A multi-nut implantation robot gripper fixture

Abstract

This utility model relates to the field of gripper fixture technology and discloses a multi-nut implantation robot gripper fixture, which has a first fixture for implanting nuts into the front mold; the first fixture includes a first fixture frame, and both sides of the first fixture frame are provided with a plurality of first nut implantation modules for implanting nuts into the inner wall of the front mold; and the top and bottom of the first fixture frame are respectively provided with second nut implantation modules and third nut implantation modules for implanting nuts into the inner bottom of the front mold; by arranging multiple nut implantation modules in different positions of the first fixture frame, simultaneous or sequential implantation operations at multiple positions of the front mold can be realized. Specifically, the first nut implantation modules on both sides can implant nuts into the inner wall of the front mold, while the second and third nut implantation modules at the top and bottom correspond to the inner bottom position of the front mold, thereby forming a comprehensive implantation layout covering the inner wall and bottom of the front mold.

Description

Technical Field

[0001] This utility model relates to the field of gripper jig technology, and more specifically to a multi-nut implantation robot gripper jig. Background Technology

[0002] Robotic grippers are auxiliary devices used to assist industrial robots in performing operations such as material gripping, handling, and assembly. Their main function is to ensure that the object being gripped can be reliably and stably held and quickly positioned. Gripping grippers are usually mounted on the robot's end effector, and their structure is designed according to the specific workpiece shape, size, and process requirements. The current market has the following problems: When inserting a large number of nuts into a mold, the current robotic gripper fixture is difficult to do so within a single gripper fixture, resulting in the need for multiple fixtures to operate, which is inefficient; it also requires multiple people to operate, which is costly. The technical problem to be solved by this utility model is to provide a multi-nut implantation robot gripper. Utility Model Content

[0003] The technical problem this invention addresses is: providing a multi-nut implantation robot gripper fixture; by arranging multiple nut implantation modules at different positions on the first fixture frame, simultaneous or sequential implantation operations on multiple positions of the front mold are achieved. Specifically, the first nut implantation modules on both sides can implant nuts into the inner wall of the front mold, while the second and third nut implantation modules at the top and bottom correspond to the inner bottom positions of the front mold, thus forming a comprehensive implantation layout covering the inner wall and bottom of the front mold.

[0004] A multi-nut implantation robot gripper fixture includes a first fixture for implanting nuts into a front mold; the first fixture includes a first fixture frame, and both sides of the first fixture frame are provided with a plurality of first nut implantation modules for implanting nuts into the inner wall of the front mold; and the top and bottom of the first fixture frame are respectively provided with a second nut implantation module and a third nut implantation module for implanting nuts into the bottom of the front mold.

[0005] Preferably, the first nut implantation module includes a first cylinder disposed on the first fixture frame; a first movable plate disposed below the first fixture frame; the piston rod of the first cylinder connected to the first movable plate; the first movable plate slidingly engaged with the first fixture frame; a first fixed plate vertically disposed at the bottom of the first movable plate; a second cylinder disposed at the bottom of the first movable plate; the piston rod of the second cylinder connected to the second movable plate; a plurality of first positioning pins disposed on the first fixed plate; the first positioning pins passing through the second movable plate and slidingly engaged with it; and a first sleeve fixedly connected to the second movable plate; the first positioning pins slidingly engaged with the first sleeve; the first positioning pins remove the nut; the extension and retraction of the piston rod of the first cylinder drives the first movable plate, the first fixed plate, and the second cylinder to move synchronously left and right; the extension and retraction of the piston rod of the second cylinder drives the second movable plate and the first sleeve to move, thereby unloading the nut on the first positioning pin.

[0006] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model's multi-nut implantation robot gripper fixture, by arranging multiple nut implantation modules at different positions on the first fixture frame, achieves simultaneous or sequential implantation operations at multiple positions on the front mold. Specifically, the first nut implantation modules on both sides can implant nuts into the inner wall of the front mold, while the second and third nut implantation modules at the top and bottom correspond to the inner bottom positions of the front mold, thus forming a comprehensive implantation layout covering the inner wall and bottom of the front mold.

