A loading and unloading unstacking gripper

Abstract

The utility model discloses a kind of unloading and feeding unstacking gripper, including gripper main body, gear gripper assembly for being used to grab gear material is installed on gripper main body, bearing gripper assembly for being used to grab bearing material and visual component for detecting bearing material and gear material stacking position by photographing;Gear gripper assembly, bearing gripper assembly and visual component are all telescopic components, and all can be retracted into gripper main body when not working;Vacuum chuck for vacuum adsorption TRAY disc and EU box is equipped on gripper main body, and range sensor for detecting TRAY disc height and material detection sensor for detecting whether gear and bearing are grabbed in position are used. Unloading and feeding unstacking gripper is connected with six-axis robot, and intelligent warehousing and production line automatic docking can be realized, low-efficiency high-cost process of artificial repacking is saved, and production line automation is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically to a material handling and destacking gripper. Background Technology

[0002] In the automotive industry, some materials, such as bearings and gears, are typically stored in trays, which are then stacked in EU boxes for easy storage and transport. On existing automated production lines, bearings and gears are manually unpacked and placed into their respective positioning fixtures. After loading, a six-axis robot first picks up a bearing from the bearing tray fixture, then a gear from the gear tray fixture. The picked-up bearing and gear are then placed on a press machine and moved to a clearance position to complete the pressing process. After pressing, the six-axis robot removes the assembly and places it onto the conveyor line fixture, completing the entire workflow.

[0003] The existing production line has the following drawbacks: 1. When materials are loaded from the TRAY trays and EU boxes onto the automated production line, manual packing and tray placement are required, which is labor-intensive and has low production efficiency; 2. If the materials are not packed and are directly loaded onto the production line by carrying multiple TRAY trays through the EU boxes, the existing six-axis robot gripper cannot perform multi-layer material destacking, TRAY tray destacking, and empty EU box grabbing. Utility Model Content

[0004] To solve the above problems, this utility model provides a material handling and unstacking gripper.

[0005] The technical solution adopted in this utility model is:

[0006] A material handling and destacking gripper includes a gripper body, on which are mounted a gear gripper assembly for gripping gear materials, a bearing gripper assembly for gripping bearing materials, and a vision component for detecting the stacking position of bearing materials and gear materials by taking pictures. The gear gripper assembly, bearing gripper assembly, and vision component are all retractable components and can be retracted into the gripper body when not in operation. The gripper body is provided with a vacuum suction cup for vacuum adsorption of the TRAY tray and EU box, as well as a distance measuring sensor for detecting the height of the TRAY tray and a material presence detection sensor for detecting whether the gears and bearings are gripped in place.

[0007] Furthermore, the gear gripper assembly and the bearing gripper assembly extend and retract in opposite directions along the left and right sides of the gripper body, while the vision assembly extends and retracts along the front and back directions of the gripper body.

[0008] To avoid interference between components and improve the overall compactness of the gripper structure.

[0009] Furthermore, the gripper body includes a gripper base plate, a suction cup mounting block, an air path mounting plate, a vacuum generator, a vacuum suction cup, a pressure gauge, a material detection sensor, and a distance sensor. The suction cup mounting block is vertically fixedly installed at the four corners of the side of the gripper base plate, and a vacuum suction cup is fixedly installed at its upper end. Each vacuum suction cup is connected to a vacuum generator. The vacuum generator is connected to a compressed air source through a solenoid valve group and an air pipe installed on the air path mounting plate. The air path mounting plate is fixedly installed on the gripper base plate, and a pressure gauge is installed on it. The pressure gauge is used to detect the vacuum pressure of the vacuum suction cup.

[0010] The space defined by the gripper base plate and the four suction cup mounting blocks is the assembly and movement space for each component, which allows the overall dimensions of the gripper to be less than 350*260mm.

[0011] Furthermore, the gear gripper assembly includes a first slide cylinder, a first gripper cylinder fixing plate, a first gripper cylinder connecting plate, a first gripper cylinder, and a gear gripper finger; the first slide cylinder is mounted on the gripper base plate of the gripper body through the first gripper cylinder fixing plate, with its telescopic end facing outward; the first gripper cylinder is fixedly mounted on the telescopic end of the first slide cylinder through the first gripper cylinder connecting plate, and the telescopic end of the first gripper cylinder is connected to the gear gripper finger.

