Robot clamp swinging equipment

Abstract

The utility model discloses a robot clamp swinging device, which relates to the technical field of clamp swinging and comprises a mechanical arm tail end mounting frame, two groups of rotating shafts and symmetrical fixing arms, a mounting plate is arranged between the fixing arms, and the bottom of the fixing arms is connected with an L-shaped fixing claw. The top pressing plate is driven by a first air cylinder to vertically press a workpiece. The side pressing plate assembly is driven by a second air cylinder, and arc-shaped grooves cooperatively extrude workpieces to the center of the clamp. The third cylinder drives the rotating shaft to rotate to adjust opening and closing of the fixed arm; according to the device, through cooperative control of the mechanical arm and the air cylinder, self-adaptive centering, multi-directional clamping and precise positioning are achieved, the defect of positioning errors of a traditional clamp is overcome, and the machining precision and the percent of pass are improved.

Description

Technical Field

[0001] This utility model relates to the field of clamp swinging technology, specifically a robotic clamp swinging device. Background Technology

[0002] In the automated swing-shaped machining of precision components such as mechanical grippers, the robot fixture, as the core execution unit, directly affects the machining quality and efficiency due to its positioning accuracy.

[0003] In current technology, fixtures are typically mounted directly on the end effector of a robotic arm, using rigid clamping to fix objects. However, existing fixture structures generally suffer from the following technical defects: the clamping mechanism lacks adaptive centering functionality, making it difficult to precisely position the clamped object at the geometric center of the fixture. These problems directly lead to the accumulation of positioning errors during the swing-shaped process, resulting in dimensional deviations and decreased product yield, or even significantly reduced production line cycle time due to frequent manual adjustments. Therefore, we propose a robotic fixture swing-shaped device. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by proposing a robotic gripper swinging device.

[0005] To solve the above-mentioned technical problems, the present invention solves the problem of the difficulty in self-alignment of the clamp in the prior art through the following technical solution.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic gripper swinging device includes: a robotic arm; a mounting frame fixed to the end of the robotic arm, with two rotating shafts rotatably mounted inside the mounting frame; two sets of fixed arms, each set of fixed arms symmetrically fixed to both ends of a rotating shaft, with a mounting plate fixed between each set of fixed arms; a fixed claw assembly including multiple fixed claws evenly distributed on the bottom of the mounting plate, the fixed claws being connected to the mounting plate by bolts; a top pressure plate for pressing against the top of a workpiece placed on the fixed claws, with a first cylinder symmetrically fixed inside the mounting frame, the top pressure plate being fixed to the output end of the first cylinder; and a side pressure plate assembly including two symmetrically arranged side pressure plates, with a second cylinder fixed to the mounting plate, the output end of the second cylinder being fixed to the side pressure plate; wherein, the opposing surfaces of the two side pressure plates are provided with arc-shaped grooves, and the two side pressure plates are driven to move closer to each other by the second cylinders, so that the arc-shaped grooves work together to squeeze the workpiece to the center position of the mounting frame.

[0008] Preferably, the fixing claw is L-shaped and includes a fixing rod fixed to the mounting plate and a horizontal rod for supporting the bottom of the workpiece. The horizontal rod and the fixing rod are rotatably connected by a sleeve.

[0009] Preferably, the connecting end face of the fixed rod and the horizontal rod is provided with an annular groove, and the sleeve is fitted into the annular groove.

[0010] Preferably, the sleeve and the fixed rod are fixed together by a limiting bolt, which passes through the through hole of the sleeve and the fixed rod.

[0011] Preferably, the mounting frame has symmetrically distributed mounting seats on its outer side, a third cylinder is fixedly installed inside the mounting seat, a convex plate is fixedly installed at the center of the rotating shaft, and the output end of the third cylinder is rotatably connected to the end of the convex plate away from the rotating shaft. The convex plate is driven by the third cylinder to drive the rotating shaft to rotate, so that the fixed arm swings outward to grasp the workpiece.

[0012] Preferably, the contact surfaces of the horizontal bar and the fixed bar are provided with a matching central groove and a central shaft, the central groove being located inside the horizontal bar and the central shaft being fixed to the fixed bar.

[0013] Preferably, the end of the horizontal bar furthest from the fixed bar has a tapered structure.

[0014] Preferably, the strokes of the first and second cylinders are adjustable to accommodate workpieces of different sizes.

[0015] Preferably, the convex plate and the rotating shaft are fixedly connected by welding.