[0007] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0009] Figure 1 This is a schematic diagram of the first fixture structure of this utility model.

[0010] Figure 2 This is a utility model Figure 1 Another structural diagram from another angle.

[0011] Figure 3 This is a schematic diagram of the second fixture structure of this utility model.

[0012] Figure 4 This is a utility model Figure 3Another structural diagram from another angle.

[0013] Figure 5 This is a schematic diagram of the fixture and mold assembly structure of this utility model.

[0014] In the diagram: 1. First fixture; 2. First fixture frame; 6. First cylinder; 7. First movable plate; 8. First fixed plate; 9. Second cylinder; 10. Second movable plate; 11. First positioning pin; 12. First sleeve; 13. Third cylinder; 14. Third movable plate; 15. Second positioning pin; 16. Second sleeve; 17. Fourth cylinder; 18. Fourth movable plate; 19. Third positioning pin; 20. Third sleeve; 21. Second fixture; 22. Third fixture; 23. Second fixture frame; 26. Fifth cylinder; 27. Fifth movable plate; 28. Second fixed plate; 29. ​​Sixth cylinder; 30. Sixth movable plate; 31. Fourth positioning pin; 32. Fourth sleeve; 33. Seventh cylinder; 34. Seventh movable plate; 35. Fifth positioning pin; 36. Fifth sleeve; 37. Connecting seat; 38. Electromagnet; 39. Front mold; 40. Rear mold. Detailed Implementation

[0015] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. 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.

[0016] It should be noted that the terms "first," "second," etc., used in this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with this disclosure.

[0017] Please see Figures 1-5 In this embodiment of the utility model, a multi-nut implantation robot gripper fixture has a first fixture 1 for implanting nuts into the front mold; the first fixture 1 includes a first fixture frame 2, and both sides of the first fixture frame 2 are provided with a plurality of first nut implantation modules for implanting nuts into the inner wall of the front mold; and the top and bottom of the first fixture frame 2 are respectively provided with a second nut implantation module and a third nut implantation module for implanting nuts into the bottom of the front mold.

[0018] Specifically, this multi-nut implantation robot gripper fixture achieves simultaneous or sequential implantation operations at multiple positions on the front mold by arranging multiple nut implantation modules at different locations on the first fixture frame 2. Specifically, the first nut implantation modules on both sides can implant nuts into the inner wall of the front mold, while the second and third nut implantation modules at the top and bottom correspond to the inner bottom positions of the front mold, thus forming a comprehensive implantation layout covering the inner wall and bottom of the front mold. This structure not only improves the efficiency and stability of nut implantation but also reduces the need for multiple repositioning or repetitive operations by the robot arm, making it suitable for use on high-precision and high-efficiency automated production lines.

[0019] Furthermore, the first nut implantation module includes a first cylinder 6 disposed on the first fixture frame 2; and a first movable plate 7 disposed below the first fixture frame 2; and the piston rod of the first cylinder 6 is connected to the first movable plate 7; and the first movable plate 7 is slidably engaged with the first fixture frame 2; and a first fixed plate 8 is vertically disposed at the bottom of the first movable plate 7; and a second cylinder 9 is disposed at the bottom of the first movable plate 7; and the piston rod of the second cylinder 9 is connected to the second movable plate 10; and a plurality of first positioning pins 11 are disposed on the first fixed plate 8. The first positioning pin 11 passes through the second movable plate 10 and slides with it; and a first sleeve 12 is fixedly connected to the second movable plate 10; the first positioning pin 11 slides with the first sleeve 12; the first positioning pin 11 removes the nut; the piston rod of the first cylinder 6 extends and retracts, causing the first movable plate 7, the first fixed plate 8, and the second cylinder 9 to move left and right synchronously; the piston rod of the second cylinder 9 extends and retracts, causing the second movable plate 10 and the first sleeve 12 to move, thereby causing the nut on the first positioning pin 11 to be unloaded.

