, and automated loading and unloading solution for throttle body production, thus resolving the issues of low production efficiency and high labor costs. Utility Model Content

[0004] The purpose of this invention is to solve the problems of low production efficiency, slow and inconsistent feeding speed, inaccurate positioning and easy displacement of manual placement in the existing technology, as well as high labor costs. The proposed invention is a flexible gripping device with a robotic arm.

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

[0006] A robotic arm-based flexible gripping device, including a base;

[0007] A robotic arm is mounted on top of the base;

[0008] A screw, the top of which slides through the manipulator, has a driven ring rotatably mounted inside the manipulator, and the outer wall of the screw has a threaded groove, with the ring fitted onto the outer wall of the screw and threadedly engaged with the threaded groove.

[0009] A floating platform, the top of which is fixed to the bottom of the screw;

[0010] The floating pressure plate is located below the floating platform;

[0011] Two pneumatic clamping and positioning claws are provided. Slide grooves are provided on both sides of the bottom of the floating platform. The two pneumatic clamping and positioning claws are slidably disposed inside the two slide grooves respectively, and the floating pressure plate is located between the two pneumatic clamping and positioning claws.

[0012] When the floating pressure plate contacts the workpiece surface, the compression spring is compressed to achieve flexible clamping, and the pneumatic clamping and positioning jaws move inward to grasp the workpiece.

[0013] In one possible design, a vertical limiting groove is formed on the surface of the screw, and a limiting block is fixedly provided on the inner wall of the robot, with the limiting block cooperating with the vertical limiting groove to limit the rotation of the screw.

[0014] In one possible design, the floating platform has two internal cavities, each connected to a sliding groove. Two connectors are fixedly installed on one side of the floating platform, with one end of each connector connected to one of the two internal cavities. A solenoid valve mechanism is installed on the other side of the floating platform, and the other end of each connector is connected to an air pump via the solenoid valve mechanism.

[0015] In one possible design, connecting shafts are fixedly installed at both ends of the floating pressure plate, and one end of the connecting shaft is slidably installed inside the floating platform. A compression spring is sleeved on the outer wall of the connecting shaft, and the two ends of the compression spring abut against the top of the floating pressure plate and the bottom of the floating platform respectively through spring seats.

[0016] In one possible design, a photoelectric sensor is installed on one side of the floating platform to detect the workpiece positioning signal.

[0017] In one possible design, the gripping wall of the pneumatic clamping and positioning gripper is provided with a rubber pad.

[0018] In this application, during actual use, a robotic arm moves the pneumatic gripper positioning claw above the conveyor belt. When the product is transported to the designated position by the conveyor belt, it will touch the photoelectric sensor. At this time, the drive ring rotates, and the ring will drive the screw to move downward. The screw drives the floating platform and corresponding components to move synchronously, so that the floating pressure plate contacts the throttle valve surface, the compression spring is compressed, and then the solenoid valve mechanism is activated. The air pump draws gas from the inner cavity through the connector, causing the pneumatic gripper positioning claw to move inward, thereby grabbing the target. After that, it can be moved to the designated target position, and then the pneumatic gripper positioning claw is released and reset.

[0019] In this utility model, the robotic arm flexible gripping device, by adopting an elastic buffer structure composed of a floating pressure plate and a compression spring, can achieve flexible gripping cooperation with the pneumatic gripper, and can effectively absorb gripping impact;

[0020] In this utility model, the robotic arm flexible gripping device, through the detection and cooperation of photoelectric sensors, can achieve target gripping when the product moves to a designated place by the conveyor belt and touches the sensor;

[0021] In this invention, the equipment is used at the loading and unloading station of the throttle body production line. It has the advantages of high flexibility, high positioning accuracy, and high speed. During the production process, it can effectively solve the problems of low efficiency and inaccurate placement of manual loading, enabling the production line to produce continuously and efficiently, while ensuring the positioning accuracy of loading, thus ensuring product quality while maintaining high production efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the main structure of the robotic arm flexible grasping device proposed in this utility model;

[0023] Figure 2 This utility model Figure 1 Enlarged view of the structure of part A in the middle;

[0024] Figure 3 This is a partial bottom view of the flexible gripping robotic arm structure proposed in this utility model.

[0025] In the diagram: 1. Base; 2. Robotic arm; 3. Screw; 4. Floating platform; 5. Solenoid valve mechanism; 6. Vertical limit groove; 7. Threaded groove; 8. Connector; 9. Compression spring; 10. Floating pressure plate; 11. Photoelectric sensor; 12. Connecting shaft; 13. Pneumatic clamping and positioning gripper; 14. Slide groove. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] In one embodiment: Reference Figure 1-2 The gripping device includes: a base 1 and a robotic arm 2 that is bolted to the top of the base 1.

[0028] The robotic arm 2 is a multi-joint robotic arm structure (brand: ESTUN, model: ER10-600-SR). Its end effector has a vertically penetrating through-hole. The top end of the screw 3 passes through this through-hole and is slidably connected via a linear bearing. The bottom end of the screw 3 is fixedly connected to the center of the top of the floating platform 4. Its outer wall has an axially threaded groove 7. Inside the robotic arm 2, a drive ring is rotatably mounted via bearings. The inner wall of this drive ring has a threaded structure that matches the threaded groove 7. When the drive motor or other drive mechanism rotates this ring, the screw 3 can be driven to move up and down axially via the threaded transmission.