[0012] Furthermore, the bearing gripper assembly includes a second slide cylinder, a second gripper cylinder fixing plate, a second gripper cylinder connecting plate, a second gripper cylinder, and bearing gripper fingers; the second slide cylinder is mounted on the gripper base plate of the gripper body through the second gripper cylinder fixing plate, with its telescopic end facing outward; the second gripper cylinder is fixedly mounted on the telescopic end of the second slide cylinder through the second gripper cylinder connecting plate, and the telescopic end of the second gripper cylinder is connected to the bearing gripper fingers.

[0013] The gear gripper assembly and bearing gripper assembly achieve the extension and retraction of the assembly through the extension and retraction of the slide cylinder, and achieve the clamping and releasing of the gripper fingers through the extension and retraction of the gripper cylinder, which can achieve the effects of simple structure, flexible control, fast action and safety and reliability.

[0014] Furthermore, the vision component includes a component mounting plate, a camera mounting plate, a light source mounting plate, a camera, a camera lens, and a camera light source. The camera and camera light source are fixedly mounted on the component mounting plate via the camera mounting plate and the light source mounting plate, respectively. The component mounting plate is used to mount the vision component. The camera lens is connected to the front of the camera, and the camera light source is located in front of the camera lens. The camera, camera lens, and camera light source constitute an image acquisition system. It adopts a modular design, is easy to install and maintain, has high integration, and saves space.

[0015] Furthermore, the component mounting plate includes a fixed upright plate and a camera mounting plate. The camera mounting plate and the two fixed upright plates form a U-shaped bracket with an opening facing downwards. The U-shaped bracket spans above the gear gripper assembly and the bearing gripper assembly, improving the overall compactness of the gripper structure.

[0016] The beneficial effects of this utility model are:

[0017] 1. The overall dimensions of the gripper can be less than 350*260mm, and each set of material grippers has a telescopic function. When it is necessary to grab materials, the gripper body extends out, and when it is necessary to place products or destacking TRAY trays and EU boxes, it retracts into the gripper body to adapt to the internal space of the press and EU boxes.

[0018] 2. When connected to a six-axis robot, materials can be stacked on the production line using EU boxes carrying multiple layers of TRAY trays. The six-axis robot gripper automatically addresses and completes the destacking of multiple layers of materials such as bearings and gears, destacking of TRAY trays, and grabbing of empty EU boxes. This enables intelligent warehousing and automatic docking with the production line, saving the inefficient and costly process of manual repacking and improving the automation of the production line. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the loading / unloading and unstacking gripper.

[0020] Figure 2 This is a diagram of the main structure of the gripper.

[0021] Figure 3 This is a structural diagram of the gear gripper assembly.

[0022] Figure 4 This is a structural diagram of the bearing gripper assembly.

[0023] Figure 5 This is a diagram of the visual component structure.

[0024] Figure 6 This is a diagram showing the connection structure between the loading / unloading and destacking gripper and the robot. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.

[0026] See Figures 1-6 A material handling and destacking gripper includes a gripper body, a gear gripper assembly, a bearing gripper assembly, and a vision assembly.

[0027] like Figure 2As shown, the gripper body includes a gripper base plate 7, suction cup mounting blocks 8, an air path mounting plate 9, a vacuum generator 10, a vacuum suction cup 11, a pressure gauge 12, a material detection sheet metal 13, a material detection sensor 14, and a TRAY disc distance sensor 15. The gripper base plate 7 is a horizontally positioned flat plate. Four Z-shaped suction cup mounting blocks 8 are fixedly mounted at the four corners of its upper side. Each suction cup mounting block 8 has a fixedly mounted vacuum suction cup 11, and each vacuum suction cup 11 is connected to a vacuum generator 10. All four vacuum generators 10 are connected to a compressed air source through air pipes and solenoid valve assemblies mounted on the air path mounting plate 9. The air path mounting plate 9 is fixed to two adjacent suction cup mounting blocks 8 and has a pressure gauge 12 mounted on it to detect the vacuum pressure of the vacuum generators 10. The material detection sensor 14 is fixedly mounted on the gripper base plate 7 through the material detection sheet metal 13 and is used to detect whether gears and bearings are in position. TRAY disc distance sensor 15 is mounted on air circuit mounting plate 9 and is used to detect TRAY disc height.

[0028] like Figure 3 As shown, the gear gripper assembly includes a first slide cylinder 1-1, a first gripper cylinder fixing plate 2-1, a first gripper cylinder connecting plate 3-1, a first gripper cylinder 4-1, and a gear gripper finger 5. The gear gripper assembly is fixedly mounted on the gripper base plate 7 via the first gripper cylinder fixing plate 2-1. In this embodiment, it is mounted on the inner side of the air passage mounting plate 9. The first slide cylinder 1-1 is fixed along the X-axis direction to the upper side of the gripper cylinder fixing plate 2-1, with its telescopic end facing outward. It is connected to the gripper cylinder 4-1 via the gripper cylinder connecting plate 3-1. The telescopic end of the gripper cylinder 4-1 is connected to the gear gripper finger 5, which is used to grip gear parts.