[0020] Specifically, the first nut insertion module achieves precise nut picking and unloading through the coordinated operation of multi-stage cylinders, a movable plate, a positioning pin, and a sleeve. The first cylinder 6 drives the first movable plate 7 to slide as a whole with the fixed plate, causing the second cylinder 9 and the picking mechanism to move synchronously, ensuring the nut is accurately aligned with the insertion position. Simultaneously, the positioning pin on the first fixed plate 8 passes through the second movable plate 10 to position the nut during picking, forming a guiding constraint with the first sleeve 12 to prevent nut misalignment. Subsequently, the second cylinder 9 drives the second movable plate 10 and the sleeve to move, allowing the nut on the positioning pin to be smoothly unloaded. This design not only improves the stability and accuracy of nut picking and placing but also enhances the flexibility and efficiency of the insertion process through the division of labor between the two cylinders, making it suitable for the needs of efficient and stable insertion of multiple nuts in automated production.

[0021] Furthermore, the second nut implantation module includes: a third cylinder 13 is provided on the upper layer of the first fixture frame 2; and the piston rod of the third cylinder 13 is connected to a third movable plate 14; and a plurality of second positioning pins 15 are fixedly provided on the upper layer of the first fixture frame 2, the second positioning pins 15 picking up the nut; and a plurality of second sleeves 16 are fixedly provided on the third movable plate 14; and the second positioning pins 15 and the second sleeves 16 are in sliding engagement; the third cylinder 13 drives the third movable plate 14 and the second sleeves 16 to move, so that the nut on the second positioning pin 15 is unloaded.

[0022] Specifically, the second nut implantation module utilizes a third cylinder 13 to drive the third movable plate 14, thereby causing the second sleeve 16 fixed thereon to move vertically or horizontally. This, in conjunction with the second positioning pin 15 fixed to the fixture frame, completes the nut unloading process. Specifically, the second positioning pin 15 first picks up and positions the nut, ensuring its stability during handling and alignment. The second sleeve 16, through its sliding engagement with the positioning pin, provides guidance and pushing, allowing the nut to be smoothly removed from the positioning pin and implanted. This structure, through the combination of "positioning pin + sleeve," ensures the accuracy of the picking and conveying process while improving the reliability and automation of the nut unloading action, thus simplifying the operation process and increasing overall implantation efficiency.

[0023] Furthermore, the third nut implantation module includes: a fourth cylinder 17 is provided on the lower layer of the first fixture frame 2; and the piston rod of the fourth cylinder 17 is connected to a fourth movable plate 18; and a plurality of third positioning pins 19 are fixedly provided on the lower layer of the first fixture frame 2, the third positioning pins 19 removing the nuts; and a plurality of third sleeves 20 are fixedly provided on the fourth movable plate 18; and the third positioning pins 19 and the third sleeves 20 are in sliding engagement; the fourth cylinder 17 drives the fourth movable plate 18 and the third sleeves 20 to move, so that the nuts on the third positioning pins 19 are unloaded.

[0024] Specifically, the third nut implantation module, by configuring a fourth cylinder 17 on the lower layer of the first fixture frame 2, and cooperating with the third positioning pin 19 and the third sleeve 20, achieves precise nut picking and unloading. The third positioning pin 19 is used to pick up and position the nut, ensuring its stability during transmission, while the third sleeve 20, fixed on the fourth movable plate 18, provides guidance and pushing functions for the positioning pin. When the fourth cylinder 17 drives the fourth movable plate 18 to move, the third sleeve 20 moves accordingly, thereby smoothly unloading the nut from the positioning pin and completing the implantation. This structure, together with the second nut implantation module, forms a complementary structure, enabling efficient nut implantation from multiple directions, and improving the overall automation level and production efficiency of the fixture.

[0025] Furthermore, it also includes a second fixture 21 and a third fixture 22 for inserting hardware into the rear mold; and the third fixture 22 has the same structure as the first fixture 1; and the second fixture 21 includes a second fixture frame 23; and both sides of the second fixture frame 23 are provided with a plurality of first hardware insertion modules for inserting hardware into the inner wall of the rear mold; and the top of the second fixture frame 23 is provided with a second hardware insertion module for inserting hardware into the bottom of the rear mold.