[0029] refer to Figure 3The bottom of the floating platform 4 has two symmetrical T-shaped grooves 14, and two pneumatic clamping and positioning claws 13 are respectively slidably engaged with the grooves 14 through T-shaped sliders. A rubber pad is adhered to the inner side of the clamping arm of each pneumatic clamping and positioning claw 13. The floating platform 4 has two isolated air chambers inside, each connected to an external air circuit via a connector 8. Compressed air output from the air pump is distributed to the two air chambers via a solenoid valve mechanism 5.

[0030] This application can be used in the field of throttle body manufacturing, or in other fields applicable to this application.

[0031] In another embodiment: Reference Figure 3 This is a robotic arm-based flexible gripping device applied in the throttle body manufacturing industry. The floating pressure plate 10 is slidably connected to the floating platform 4 at both ends via connecting shafts 12. A compression spring 9 is fitted onto the outer wall of the connecting shaft 12. The upper and lower ends of the compression spring 9 abut against the top of the floating pressure plate 10 and the bottom of the floating platform 4 respectively via spring seats, forming an elastic buffer mechanism. When the floating pressure plate 10 contacts the workpiece surface, the compression spring 9 provides a buffering force to prevent rigid impact.

[0032] refer to Figure 2 The screw 3 has a vertical limiting groove 6 along its axial direction on its outer wall. A limiting block is fixed at a corresponding position on the inner wall of the robot 2. The limiting block is embedded in the vertical limiting groove 6 to form a sliding guide, effectively preventing the screw 3 from rotating. A photoelectric sensor 11 (brand: SICK, model: GTB6 P4211) is installed on the side of the floating platform 4 via a threaded connection.

[0033] The workflow in this example is as follows:

[0034] 1. The product is transported to the designated location via a conveyor belt;

[0035] 2. Once the photoelectric detection product is in place, the robotic arm quickly moves to the target gripping position;

[0036] 3. The solenoid valve drives the pneumatic gripper to clamp and position the product;

[0037] 4. The robotic arm picks up the product and delivers it at high speed to the designated target location;

[0038] 5. The robotic arm releases, and the product moves to the target position before proceeding to the next processing step;

[0039] 6. Execute in a loop.

[0040] However, as is well known to those skilled in the art, the working principle and wiring method of the solenoid valve mechanism 5 and the photoelectric sensor 11 are commonplace and are all conventional means or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0041] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0042] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm flexible gripping device, characterized in that, include: Base (1); A robotic arm (2) is mounted on top of the base (1); The screw (3) slides through the manipulator (2) at its top end. The manipulator (2) has a driven ring inside it. The outer wall of the screw (3) has a threaded groove (7). The ring is fitted on the outer wall of the screw (3) and threadedly engages with the threaded groove (7). The floating platform (4) is fixed at its top to the bottom of the screw (3); A floating pressure plate (10) is located below the floating platform (4); Two pneumatic clamping and positioning claws (13) are provided on both sides of the bottom of the floating platform (4). The two pneumatic clamping and positioning claws (13) are slidably disposed inside the two sliding grooves (14), and the floating pressure plate (10) is located between the two pneumatic clamping and positioning claws (13). When the floating pressure plate (10) contacts the workpiece surface, the compression spring (9) is compressed to achieve flexible clamping, and the pneumatic clamping positioning claw (13) moves inward to grasp the workpiece.

2. The robotic arm flexible gripping device according to claim 1, characterized in that, The screw (3) has a vertical limiting groove (6) on its surface. The inner wall of the manipulator (2) is fixedly provided with a limiting block, and the limiting block cooperates with the vertical limiting groove (6) to limit the rotation of the screw (3).

3. The robotic arm flexible gripping device according to claim 1, characterized in that, The floating platform (4) has two internal cavities, which are connected to two slides (14) respectively. Two connectors (8) are fixedly installed on one side of the floating platform (4), and one end of each connector (8) is connected to one of the two internal cavities respectively. A solenoid valve mechanism (5) is installed on the other side of the floating platform (4), and the other end of the connector (8) is connected to the air pump through the solenoid valve mechanism (5).

4. The robotic arm flexible gripping device according to claim 1, characterized in that, The two ends of the floating pressure plate (10) are respectively fixedly provided with connecting shafts (12), and one end of the connecting shaft (12) is slidably provided inside the floating platform (4). The outer wall of the connecting shaft (12) is fitted with a compression spring (9), and the two ends of the compression spring (9) abut against the top of the floating pressure plate (10) and the bottom of the floating platform (4) respectively through spring seats.

5. The robotic arm flexible gripping device according to claim 1, characterized in that, A photoelectric sensor (11) is installed on one side of the floating platform (4) to detect the workpiece positioning signal.

6. The robotic arm flexible gripping device according to claim 1, characterized in that, The clamping wall of the pneumatic clamping and positioning claw (13) is provided with a rubber pad.

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