[0029] like Figure 4 As shown, the bearing gripper assembly includes a second slide cylinder 1-2, a second gripper cylinder fixing plate 2-2, a second gripper cylinder connecting plate 3-2, a second gripper cylinder 4-2, and bearing gripper fingers 6. The bearing gripper assembly is fixedly mounted on the gripper base plate 7 via the second gripper cylinder fixing plate 2-2. In this embodiment, it is mounted on the opposite side from the gear gripper assembly. The second slide cylinder 1-2 is fixed along the X-axis direction to the upper side of the second gripper cylinder fixing plate 2-2, with its telescopic end facing outward and connected to the second gripper cylinder 4-2 via the second gripper cylinder connecting plate 3-2. The telescopic end of the second gripper cylinder 4-2 is connected to the bearing gripper fingers 6, which are used to grip bearing parts.

[0030] like Figure 5As shown, the vision assembly includes a camera mounting plate 16, a camera mounting plate 17, a camera mounting plate 18, a light source mounting plate 19, a camera 20, a camera lens 21, and a camera light source 22. The vision assembly is fixedly mounted on the gripper base plate 7 via the camera mounting plate 16 and the camera mounting plate 17. In this embodiment, the camera mounting plate 17 is a horizontal plate extending along the Y-axis, forming a downward-facing U-shaped bracket with the two camera mounting plates. The U-shaped bracket spans above the gear gripper assembly and the bearing gripper assembly. The camera 20 is fixedly mounted on the upper side of the camera mounting plate 17 via the camera mounting plate 18. The camera lens 21 is mounted on the front side of the camera 20, and the camera light source 22 is fixedly mounted on the front side of the camera lens 21 via the light source mounting plate 19, with the camera light source 22 facing outwards from the gripper body. The camera 20, camera lens 21, and camera light source 22 constitute an image acquisition system used for material location via photographs.

[0031] like Figure 6 As shown, during operation, the loading / unloading and destacking gripper 100 is connected to the wrist of the six-axis robot through its gripper base plate 7; in the initial state, the gear gripper assembly, bearing gripper assembly and vision assembly are all retracted into the interior of the gripper body, that is, the internal space defined by the gripper base plate 7 and the four suction cup mounting blocks 8.

[0032] The robot moves the loading and unloading destacking gripper to the gear material. The vision component locates the gear by taking a picture. The robot moves the loading and unloading destacking gripper above the gear. The first slide cylinder 1-1 extends, driving the first gripper cylinder and gear gripper 5 to extend. The robot descends, and the first gripper cylinder 4 drives the gear gripper 5 to retract, clamping the gear.

[0033] The material detection sensor 14 detects that the gear is in place, and the first slide cylinder 1-1 retracts; the robot moves the loading and unloading destacking gripper to the bearing material, and the vision component locates the bearing for the second time by taking a picture. The robot moves the loading and unloading destacking gripper to above the bearing, the second slide cylinder 1-2 extends, and drives the second gripper cylinder 4-2 and the bearing gripper finger 6 to extend. The robot descends, and the second gripper cylinder 4-2 drives the bearing gripper finger 6 to retract and clamp the bearing.

[0034] The material detection sensor 14 detects that the bearing is in place, and the second slide cylinder 1-2 retracts. The robot moves the loading and unloading destacking gripper to below the bearing placement position of the press, and assembles the bearing from bottom to top onto the upper press head of the press. The second gripper cylinder 4-2 drives the bearing gripper finger 6 to open and release the bearing. The robot moves the loading and unloading destacking gripper to above the gear placement position of the press, and assembles the gear from top to bottom onto the lower press head of the press. The first gripper cylinder 4-1 drives the gear gripper finger 5 to open and release the gear. The robot moves to the clearance position to wait for pressing.

[0035] After pressing is completed, the robot moves the unloading and destacking gripper to above the gear bearing assembly. The second gripper cylinder 4-2 drives the bearing gripper finger 6 to retract and clamp the assembly. The material detection sensor 14 detects that the gear is in place. The robot moves the unloading and destacking gripper to above the pallet. The second gripper cylinder 4-2 drives the bearing gripper finger 6 to open and release the gear bearing assembly. The gear bearing assembly is then placed in the pallet.