[0016] Preferably, the mounting plate has a positioning hole on the outer side of its bottom, through which the fixing claw is precisely aligned with the mounting plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This utility model, through the arc groove design of the side pressure plate assembly and the drive of the second cylinder, can automatically squeeze the workpiece to the geometric center of the fixture, effectively eliminate clamping offset, reduce the accumulation of errors in the swinging process, and significantly improve the processing dimensional accuracy and product qualification rate.

[0019] The adjustable stroke function of the first and second cylinders, combined with the L-shaped structure of the fixed claw and the sleeve rotation connection design, allows for flexible adjustment of the clamping range and support angle, meeting the stable clamping requirements of workpieces of different sizes and shapes, and expanding the applicability of the equipment.

[0020] By using a robotic arm and cylinders in synergy, the entire process of clamping, centering, and pressing is automated, reducing the frequency of manual intervention. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the mounting bracket structure of this utility model;

[0024] Figure 3 This is a schematic diagram of the mounting plate part of this utility model;

[0025] Figure 4 This is a schematic diagram of the mounting plate portion of this utility model from another perspective;

[0026] Figure 5 This is a schematic diagram of the fixing claw structure of this utility model;

[0027] Figure 6 This is a cross-sectional view of the fixing claw of this utility model.

[0028] Drawing number explanation: 1. Robotic arm; 2. Mounting frame; 3. Rotary shaft; 4. Fixed arm; 5. Mounting plate; 6. Fixed claw; 7. Top pressure plate; 8. First cylinder; 9. Side pressure plate; 10. Second cylinder; 11. Arc groove; 12. Fixed rod; 13. Horizontal rod; 14. Sleeve; 15. Annular groove; 16. Limit bolt; 17. Mounting base; 18. Third cylinder; 19. Protruding plate; 20. Central recess; 21. Central shaft; 22. Positioning hole. Detailed Implementation

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

[0030] Please see Figures 1-6 A robotic gripper swinging device integrates two sets of symmetrical rotating shafts 3 and fixed arms 4 through a mounting frame 2 mounted at the end of a robotic arm 1, forming a stable gripping frame. A mounting plate 5 is fixed between the fixed arms 4, with multiple fixed claws 6 evenly distributed at the bottom, connected by bolts for quick assembly and disassembly. A top pressure plate 7, driven by a first cylinder 8, presses vertically downwards to fix the top of the workpiece and prevent displacement during processing. The side pressure plate assembly, driven by a second cylinder 10, has an arc-shaped groove 11 that adapts to the workpiece shape, coordinating compression to automatically center the workpiece to the geometric center of the mounting frame 2. This multi-cylinder linkage design not only ensures precise control of the gripping force but also significantly improves the positioning accuracy and processing stability of complex workpieces through the combination of the flexible movement of the robotic arm 1 and the rigid support of the gripper.

[0031] The following describes some embodiments of this application in detail with reference to the accompanying drawings:

[0032] Please see Figures 1-6This utility model, through the design of the arc groove 11 of the side pressure plate assembly and the drive of the second cylinder 10, can automatically squeeze the workpiece to the geometric center of the fixture, effectively eliminate clamping offset, reduce the accumulation of errors in the swinging process, and significantly improve the processing dimensional accuracy and product qualification rate.

[0033] The fixed claw 6 is L-shaped and includes a fixed rod 12 fixed to the mounting plate 5 and a horizontal rod 13 for supporting the bottom of the workpiece. The horizontal rod 13 is rotatably connected to the fixed rod 12 through a sleeve 14. The fixed rod 12 is rigidly fixed to the mounting plate 5. The horizontal rod 13 rotates outside the fixed rod 12 through the sleeve 14. When the workpiece is squeezed into the center by the arc groove 11, the friction force on the workpiece movement can be reduced.

[0034] Furthermore, the connecting end face of the fixed rod 12 and the horizontal rod 13 is provided with an annular groove 15, and the sleeve 14 is fitted into the annular groove 15, realizing a stable pivotal connection between the two; the sleeve 14 and the fixed rod 12 are fixed by a limiting bolt 16, which passes through the through hole of the sleeve 14 and the fixed rod 12; the annular groove 15 and the limiting bolt 16 restrict the axial displacement of the sleeve 14, ensuring that the horizontal rod 13 maintains coaxiality with the fixed rod 12 during rotation, and avoiding clamping offset due to loose connection. At the same time, this structure simplifies the assembly process, facilitates quick disassembly and replacement of damaged parts during maintenance, and extends the service life of the equipment;

[0035] Furthermore, the contact surfaces of the horizontal rod 13 and the fixed rod 12 are provided with a matching central groove 20 and a central shaft 21. The central groove 20 is located inside the horizontal rod 13, and the central shaft 21 is fixed to the fixed rod 12. After the central shaft 21 is embedded in the groove, it forms a self-centering structure, ensuring that the horizontal rod 13 always moves around the axis of the fixed rod 12 when rotating, avoiding deflection caused by assembly errors. In addition, the end of the horizontal rod 13 away from the fixed rod 12 has a tapered structure, which can be quickly inserted into the bottom of the workpiece to clamp the workpiece.

