Self-centering chuck for an ingredient robot

Abstract

This utility model relates to a self-centering chuck for a dispensing robot, comprising a fixed plate with several sliding slots evenly distributed along its circumference. Each sliding slot contains a sliding block, and each sliding block has a claw mechanism located on the front side of the fixed plate. A drive mechanism connected to the sliding blocks is located on the rear side of the fixed plate, driving the sliding blocks to move towards or away from the center of the fixed plate. Several suction cup mechanisms evenly distributed along the circumference are also located on the rear side of the fixed plate, with the suction end of each suction cup mechanism facing the front of the fixed plate. A control module is also provided on the fixed plate, and the claw mechanism, drive mechanism, and suction cup mechanism are electrically connected to the control module. The suction cup mechanism adsorbs the workpiece, and when the sliding blocks move towards the center of the fixed plate, they cooperate with the claw mechanisms to clamp the workpiece, thus stably performing a self-centering clamping operation on the workpiece, resulting in excellent workpiece clamping performance.

Description

Technical Field

[0001] This utility model relates to the field of automated intelligent manufacturing technology, and more specifically, to a self-centering chuck for a batching robot. Background Technology

[0002] In the field of automated intelligent manufacturing technology, material batching is a crucial production step, and its accuracy directly impacts product quality. Traditionally, material batching is mostly done manually. However, in high-volume, multi-process production scenarios, the workload is enormous, and manual operation is inefficient, making it difficult to meet actual supply demands. Furthermore, the material batching process requires a high level of worker skill, as the low precision of manual operations makes it difficult to ensure consistency in material batching. Therefore, with the rapid development of industrial technology, material batching robots have become widely used. The core component of a material batching robot is the clamping chuck, which is used to grip the workpiece and maintain its grip during transfer.

[0003] However, most self-centering chucks currently used in batching robots rely on pneumatic grippers to pick up workpieces. When dealing with large workpieces, the gripping effect is highly unstable, and the workpieces are prone to falling and getting damaged, thus affecting production and causing economic losses. Furthermore, existing self-centering chucks suffer from eccentricity and other errors, resulting in low clamping accuracy. Therefore, there is an urgent need to design a new type of self-centering chuck for batching robots. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a self-centering chuck for a batching robot, which addresses the above-mentioned deficiencies of the prior art.

[0005] The technical solution adopted by this utility model to solve its technical problem is as follows: a self-centering chuck for a dispensing robot, including a fixed plate, on which a plurality of sliding slots are evenly distributed along its circumference are opened, and each sliding slot is provided with a sliding block, and each sliding block is provided with a claw mechanism located on the front side of the fixed plate; a driving mechanism connected to the plurality of sliding blocks is provided on the rear side of the fixed plate, for driving the plurality of sliding blocks to move towards or away from the center of the fixed plate; a plurality of suction cup mechanisms evenly distributed along its circumference are also provided on the rear side of the fixed plate, and the suction end of each suction cup mechanism faces the front of the fixed plate; a control module is also provided on the fixed plate, and the claw mechanism, driving mechanism and suction cup mechanism are electrically connected to the control module respectively.

[0006] In some embodiments, the fixed disk has four sliding slots evenly distributed along its circumference, and each of the four sliding slots has a sliding block; each of the four sliding blocks has a claw mechanism, and the four claw mechanisms are distributed in pairs opposite to each other; the driving mechanism includes a first screw and a second screw located on the rear side of the fixed disk, and the first screw and the second screw are arranged in a cross pattern; wherein two of the sliding blocks are threadedly connected to the first screw and move in opposite directions, and the other two sliding blocks are threadedly connected to the second screw and move in opposite directions.

[0007] In some embodiments, the drive mechanism further includes a first motor and a second motor disposed on the rear side of the fixed plate, the first motor and the second motor being electrically connected to the control module respectively; the first motor is coaxially fixedly connected to one end of the first screw; the second motor is coaxially fixedly connected to one end of the second screw.

[0008] In some embodiments, the jaw mechanism includes a clamping block slidably connected to the sliding block to contact the workpiece, a plurality of stepped slots provided on the clamping block, and a plurality of connecting springs connecting the clamping block and the sliding block.

[0009] In some embodiments, the sliding block is provided with a slide rail, and the clamping block is provided with a sliding protrusion adapted to the slide rail; the clamping block is slidably connected to the slide rail on the sliding block through the sliding protrusion.