[0026] Specifically, based on the first fixture 1, this design further extends to include a second fixture 21 and a third fixture 22 for the insertion of hardware components into the rear mold. The third fixture 22 has the same structure as the first fixture 1, ensuring consistency and interchangeability of the insertion actions between the front and rear molds. The second fixture 21, by arranging first hardware component insertion modules on both sides, inserts hardware components into the inner wall of the rear mold, while a second hardware component insertion module is located at the top to complete the insertion into the bottom of the rear mold. This combined fixture structure not only achieves fully automated insertion of hardware / nuts from all directions between the front and rear molds, but also enhances the versatility and expandability of the device through modular design, thereby effectively improving production efficiency and assembly accuracy.

[0027] Furthermore, the first hardware component implantation module includes a fifth cylinder 26 disposed on the second fixture frame 23; a fifth movable plate 27 is disposed below the second fixture frame 23; the piston rod of the fifth cylinder 26 is connected to the fifth movable plate 27; the fifth movable plate 27 is slidably engaged with the second fixture frame 23; a second fixed plate 28 is vertically disposed at the bottom of the fifth movable plate 27; a sixth cylinder 29 is disposed at the bottom of the fifth movable plate 27; the piston rod of the sixth cylinder 29 is connected to the sixth movable plate 30; and a plurality of fourth positioning points are disposed on the second fixed plate 28. The fourth positioning pin 31 passes through the sixth movable plate 30 and slides with it; and a fourth sleeve 32 is fixedly connected to the sixth movable plate 30; the fourth positioning pin 31 slides with the fourth sleeve 32; the fourth positioning pin 31 picks up the hardware; the piston rod of the fifth cylinder 26 extends and retracts, driving the fifth movable plate 27, the second fixed plate 28, and the sixth cylinder 29 to move left and right synchronously; the piston rod of the sixth cylinder 29 extends and retracts, driving the sixth movable plate 30 and the fourth sleeve 32 to move, thereby unloading the hardware on the fourth positioning pin 31.

[0028] Specifically, the fifth cylinder 26 drives the fifth movable plate 27 and the second fixed plate 28 to move left and right as a whole, thereby driving the sixth cylinder 29 to move synchronously, ensuring accurate alignment of the part picking position; the fourth positioning pin 31 on the second fixed plate 28 is used to pick up and fix the hardware part, and achieves smooth guidance through sliding cooperation with the sixth movable plate 30; at the same time, the sixth cylinder 29 drives the sixth movable plate 30 and the fourth sleeve 32 fixed on it to move, and with the cooperation of the positioning pin, smoothly removes the hardware part from the pin and completes the implantation. This design not only ensures the stability and accuracy of the hardware part handling and release process, but also improves the flexibility and reliability of the movement, and can meet the automation requirements of multi-point rapid implantation of hardware parts in the rear mold.

[0029] Furthermore, the second hardware component implantation module includes: a seventh cylinder 33 provided on the second fixture frame 23; and a seventh movable plate 34 connected to the piston rod of the seventh cylinder 33; and a plurality of fifth positioning pins 35 fixedly provided on the second fixture frame 23, the fifth positioning pins 35 picking up the hardware component; and a plurality of fifth sleeves 36 fixedly provided on the seventh movable plate 34; and the fifth positioning pins 35 and the fifth sleeves 36 slidingly engaged; the seventh cylinder 33 drives the seventh movable plate 34 and the fifth sleeves 36 to move, so that the hardware component on the fifth positioning pin 35 is unloaded.