[0036] Meanwhile, symmetrically distributed mounting seats 17 are rotatably mounted on the outer side of the mounting frame 2. A third cylinder 18 is fixedly mounted inside the mounting seat 17, and a protruding plate 19 is fixedly mounted at the center of the rotating shaft 3. The output end of the third cylinder 18 is rotatably connected to the end of the protruding plate 19 away from the rotating shaft 3. The third cylinder 18 drives the protruding plate 19 to rotate the rotating shaft 3, causing the fixed arm 4 to swing outward to grip the workpiece. When gripping the workpiece, the third cylinder 18 pushes the protruding plate 19 to rotate, causing the fixed arm 4 to unfold and increase the clamping space. After gripping, the cylinder retracts to reset the fixed arm 4. At this time, the horizontal bar 13 is horizontal, supporting the workpiece and ensuring tight clamping. This design realizes dynamic adjustment of the clamp opening and closing range, expanding the equipment's compatibility with workpieces of different sizes.

[0037] It is worth noting that the mounting plate 5 has a positioning hole 22 on the bottom outer side. The fixing claw 6 is precisely aligned with the mounting plate 5 through the positioning hole 22. The operator only needs to insert the fixing claw 6 into the positioning hole 22 and tighten the bolt to ensure that all fixing claws 6 are evenly distributed and aligned on the axis, avoiding errors caused by manual adjustment and further improving the assembly efficiency and clamping consistency of the fixture.

[0038] In this technical solution, the strokes of the first cylinder 8 and the second cylinder 10 are adjustable, allowing the operator to dynamically adjust the position of the pressure plate according to the height and width of the workpiece. For example, for taller workpieces, the stroke of the first cylinder 8 can be extended to increase the coverage area of ​​the top pressure plate 7; for wider workpieces, the stroke of the second cylinder 10 can be adjusted to ensure that the side pressure plates 9 are fully engaged. This function allows the fixture to adapt to various workpiece sizes without changing components, significantly improving the flexibility of the production line.

[0039] In this technical solution, the convex plate 19 and the rotating shaft 3 are fixedly connected by welding, ensuring the overall rigidity of the drive mechanism. The welded connection avoids the loosening problems that may occur with bolted connections, and can still maintain stable force transmission under high-speed movement or frequent start-stop conditions, thus extending the service life of the third cylinder 18 and the rotating shaft 3 assembly.

[0040] The operating principle of the device is explained below:

[0041] First, after the equipment is started, the robotic arm 1 returns to its initial position, and all cylinders retract to their default strokes; the third cylinder 18 drives the rotating shaft 3 to rotate, causing the fixed arm 4 to close to the minimum clamping range, ensuring that the fixture is in standby mode; the fixed claw 6 is locked by the limit bolt 16; the positioning hole 22 at the bottom of the mounting plate 5 is aligned with the bolt hole of the fixed claw 6, ensuring that all fixed claws 6 are evenly distributed and their axes are aligned with the center of gravity of the workpiece, avoiding clamping offset;

[0042] Afterwards, the robotic arm 1 moves to the workpiece storage position according to the preset path. The mounting frame 2 adjusts its posture through the six-axis freedom of the end of the robotic arm 1, so that the horizontal bar 13 of the fixed claw 6 is precisely aligned with the bottom support area of ​​the workpiece. The third cylinder 18 pushes the convex plate 19 to rotate, which drives the rotating shaft 3 to rotate, so that the two sets of fixed arms 4 swing outward to expand the clamping space to accommodate the size of the workpiece. The conical structure at the end of the fixed horizontal bar 13 is inserted into the bottom of the workpiece. The robotic arm 1 adjusts its position so that the horizontal bar 13 is horizontal to support the workpiece and clamps the workpiece.

[0043] Then, the second cylinder 10 drives the side pressure plates 9 on both sides to move inward synchronously, and its arc groove 11 contacts the outer surface of the workpiece. Through coordinated extrusion, the workpiece is automatically adjusted to the geometric center position of the mounting frame 2. During this process, the workpiece moves on the horizontal bar 13, driving the horizontal bar 13 to rotate, thereby reducing the friction force on the workpiece during movement and reducing the damage to the workpiece. Next, the first cylinder 8 drives the top pressure plate 7 to press down vertically, pressing against the top surface of the workpiece, forming an upper and lower clamping force with the horizontal bar 13 of the fixed claw 6, ensuring that the workpiece does not shift during processing.