[0010] In some embodiments, the chuck mechanism further includes a trigger post disposed on the side of the clamping block near the sliding block and a trigger switch disposed on the sliding block to contact and engage with the trigger post; the trigger switch is electrically connected to the control module.

[0011] In some embodiments, the suction cup mechanism includes a vacuum suction cup for adsorbing workpieces, a connecting rod disposed on the rear side of the vacuum suction cup, a connecting block disposed on the rear side of the connecting rod, and a telescopic cylinder disposed on the rear side of the fixed plate and electrically connected to the control module; the output end of the telescopic cylinder is fixedly connected to the connecting rod through the connecting block; the fixed plate has a receiving hole, and the vacuum suction cup is located in the receiving hole.

[0012] In some embodiments, the suction cup mechanism further includes a vacuum pump located on the rear side of the control module and electrically connected to the control module, wherein the output end of the vacuum pump is connected to the connecting rod.

[0013] In some embodiments, the receiving hole is located between two adjacent sliding slot holes.

[0014] In some embodiments, the rear side of the fixing plate is further provided with a plurality of mounting rods, and each mounting rod has a plurality of mounting holes on its rear side.

[0015] The beneficial effects of this utility model are as follows: Unlike the prior art, the batching robot of this utility model uses a self-centering chuck, which has several suction cup mechanisms on the fixed plate to adsorb workpieces. The fixed plate also has several sliding slots, each containing a sliding block, and each sliding block has a claw mechanism located on the front side of the fixed plate. By driving the sliding blocks through a drive mechanism, the position of the claw mechanism can be flexibly adjusted. When the sliding blocks move towards the center of the fixed plate, the workpiece is clamped through the cooperation of the claw mechanisms, thereby achieving a stable self-centering clamping operation on the workpiece, significantly improving the workpiece clamping effect. Attached Figure Description

[0016] Figure 1 This is a front side view of the self-centering chuck used in the batching robot in this embodiment of the utility model;

[0017] Figure 2 This is a rear side view of the self-centering chuck used in the batching robot in this embodiment of the utility model;

[0018] Figure 3 This is a cross-sectional schematic diagram of the self-centering chuck used in the batching robot in this embodiment of the present invention;

[0019] Figure 4 This is another cross-sectional schematic diagram of the self-centering chuck used in the batching robot in this embodiment of the utility model;

[0020] Figure 5 This is an enlarged schematic diagram of part A in an embodiment of this utility model;

[0021] Figure 6 This is a schematic diagram of the claw mechanism in an embodiment of this utility model;

[0022] The labels and numbers in the diagram are as follows: Fixed plate-1; Sliding slot-101; Sliding block-11; Drive mechanism-2; Claw mechanism-3; Suction cup mechanism-4; Control module-5; First screw-21; Second screw-22; First motor-23; Second motor-24; Clamping block-31; Slot-32; Connecting spring-33; Trigger pin-34; Trigger switch-35; Vacuum suction cup-41; Connecting rod-42; Connecting block-43; Telescopic cylinder-44; Vacuum pump-45; Storage hole-102; Mounting rod-6; Mounting hole-601. Detailed Implementation

[0023] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0026] Furthermore, the terms indicating orientation, such as "up," "down," "front," "back," "left," "right," "upper end," and "lower end," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] This utility model embodiment provides a self-centering chuck for a batching robot, such as... Figures 1 to 6As shown, the self-centering chuck of the dispensing robot includes a fixed disk 1. The fixed disk 1 has several sliding slots 101 evenly distributed along its circumference. Each sliding slot 101 is provided with a sliding block 11. Each sliding block 11 is provided with a claw mechanism 3 located on the front side of the fixed disk 1. The rear side of the fixed disk 1 is provided with a drive mechanism 2 connected to the several sliding blocks 11, which is used to drive the several sliding blocks 11 to move towards or away from the center of the fixed disk 1. The rear side of the fixed disk 1 is also provided with several suction cup mechanisms 4 evenly distributed along its circumference. The suction end of each suction cup mechanism 4 faces the front of the fixed disk 1. The fixed disk 1 is also provided with a control module 5. The claw mechanism 3, the drive mechanism 2 and the suction cup mechanism 4 are electrically connected to the control module 5.