[0030] Specifically, the second hardware component insertion module uses a seventh cylinder 33 to drive a seventh movable plate 34, which in turn moves a fifth sleeve 36 to guide and unload the hardware component. A fifth positioning pin 35 fixed on the second fixture frame 23 is used for picking up and precisely positioning the hardware component. The fifth sleeve 36 slides in conjunction with the positioning pin, and under the action of the cylinder, smoothly pushes the hardware component out of the positioning pin and completes the insertion. This structure clearly separates the functions of "picking up and positioning" and "unloading and pushing," ensuring the stability and accuracy of the hardware component during handling, while also achieving efficient and automated operation through cylinder drive, thereby improving the reliability and production efficiency of the bottom hardware component insertion in the rear mold.

[0031] Furthermore, the first fixture 1, the second fixture 21, and the third fixture 22 are all provided with connecting seats 37, and the connecting seats 37 are used to connect and install with the robot arm; and the cross-section of the connecting seat 37 is columnar.

[0032] Specifically, the design incorporates connecting seats 37 on the first fixture 1, the second fixture 21, and the third fixture 22, with a columnar cross-section. This allows for easy and rapid docking and secure installation of the fixtures with the robotic arm, enabling the robotic arm to drive the gripper fixtures for material handling. The columnar structure not only provides excellent versatility and assembly adaptability but also offers uniform force support in multiple directions, thereby enhancing the stability and durability of the fixtures during robotic operations. This design ensures interchangeability and compatibility between different fixtures and robotic arms, simplifies production line switching operations, and facilitates the automated connection and efficient operation of multiple processes.

[0033] Furthermore, the lower layers of the first fixture 1, the second fixture 21, and the third fixture 22 are all provided with a number of electromagnets 38 at intervals; the electromagnets 38 are attracted to the mold to ensure stability during implantation.

[0034] Specifically, several electromagnets 38 are arranged at intervals to stabilize and fix the mold through electromagnetic adsorption, thereby avoiding deviations caused by mold displacement or shaking during the implantation process.

[0035] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A multi-nut implantation robotic gripper fixture, characterized in that, The first fixture (1) is provided for inserting nuts into the front mold; and the first fixture (1) includes a first fixture frame (2), and both sides of the first fixture frame (2) are provided with a plurality of first nut insertion modules for inserting nuts into the inner wall of the front mold; The top and bottom of the first fixture frame (2) are respectively provided with a second nut implantation module and a third nut implantation module for implanting nuts into the bottom of the front mold.

2. The multi-nut implantation robot gripper fixture according to claim 1, characterized in that, The first nut implantation module includes a first cylinder (6) disposed on the first fixture frame (2); and a first movable plate (7) disposed below the first fixture frame (2); and the piston rod of the first cylinder (6) is connected to the first movable plate (7); and the first movable plate (7) is slidably engaged with the first fixture frame (2); and a first fixed plate (8) is vertically disposed at the bottom of the first movable plate (7); and a second cylinder (9) is disposed at the bottom of the first movable plate (7); and the piston rod of the second cylinder (9) is connected to the second movable plate (10); and a plurality of first positioning pins (11) are disposed on the first fixed plate (8); and The first positioning pin (11) passes through the second movable plate (10) and slides with it; and a first sleeve (12) is fixedly connected to the second movable plate (10); the first positioning pin (11) slides with the first sleeve (12); the first positioning pin (11) removes the nut; the piston rod of the first cylinder (6) extends and retracts, causing the first movable plate (7), the first fixed plate (8), and the second cylinder (9) to move left and right synchronously; the piston rod of the second cylinder (9) extends and retracts, causing the second movable plate (10) and the first sleeve (12) to move, thereby causing the nut on the first positioning pin (11) to be unloaded.

3. The multi-nut implantation robot gripper fixture according to claim 1, characterized in that, The second nut implantation module includes: a third cylinder (13) on the upper layer of the first fixture frame (2); and the piston rod of the third cylinder (13) is connected to a third movable plate (14); and a number of second positioning pins (15) are fixedly provided on the upper layer of the first fixture frame (2), the second positioning pins (15) remove the nut; and a number of second sleeves (16) are fixedly provided on the third movable plate (14); and the second positioning pins (15) and the second sleeves (16) are slidably engaged; the third cylinder (13) drives the third movable plate (14) and the second sleeves (16) to move, so that the nut on the second positioning pins (15) is unloaded.

