A new type of robot gripping and positioning device

Abstract

The utility model provides a novel robot snatchs positioning device, including the base, the front part fixed mounting of base has the controller, the upper portion fixed mounting of base has the electric arc annular guide, the upper portion mounting of base has the rotary table subassembly, the slider upper portion of electric arc annular guide installs the positioning frame subassembly, the utility model discloses electric arc annular guide, mounting bracket, electric pushrod, limit rod, moving plate, locating block, positioning plate, the setting of range sensor is favorable to the workpiece toping to the position and angle of suitable robot snatch, has improved the applicability with different shape and size workpieces.

Description

Technical Field

[0001] This utility model belongs to the field of grasping and positioning technology, and in particular relates to a novel robot grasping and positioning device. Background Technology

[0002] Currently, in workpiece production lines, robots are typically used to grip the workpieces. Before the robot grips the workpiece, a gripping and positioning device is needed to position it so that the robot can accurately grasp the workpiece. Existing gripping and positioning devices include a base plate, on which adjustment components and blocking components are installed. Multiple adjustment components and blocking components are provided. The adjustment component includes a telescopic device, an adjustment plate, and a connector. The telescopic device is installed on the base plate, the connector is installed on the telescopic end of the telescopic device, and the adjustment plate is installed on the connector. This type of gripping and positioning device is only suitable for its specific workpieces and has low adaptability to workpieces of other shapes and sizes. Summary of the Invention

[0003] To solve the above-mentioned technical problems, this utility model provides a novel robot gripping and positioning device that can push the workpiece to a position and angle suitable for robot gripping, thereby improving its applicability to workpieces of different shapes and sizes.

[0004] This utility model is achieved through the following technical solution: A novel robotic grasping and positioning device includes a base, a controller fixedly mounted on the front of the base, an electric arc-shaped guide rail fixedly mounted on the upper part of the base, a rotary table assembly mounted on the upper part of the base, a positioning frame assembly mounted on the upper part of the slider of the electric arc-shaped guide rail, the rotary table assembly including a rotary table, a circular guide rail provided at the lower part of the rotary table, a slider of the rotary table and the circular guide rail fixedly mounted, a stepper motor drivenly mounted on the lower part of the rotary table, and a mounting frame assembly including a mounting frame, an electric push rod fixedly mounted on the upper part of the mounting frame, a limit rod parallel to the upper part of the electric push rod, both the limit rod and the output rod of the electric push rod passing through the mounting frame, a movable plate fixedly mounted between the limit rod and the output rod of the electric push rod, a positioning block detachably fixedly mounted on the side of the movable plate facing away from the electric push rod, a distance measuring sensor fixedly mounted inside the mounting frame, and a positioning plate fixedly mounted on the outer end of the limit rod.

[0005] Preferably, at least two sliders of the electric arc-shaped guide rail are symmetrically arranged about the longitudinal axis of the electric arc-shaped guide rail.

[0006] Preferably, the stepper motor is fixedly installed inside the base and the output shaft of the stepper motor passes through the base.

[0007] Preferably, the circular guide rail is fixedly installed in the upper middle part of the machine base, the rotary table, the circular guide rail and the electric circular arc guide rail are arranged with the same center, and the multiple positioning frame assemblies are symmetrically arranged with respect to the longitudinal axis of the electric circular arc guide rail.

[0008] Preferably, the positioning plate and the ranging sensor are arranged facing each other.

[0009] Preferably, the mounting bracket is fixedly installed on the slider of the electric arc-shaped guide rail.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows: In this invention, the electric arc-shaped guide rail, mounting frame, electric push rod, limit rod, moving plate, positioning block, positioning plate, and distance sensor are designed to help push the workpiece to a suitable position and angle for the robot to grasp, thereby improving its applicability to workpieces of different shapes and sizes.

[0011] In this invention, the rotary table, circular guide rail, and stepper motor facilitate the placement of workpieces and the adjustment of their angles. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model.

[0013] Figure 2 This is a structural schematic diagram of the positioning frame assembly of this utility model.

[0014] Figure 3 This is a structural schematic diagram of the rotary table assembly of this utility model.

[0015] Figure 4 This is a schematic diagram of the structure of the electric arc-shaped guide rail and positioning frame assembly of this utility model.

[0016] In the picture: 1. Base; 2. Controller; 3. Electric circular guide rail; 4. Rotary table assembly; 5. Positioning frame assembly; 41. Rotary table; 42. Circular guide rail; 43. Stepper motor; 51. Mounting frame; 52. Electric actuator; 53. Limiting rod; 54. Moving plate; 55. Positioning block; 56. Positioning plate; 57. Distance sensor. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings. As shown in Figure 1, a novel robot grasping and positioning device includes a base 1. A controller 2 is fixedly installed on the front of the base 1. The controller 2 is an industrial control device. An electric circular arc guide rail 3 is fixedly installed on the upper part of the base 1. A rotary table assembly 4 is installed on the upper part of the base 1. A positioning frame assembly 5 is installed on the upper part of the slider of the electric circular arc guide rail 3.

[0018] In this implementation plan, in conjunction with the appendix Figure 3 As shown, the rotary table assembly 4 includes a rotary table 41, a rubber layer is fixedly provided on the upper part of the rotary table 41, a circular guide rail 42 is provided on the lower part of the rotary table 41, the sliders of the rotary table 41 and the circular guide rail 42 are fixedly installed, and a stepper motor 43 is drivenly installed on the lower part of the rotary table 41.