[0044] Robotic arm 1 carries the clamped workpiece to the processing station and performs swinging operations (such as rotation, translation or tilting) along a preset trajectory.

[0045] After processing is completed, the first cylinder 8 retracts, and the top pressure plate 7 is removed from the workpiece; the second cylinder 10 drives the side pressure plate 9 to move outward, releasing the lateral constraint on the workpiece; the third cylinder 18 drives the fixed arm 4 to swing outward; after the robotic arm 1 moves to the release position, the horizontal bar 13 of the fixed claw 6 is removed from the bottom of the workpiece; finally, all cylinders are reset to the initial state, and the robotic arm 1 returns to the standby position, ready to perform the next round of gripping tasks.

[0046] 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 principles, the implementation of the present invention may have any modifications or variations.

Claims

1. A robotic gripper swinging device, characterized in that, include: robotic arm (1); Mounting bracket (2) is fixed to the end of the robotic arm (1), and two rotating shafts (3) are rotatably provided inside the mounting bracket (2). Two sets of fixed arms (4), each set of fixed arms (4) is symmetrically fixed at both ends of one of the rotating shafts (3), and a mounting plate (5) is fixed between each set of fixed arms (4); The fixing claw assembly includes a plurality of fixing claws (6) evenly distributed on the bottom of the mounting plate (5), and the fixing claws (6) are connected to the mounting plate (5) by bolts; The top pressure plate (7) is used to press against the top of the workpiece placed on the fixed claw (6). The first cylinder (8) is symmetrically fixed inside the mounting bracket (2). The top pressure plate (7) is fixed to the output end of the first cylinder (8). The side pressure plate assembly includes two symmetrically arranged side pressure plates (9), and a second cylinder (10) is fixedly provided on the mounting plate (5). The output end of the second cylinder (10) is fixed to the side pressure plate (9). The two side pressure plates (9) are provided with arc grooves (11) on their opposite sides. The two side pressure plates (9) are driven to move closer to each other by the second cylinder (10), so that the arc grooves (11) work together to squeeze the workpiece to the center of the mounting frame (2).

2. The robot gripper swinging device according to claim 1, characterized in that: The fixing claw (6) is L-shaped and includes a fixing rod (12) fixed to the mounting plate (5) and a horizontal rod (13) for supporting the bottom of the workpiece. The horizontal rod (13) and the fixing rod (12) are rotatably connected by a sleeve (14).

3. The robot gripper swinging device according to claim 2, characterized in that: The connecting end face of the fixed rod (12) and the horizontal rod (13) is provided with an annular groove (15), and the sleeve (14) is fitted into the annular groove (15).

4. The robot gripper swinging device according to claim 3, characterized in that: The sleeve (14) and the fixing rod (12) are fixed together by a limiting bolt (16), which passes through the through hole of the sleeve (14) and the fixing rod (12).

5. The robot gripper swinging device according to claim 1, characterized in that: The mounting bracket (2) has symmetrically distributed mounting seats (17) on its outer side. A third cylinder (18) is fixed inside the mounting seat (17). A convex plate (19) is fixed at the center of the rotating shaft (3). The output end of the third cylinder (18) is rotatably connected to the end of the convex plate (19) away from the rotating shaft (3). The convex plate (19) is driven by the third cylinder (18) to rotate the rotating shaft (3), so that the fixed arm (4) swings outward to grab the workpiece.

6. The robotic gripper swinging device according to claim 3, characterized in that: The contact end faces of the horizontal rod (13) and the fixed rod (12) are provided with a matching central groove (20) and a central shaft (21). The central groove (20) is located inside the horizontal rod (13), and the central shaft (21) is fixed on the fixed rod (12).

7. The robot gripper swinging device according to claim 2, characterized in that: The end of the horizontal bar (13) away from the fixed bar (12) has a tapered structure.

8. The robot gripper swinging device according to claim 1, characterized in that: The strokes of the first cylinder (8) and the second cylinder (10) are adjustable to accommodate workpieces of different sizes.

9. A robot gripper swinging device according to claim 5, characterized in that: The protruding plate (19) and the rotating shaft (3) are fixedly connected by welding.

10. A robot gripper swinging device according to claim 1, characterized in that: The mounting plate (5) has a positioning hole (22) on the outer side of its bottom, and the fixing claw (6) is precisely aligned with the mounting plate (5) through the positioning hole (22).

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