[0029] Specifically, in this embodiment, the fixed disk 1 has four sliding slots 101 evenly distributed along its circumference, and each of the four sliding slots 101 has a sliding block 11. Each of the four sliding blocks 11 has a claw mechanism 3, and the four claw mechanisms 3 are distributed in pairs opposite to each other to improve the stability of clamping the workpiece. The driving mechanism 2 includes a first screw 21 and a second screw 22 located on the rear side of the fixed disk 1, and the first screw 21 and the second screw 22 are arranged in a cross pattern. Two sliding blocks 11 are threadedly connected to the first screw 21 and move in opposite directions. For example, when the first screw 21 is rotated, it can drive the two sliding blocks 11 on it to move together. Whether the two sliding blocks 11 move closer or further apart depends on whether the first screw 21 rotates in the forward or reverse direction. Two other sliding blocks 11 are threaded onto the second screw 22 and move in opposite directions. For example, when the second screw 22 is rotated, it can drive the two sliding blocks 11 on it to move together. Whether the two sliding blocks 11 move closer or further away depends on whether the second screw 22 rotates in the forward or reverse direction. When all four sliding blocks 11 move together toward the center of the fixed plate 1, the workpiece can be stably clamped.

[0030] The drive mechanism 2 includes a first motor 23 and a second motor 24 located on the rear side of the fixed disk 1. The first motor 23 and the second motor 24 are electrically connected to the control module 5. The control module 5 controls the operating states of the first motor 23 and the second motor 24. The first motor 23 is coaxially fixedly connected to one end of the first screw 21; the second motor 24 is coaxially fixedly connected to one end of the second screw 22. For example, a protrusion is provided in the middle of the rear side of the fixed disk 1, and the control module 5 is located behind this protrusion. The first screw 21 and the second screw 22 are movably inserted into the protrusion, and are staggered, so they do not interfere with each other. When the first screw 21 and the second screw 22 are arranged in a cross pattern, the two ends of the first screw 21 extend to two of the oppositely distributed sliding slots 101, and the first motor 23 is located near one end of the first screw 21; similarly, the two ends of the second screw 22 extend to the other two oppositely distributed sliding slots 101, and the second motor 24 is located near one end of the second screw 22.

[0031] The first screw 21 has two first threaded sections with opposite thread directions. Two sliding blocks 11 are threadedly connected to the two first threaded sections. Driven by the first motor 23, the first motor 23 drives the first screw 21 to rotate, causing the two sliding blocks 11 to move together towards or away from each other. This, in conjunction with the corresponding jaw mechanism 3, achieves the purpose of clamping or releasing the workpiece. Similarly, the second screw 22 has two second threaded sections with opposite thread directions. Two more sliding blocks 11 are threadedly connected to the two second threaded sections. Driven by the second motor 24, the second motor 24 drives the second screw 22 to rotate, causing the two sliding blocks 11 to move together towards or away from each other. This, in conjunction with the corresponding jaw mechanism 3, also achieves the purpose of clamping or releasing the workpiece. When the four sliding blocks 11 move together toward the center of the fixed disk 1, the workpiece can be clamped simultaneously by the four jaw mechanisms 3, so that the workpiece is stably clamped in the center of the fixed disk 1 without eccentric error, achieving an effective self-centering effect, which is beneficial to improving the clamping stability of the workpiece.

[0032] Specifically, in this embodiment, the chuck mechanism 3 includes a clamping block 31 slidably connected to the sliding block 11 to contact the workpiece, a plurality of stepped grooves 32 provided on the clamping block 31, and a plurality of connecting springs 33 connecting the clamping block 31 and the sliding block 11. For example, the sliding block 11 is provided with an L-shaped limiting groove for the clamping block 31 to move back and forth within it. The clamping block 31 slides in the L-shaped limiting groove. One end of the connecting spring 33 is welded and fixed to the inner sidewall of the L-shaped limiting groove, and the other end of the connecting spring 33 is welded and fixed to the clamping block 31. Under the elastic force of the connecting springs 33, the clamping block 31 can elastically clamp or release the workpiece, making operation simple.