[0019] In this implementation plan, in conjunction with the appendix Figure 2 As shown, the positioning frame assembly 5 includes a mounting frame 51. An electric push rod 52 is fixedly mounted on the upper part of the mounting frame 51. A limit rod 53 is arranged parallel to the upper part of the electric push rod 52. The output rods of the limit rod 53 and the electric push rod 52 both pass through the mounting frame 51. A movable plate 54 is fixedly mounted between the limit rod 53 and the output rod of the electric push rod 52. A positioning block 55 is detachably fixedly mounted on the side of the movable plate 54 facing away from the electric push rod 52. A distance sensor 57 is fixedly mounted inside the mounting frame 51. A positioning plate 56 is fixedly mounted on the outer end of the limit rod 53.

[0020] In this embodiment, specifically, at least two sliders of the electric circular arc guide rail 3 are symmetrically arranged about the longitudinal axis of the electric circular arc guide rail 3.

[0021] In this embodiment, specifically, the electric circular arc guide rail 3 is a gear and rack type electric circular arc guide rail 3.

[0022] In this embodiment, specifically, the stepper motor 43 is fixedly installed inside the base 1 and the output shaft of the stepper motor 43 passes through the base 1.

[0023] In this implementation plan, in conjunction with the appendix Figure 4 As shown, the circular guide rail 42 is fixedly installed in the upper middle part of the base 1. The rotary table 41, the circular guide rail 42 and the electric circular arc guide rail 3 are arranged with the same center. The multiple positioning frame assemblies 5 are symmetrically arranged about the longitudinal axis of the electric circular arc guide rail 3.

[0024] In this embodiment, specifically, the positioning plate 56 and the ranging sensor 57 are arranged facing each other.

[0025] In this embodiment, specifically, the mounting bracket 51 is fixedly installed with the slider of the electric circular arc guide rail 3.

[0026] In this embodiment, specifically, the electric actuator 52, the ranging sensor 57, and the stepper motor 43 are all electrically connected to the controller 2.

[0027] In this invention, when the workpiece grasped by the robot is placed on the rotary table 41 by the external conveying device, the stepper motor 43 drives the rotary table 41 to rotate the circular guide rail 42, making the rotation of the rotary table 41 more stable. The user can observe the position of the workpiece and use the controller 2 to control the electric arc-shaped guide rail 3, the stepper motor 43, and the electric push rod 52 to position the workpiece in a position suitable for the robot to grasp. Alternatively, the user can use the program set in the controller 2 to control the electric arc-shaped guide rail 3, the stepper motor 43, and the electric push rod 52 to position the workpiece in a position suitable for the robot to grasp. During positioning, the electric arc-shaped guide rail 3 adjusts the position of the positioning frame assembly 5. Depending on the shape of different workpieces, a positioning block 55 that matches the workpiece shape can be replaced. Then, the output rod of each electric push rod 52 moves, extending to a length suitable for the position where the workpiece needs to be placed, thereby pushing the workpiece together to a suitable position and angle for the robot to grasp. The limiting rod 53 limits the movement of the moving plate 54. The positioning plate 56 and the distance sensor 57 are used to detect the movement distance of the limiting rod 53 and the moving plate 54, so that the workpiece can be positioned to a suitable position and angle for the robot to grasp according to the shape and size of the workpiece.

[0028] Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solution described in this utility model, or by designing a similar technical solution inspired by the technical solution of this utility model, falls within the protection scope of this utility model.

Claims

1. A novel robot grasping and positioning device, characterized in that, The novel robot grasping and positioning device includes a base (1), a controller (2) fixedly mounted on the front of the base (1), an electric circular arc guide rail (3) fixedly mounted on the upper part of the base (1), a rotary table assembly (4) mounted on the upper part of the base (1), a positioning frame assembly (5) mounted on the upper part of the slider of the electric circular arc guide rail (3), the rotary table assembly (4) includes a rotary table (41), a circular guide rail (42) is provided on the lower part of the rotary table (41), the slider of the rotary table (41) and the circular guide rail (42) are fixedly mounted, a stepper motor (43) is driven and mounted on the lower part of the rotary table (41), and the positioning frame assembly... The component (5) includes a mounting frame (51), an electric actuator (52) is fixedly mounted on the upper part of the mounting frame (51), a limit rod (53) is parallel to the upper part of the electric actuator (52), the output rods of the limit rod (53) and the electric actuator (52) both pass through the mounting frame (51), a movable plate (54) is fixedly mounted between the limit rod (53) and the output rods of the electric actuator (52), a positioning block (55) is detachably fixedly mounted on the side of the movable plate (54) facing away from the electric actuator (52), a distance sensor (57) is fixedly mounted inside the mounting frame (51), and a positioning plate (56) is fixedly mounted on the outer end of the limit rod (53).

2. The novel robot grasping and positioning device as described in claim 1, characterized in that, The electric circular arc guide rail (3) has at least two sliders symmetrically arranged about the longitudinal axis of the electric circular arc guide rail (3).

3. The novel robot grasping and positioning device as described in claim 1, characterized in that, The stepper motor (43) is fixedly installed inside the base (1) and the output shaft of the stepper motor (43) passes through the base (1).

4. The novel robot grasping and positioning device as described in claim 1, characterized in that, The circular guide rail (42) is fixedly installed in the upper middle part of the base (1). The rotary table (41), the circular guide rail (42) and the electric circular arc guide rail (3) are arranged with the same center. The multiple positioning frame assemblies (5) are symmetrically arranged with respect to the longitudinal axis of the electric circular arc guide rail (3).

5. The novel robot grasping and positioning device as described in claim 1, characterized in that, The positioning plate (56) and the ranging sensor (57) are arranged facing each other.

6. The novel robot grasping and positioning device as described in claim 1, characterized in that, The mounting bracket (51) is fixedly installed with the slider of the electric circular arc guide rail (3).

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