[0036] Each time the robot grabs an empty layer of gears or bearings, it moves the loading and unloading destacking gripper to above the empty TRAY tray. The TRAY tray distance measuring 15 detects the height of the TRAY tray and controls the vacuum generator 10 and suction cup 11 to suck up the empty TRAY tray through vacuum, and then places it into the empty EU box.

[0037] Each time the robot grabs an empty TRAY tray from a full EU box, it moves the loading / unloading and destacking gripper above the empty EU box, controls the vacuum generator 10 and suction cup 11 to suck up the empty EU box through vacuum, and then places it in the empty EU box recycling position.

[0038] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications are also within the protection scope of the present utility model.

Claims

1. A material handling and destacking gripper, comprising a gripper body, characterized in that, The gripper body is equipped with a gear gripper assembly for gripping gear materials, a bearing gripper assembly for gripping bearing materials, and a vision assembly for detecting the stacking position of bearing and gear materials by taking pictures. The gear gripper assembly, bearing gripper assembly, and vision assembly are all retractable components and can be retracted into the gripper body when not in operation. The gripper body is equipped with a vacuum suction cup for vacuum adsorption of the TRAY tray and EU box, as well as a distance sensor for detecting the height of the TRAY tray and a material detection sensor for detecting whether the gears and bearings are gripped in place.

2. The loading / unloading and destacking gripper according to claim 1, characterized in that, The gear gripper assembly and the bearing gripper assembly extend and retract in opposite directions along the left and right sides of the gripper body, while the vision assembly extends and retracts along the front and back directions of the gripper body.

3. The loading / unloading and destacking gripper according to claim 1, characterized in that, The gripper body includes a gripper base plate (7), a suction cup mounting block (8), an air path mounting plate (9), a vacuum generator (10), a vacuum suction cup (11), a pressure gauge (12), a material detection sensor (14), and a distance sensor (15). The suction cup mounting block is vertically fixedly installed on the four corners of the side of the gripper base plate, and a vacuum suction cup is fixedly installed on its upper end. Each vacuum suction cup is connected to a vacuum generator. The vacuum generator is connected to a compressed air source through a solenoid valve group and an air pipe installed on the air path mounting plate. The air path mounting plate is fixedly installed on the gripper base plate, and a pressure gauge is installed on it. The pressure gauge is used to detect the vacuum pressure of the vacuum suction cup.

4. The loading / unloading and destacking gripper according to claim 1, characterized in that, The gear gripper assembly includes a first slide cylinder (1-1), a first gripper cylinder fixing plate (2-1), a first gripper cylinder connecting plate (3-1), a first gripper cylinder (4-1), and a gear gripper finger (5). The first slide cylinder is mounted on the gripper base plate (7) of the gripper body through the first gripper cylinder fixing plate, with its telescopic end facing outward. The first gripper cylinder is fixedly mounted on the telescopic end of the first slide cylinder through the first gripper cylinder connecting plate, and the telescopic end of the first gripper cylinder is connected to the gear gripper finger.

5. The loading / unloading and destacking gripper according to claim 1, characterized in that, The bearing gripper assembly includes a second slide cylinder (1-2), a second gripper cylinder fixing plate (2-2), a second gripper cylinder connecting plate (3-2), a second gripper cylinder (4-2), and a bearing gripper finger (6). The second slide cylinder is mounted on the gripper base plate (7) of the gripper body through the second gripper cylinder fixing plate, with its telescopic end facing outward. The second gripper cylinder is fixedly mounted on the telescopic end of the second slide cylinder through the second gripper cylinder connecting plate, and the telescopic end of the second gripper cylinder is connected to the bearing gripper finger.

6. The loading / unloading and destacking gripper according to claim 1, characterized in that, The vision component includes a component mounting plate, a camera mounting plate (18), a light source mounting plate (19), a camera (20), a camera lens (21), and a camera light source (22). The camera and the camera light source are fixedly mounted on the component mounting plate through the camera mounting plate and the light source mounting plate, respectively. The component mounting plate is used to install the vision component. The camera lens is connected to the front side of the camera, and the camera light source is located in front of the camera lens. The camera, camera lens, and camera light source constitute an image acquisition system.

7. The loading / unloading and destacking gripper according to claim 1, characterized in that, The component mounting plate includes a mounting plate (16) and a camera mounting plate (17). The camera mounting plate and the two mounting plates form a U-shaped bracket with the opening facing downwards. The U-shaped bracket spans above the gear gripper assembly and the bearing gripper assembly.

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