4. The multi-nut implantation robot gripper fixture according to claim 1, characterized in that, The third nut implantation module includes: a fourth cylinder (17) is provided on the lower layer of the first fixture frame (2); and the piston rod of the fourth cylinder (17) is connected to a fourth movable plate (18); and several third positioning pins (19) are fixedly provided on the lower layer of the first fixture frame (2), the third positioning pins (19) remove the nut; and several third sleeves (20) are fixedly provided on the fourth movable plate (18); and the third positioning pins (19) and the third sleeves (20) slide in cooperation; the fourth cylinder (17) drives the fourth movable plate (18) and the third sleeves (20) to move, so that the nut on the third positioning pin (19) is unloaded.

5. The multi-nut implantation robot gripper fixture according to claim 1, characterized in that, It also includes a second fixture (21) and a third fixture (22) for inserting hardware into the rear mold; and the third fixture (22) has the same structure as the first fixture (1); and the second fixture (21) includes a second fixture frame (23); and both sides of the second fixture frame (23) are provided with a plurality of first hardware insertion modules for inserting hardware into the inner wall of the rear mold; and the top of the second fixture frame (23) is provided with a second hardware insertion module for inserting hardware into the bottom of the rear mold.

6. The multi-nut implantation robot gripper fixture according to claim 5, characterized in that, The first hardware component implantation module includes a fifth cylinder (26) disposed on the second fixture frame (23); and a fifth movable plate (27) is disposed below the second fixture frame (23); and the piston rod of the fifth cylinder (26) is connected to the fifth movable plate (27); and the fifth movable plate (27) is slidably engaged with the second fixture frame (23); and a second fixed plate (28) is vertically disposed at the bottom of the fifth movable plate (27); and a sixth cylinder (29) is disposed at the bottom of the fifth movable plate (27); and the piston rod of the sixth cylinder (29) is connected to the sixth movable plate (30); and a plurality of fourth positioning pins (3) are disposed on the second fixed plate (28). 1); and the fourth positioning pin (31) passes through the sixth movable plate (30) and slides with it; and a fourth sleeve (32) is fixedly connected to the sixth movable plate (30); and the fourth positioning pin (31) slides with the fourth sleeve (32); the fourth positioning pin (31) picks up the hardware; the piston rod of the fifth cylinder (26) extends and retracts, driving the fifth movable plate (27), the second fixed plate (28), and the sixth cylinder (29) to move left and right synchronously; the piston rod of the sixth cylinder (29) extends and retracts, driving the sixth movable plate (30) and the fourth sleeve (32) to move, thereby causing the hardware on the fourth positioning pin (31) to be unloaded.

7. The multi-nut implantation robot gripper fixture according to claim 5, characterized in that, The second hardware component implantation module includes: a second fixture frame (23) equipped with a seventh cylinder (33); and the piston rod of the seventh cylinder (33) is connected to a seventh movable plate (34); and the second fixture frame (23) is fixedly equipped with several fifth positioning pins (35), which pick up the hardware components; and several fifth sleeves (36) are fixedly equipped on the seventh movable plate (34); and the fifth positioning pins (35) and the fifth sleeves (36) are in sliding cooperation; the seventh cylinder (33) drives the seventh movable plate (34) and the fifth sleeves (36) to move, so that the hardware components on the fifth positioning pins (35) are unloaded.

8. The multi-nut implantation robot gripper fixture according to claim 7, characterized in that, The first fixture (1), the second fixture (21), and the third fixture (22) are all provided with connecting seats (37), and the connecting seats (37) are used to connect and install with the robot arm; and the cross-section of the connecting seats (37) is columnar.

9. The multi-nut implantation robot gripper fixture according to claim 7, characterized in that, The lower layers of the first fixture (1), the second fixture (21), and the third fixture (22) are each provided with several electromagnets (38) spaced apart; the electromagnets (38) are attracted to the mold to ensure stability during implantation.

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