[0033] The sliding block 11 has a slide rail, and the clamping block 31 has a sliding protrusion that matches the slide rail. The clamping block 31 is slidably connected to the slide rail on the sliding block 11 through the sliding protrusion. For example, the slide rail is located on the inner bottom wall of the L-shaped limiting groove. The slide rail allows the clamping block 31 to move back and forth along a predetermined direction, preventing it from shifting and achieving stable clamping of the workpiece. The purpose of providing multiple stepped slots 32 on the clamping block 31 is to accommodate clamping workpieces of different sizes, which helps improve the versatility of the self-centering chuck for the batching robot in this embodiment of the invention.

[0034] Specifically, in this embodiment, the jaw mechanism 3 further includes a trigger post 34 disposed on the side of the clamping block 31 near the sliding block 11, and a trigger switch 35 disposed on the sliding block 11 to contact and cooperate with the trigger post 34; the trigger switch 35 is electrically connected to the control module 5. When the clamping block 31 moves to the point where the trigger post 34 contacts the trigger switch 35, the degree of displacement of the clamping block 31 can be detected by the sensing of the trigger switch 35. At this time, the control module 5 controls the jaw mechanism 3 to stop clamping the workpiece, thereby avoiding excessive clamping force that could damage the workpiece.

[0035] It is understandable that the range of relative movement of the four sliding blocks 11 within the corresponding four sliding slots 101 is the size of the workpiece that can be clamped. During the movement, the sliding blocks 11 can abut against the workpiece to cooperate with the clamping block 31 to achieve self-centering of the workpiece, and then cooperate with the jaw mechanism 3 to clamp the workpiece.

[0036] Specifically, in this embodiment, the suction cup mechanism 4 includes a vacuum suction cup 41 for adsorbing workpieces, a connecting rod 42 located on the rear side of the vacuum suction cup 41, a connecting block 43 located on the rear side of the connecting rod 42, and a telescopic cylinder 44 located on the rear side of the fixed plate 1 and electrically connected to the control module 5. The output end of the telescopic cylinder 44 is fixedly connected to the connecting rod 42 via the connecting block 43. The fixed plate 1 has a receiving hole 102, which is located between two adjacent sliding slots 101, and the vacuum suction cup 41 is located inside the receiving hole 102. When the output end of the telescopic cylinder 44 extends or retracts, it causes the connecting block 43 to move, which in turn causes the connecting rod 42 to move. The connecting rod 42 causes the vacuum suction cup 41 to move within the receiving hole 102 to adsorb the workpiece, so that the workpiece can be moved to a position suitable for the jaw mechanism 3 to clamp it. Then, the relative positions of the four jaw mechanisms 3 are adjusted to clamp the workpiece. Combined with vacuum adsorption, this makes the clamping of the workpiece more stable and the clamping effect better.

[0037] The suction cup mechanism 4 also includes a vacuum pump 45 located behind and electrically connected to the control module 5. The output end of the vacuum pump 45 is connected to the connecting rod 42. For example, the vacuum pump 45 has multiple output ends, each connected to the interior of the corresponding connecting rod 42 via an air pipe. The interior of the connecting rod 42 is also connected to the vacuum suction cup 41, thus achieving communication between the vacuum pump 45 and the corresponding vacuum suction cup 41. The working state of the vacuum pump 45 is controlled by the control module 5. When the workpiece is clamped and adsorbed into place, the vacuum pump 45 can stop working. The vacuum pump 45 maintains a negative pressure state inside the vacuum suction cup 41 to facilitate the adsorption of workpieces of different shapes. It is understood that the length of the air pipe should preferably be sufficient to allow the connecting rod 42 to move a certain distance, and is not limited to the structure shown in the attached figure, which is only an example; furthermore, the connecting block 43 should be provided with a clearance hole for the air pipe to pass through (not shown in the attached figure).

[0038] Specifically, in this embodiment, the rear side of the fixed plate 1 is provided with a plurality of mounting rods 6, and the rear side of each mounting rod 6 is provided with a plurality of mounting holes 601, so as to install the batching robot of this utility model embodiment into any suitable position of the batching robot using a self-centering chuck.

[0039] The working principle of the self-centering chuck for the batching robot in this embodiment of the utility model is as follows: First, the vacuum pump 45 is started by the control module 5. The vacuum pump 45 generates negative pressure in the vacuum suction cup 41 through the connecting rod 42. At this time, the vacuum suction cup 41 picks up the workpiece. Then, the telescopic cylinder 44 is started. The telescopic cylinder 44 drives the connecting rod 42 to move. The connecting rod 42 drives the vacuum suction cup 41 to move, and then drives the workpiece to move. As the telescopic cylinder 44 continues to move, the workpiece moves to the clamping area of ​​the appropriate gripper mechanism 3. At the same time, the first motor 23 and the second motor 24 are started. The first motor 23 and the second motor 24 drive the first screw 21 and the second screw 22 to rotate, respectively. The first screw 21 and the second screw 22 drive the two sliding blocks 11 on them to move in the corresponding sliding slots 101, and the four sliding blocks 11 will drive the clamping blocks 31 on them to move together. Then, the four clamping blocks 31 clamp the workpiece together through the slots 32 on them, thereby completing the self-centering clamping operation of the workpiece.

[0040] In this embodiment, the control module 5 can be a device or module with control functions, such as a controller. Its application is relatively existing. In actual application, it can be designed and selected according to the actual application requirements. This embodiment does not make specific limitations.

[0041] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A self-centering chuck for a dispensing robot, comprising a fixed plate, characterized in that: The fixed disk has several sliding slots evenly distributed around its circumference. Each sliding slot contains a sliding block, and each sliding block has a claw mechanism located on the front side of the fixed disk. The rear side of the fixed disk has a drive mechanism connected to the sliding blocks, used to drive the sliding blocks to move towards or away from the center of the fixed disk. The rear side of the fixed disk also has several suction cup mechanisms evenly distributed around its circumference, with the suction end of each suction cup mechanism facing the front of the fixed disk. The fixed disk also has a control module, and the claw mechanism, drive mechanism, and suction cup mechanism are electrically connected to the control module.

2. The self-centering chuck for the batching robot according to claim 1, characterized in that: The fixed disk has four sliding slots evenly distributed around its circumference, and each of the four sliding slots has a sliding block; each of the four sliding blocks has a claw mechanism, and the four claw mechanisms are distributed in pairs opposite to each other; the driving mechanism includes a first screw and a second screw located on the rear side of the fixed disk, and the first screw and the second screw are arranged in a cross pattern; two of the sliding blocks are threaded to the first screw and move in opposite directions, and the other two sliding blocks are threaded to the second screw and move in opposite directions.

3. The self-centering chuck for the batching robot according to claim 2, characterized in that: The drive mechanism also includes a first motor and a second motor located on the rear side of the fixed plate. The first motor and the second motor are electrically connected to the control module. The first motor is coaxially fixedly connected to one end of the first screw. The second motor is coaxially fixedly connected to one end of the second screw.

4. The self-centering chuck for a batching robot according to claim 1, characterized in that: The chuck mechanism includes a clamping block slidably connected to the sliding block to contact the workpiece, a plurality of stepped grooves provided on the clamping block, and a plurality of connecting springs connecting the clamping block and the sliding block.

5. The self-centering chuck for a batching robot according to claim 4, characterized in that: The sliding block is provided with a slide rail, and the clamping block is provided with a sliding protrusion that matches the slide rail; the clamping block is slidably connected to the slide rail on the sliding block through the sliding protrusion.

6. The self-centering chuck for a batching robot according to claim 4, characterized in that: The chuck mechanism also includes a trigger post located on the side of the clamping block near the sliding block, and a trigger switch located on the sliding block to contact and engage with the trigger post; the trigger switch is electrically connected to the control module.

7. The self-centering chuck for a batching robot according to claim 1, characterized in that: The suction cup mechanism includes a vacuum suction cup for adsorbing workpieces, a connecting rod located on the rear side of the vacuum suction cup, a connecting block located on the rear side of the connecting rod, and a telescopic cylinder located on the rear side of the fixed plate and electrically connected to the control module; the output end of the telescopic cylinder is fixedly connected to the connecting rod through the connecting block; the fixed plate has a storage hole, and the vacuum suction cup is located in the storage hole.

8. The self-centering chuck for a batching robot according to claim 7, characterized in that: The suction cup mechanism also includes a vacuum pump located on the rear side of the control module and electrically connected to the control module, and the output end of the vacuum pump is connected to the connecting rod.

9. The self-centering chuck for a batching robot according to claim 7 or 8, characterized in that: The receiving hole is located between two adjacent sliding slot holes.

10. The self-centering chuck for a batching robot according to claim 1, characterized in that: The rear side of the fixed plate is also provided with several mounting rods, and each mounting rod has several mounting holes on its rear side.

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