Pipelining adaptive non-standard feeding and discharging hand claw

Abstract

The utility model provides a kind of assembly line adapts non-standard feeding and discharging hand claw, belong to the technical field of automated assembly line equipment, the assembly line adapts non-standard feeding and discharging hand claw, including support platform, the top of support platform is equipped with positioning slot, the front and rear inner wall of positioning slot is equipped with limit hole, the hand claw is equipped with grabbing mechanism, three clamping jaws can be opened and closed under the drive of cylinder, and the setting of spring makes clamping jaw have certain buffer and adjusting ability, and different shapes and sizes of non-standard parts can be adapted;Six-axis mechanical arm can drive grabbing mechanism to move in six-axis direction, can accurately adjust the position and posture of grabbing mechanism, to adapt to non-standard parts in different positions, no longer need artificial feeding and discharging operation of non-standard parts, reduce labor cost, while avoiding the problems such as low efficiency, unstable product quality and security risks caused by manual operation.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated production line equipment, specifically relating to a non-standard loading and unloading gripper adapted for production lines. Background Technology

[0002] In modern industrial automated production, assembly lines, as a highly efficient form of production organization, are widely used in fields such as machinery manufacturing, electronic assembly, and automotive parts production. As a key actuator in the assembly line, the performance of the loading and unloading grippers directly affects the production efficiency and degree of automation of the assembly line.

[0003] Currently, traditional loading and unloading grippers are mostly specialized grippers designed for standard parts, with fixed structures and dimensions, only suitable for standard workpieces of specific specifications. However, in actual production, there are a large number of non-standard parts with irregular shapes and large size differences, such as irregularly shaped metal parts and curved plastic parts.

[0004] This solution aims to address the problems in existing technologies where traditional loading and unloading grippers can only be adapted to standard workpieces of specific specifications. For a large number of non-standard parts with irregular shapes and large size differences, automated loading and unloading cannot be achieved, and manual operation is required, which increases labor costs, reduces production efficiency, and affects product quality and production safety. Furthermore, designing special grippers for non-standard parts would increase equipment costs and management difficulty, and affect continuous production on the assembly line. Utility Model Content

[0005] The purpose of this utility model is to provide a non-standard loading and unloading gripper that is compatible with production lines. This aims to solve the problem that the traditional loading and unloading grippers in the prior art can only be adapted to standard workpieces of specific specifications. For a large number of non-standard parts with irregular shapes and large size differences, automated loading and unloading cannot be achieved, and manual operation is required, which increases labor costs.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A non-standard loading and unloading gripper for production lines includes:

[0008] A support platform is provided, with a positioning groove at the top of the support platform. Limiting holes are provided on the front and rear inner walls of the positioning groove. A limiting rod is fixedly connected in one of the limiting holes. A sliding plate is provided on the upper side of the support platform. A second connecting sleeve is fixedly connected to the top of the sliding plate. A six-axis robotic arm is installed in the second connecting sleeve. A cylinder is provided on the upper side of the support platform. The cylinder is installed on the six-axis robotic arm and moves with the six-axis robotic arm in the six-axis direction.

[0009] A gripping mechanism is located on one side of the cylinder and is used to grip non-standard parts.

[0010] As a preferred embodiment of this utility model, the gripping mechanism includes:

[0011] The first connecting sleeve is fixedly connected to the outer surface of the cylinder;

[0012] An adjusting block, which is fixedly connected to the telescopic end of the cylinder;

[0013] Three connecting blocks, all three of which are rotatably connected to the adjusting block;

[0014] Three grippers, all three grippers are fixedly connected to three springs, and all three grippers are slidably connected to the first connecting sleeve;

[0015] A spring, which is fixedly connected to the adjacent ends of the first connecting sleeve and the adjusting block;

[0016] A distance sensor is fixedly connected to the telescopic end of the cylinder.

[0017] In a preferred embodiment of this utility model, a lead screw is rotatably connected inside another of the limiting holes, a nut is threaded onto the circumferential surface of the lead screw, a sliding plate is fixedly connected to the circumferential surface of the nut, the sliding plate is slidably connected to the positioning groove, a motor is fixedly connected to one side of the support platform, and the output end of the motor is fixedly connected to one end of the lead screw.

[0018] As a preferred embodiment of this utility model, plastic pads are fixedly connected to the adjacent ends of the three grippers.

[0019] As a preferred embodiment of this utility model, a plastic sleeve is fixedly connected to the outer surface of the support platform, and an intelligent controller is fixedly connected to one side of the support platform.

[0020] Compared with the prior art, the beneficial effects of this utility model are:

[0021] 1. In this solution, the gripper is equipped with a grasping mechanism, in which three grippers can open and close under the drive of a cylinder, and the spring setting gives the grippers a certain buffering and adjustment capability, which can adapt to non-standard parts of different shapes and sizes; the six-axis robotic arm can drive the grasping mechanism to move in six-axis directions, and can precisely adjust the position and posture of the grasping mechanism to adapt to non-standard parts in different positions, eliminating the need for manual loading and unloading of non-standard parts, reducing labor costs, and avoiding problems such as low efficiency, unstable product quality and safety hazards caused by manual operation.

[0022] 2. In this solution, the structural design of the gripper enables it to adapt to a variety of non-standard parts of different shapes and sizes, eliminating the need to design a dedicated gripper for each non-standard part. This reduces the design, manufacturing, and maintenance costs of dedicated grippers, lowers the difficulty of equipment management, and avoids production line interruptions caused by gripper replacement, thus ensuring continuous production of the production line. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 This is a perspective view of the present invention;

[0025] Figure 2 This is a first-person exploded perspective view of the present invention;

[0026] Figure 3 In this utility model Figure 2 A magnified view of part A;

[0027] Figure 4 In this utility model Figure 2 A magnified view of section B.

[0028] In the diagram: 1. Support platform; 101. Positioning groove; 102. Limiting hole; 2. Plastic sleeve; 3. Six-axis robotic arm; 4. Gripping mechanism; 401. Cylinder; 402. First connecting sleeve; 403. Spring; 404. Adjusting block; 405. Connecting block; 406. Gripper; 407. Plastic pad; 408. Distance sensor; 5. Intelligent controller; 6. Motor; 7. Sliding plate; 8. Limiting rod; 9. Lead screw; 10. Nut; 11. Second connecting sleeve. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Example 1

[0031] Please see Figures 1-4 The present invention provides the following technical solution:

[0032] A non-standard loading and unloading gripper for production lines includes:

[0033] A support platform 1 is provided. A positioning groove 101 is provided at the top of the support platform 1. Limiting holes 102 are provided on the front and rear inner walls of the positioning groove 101. A limiting rod 8 is fixedly connected in one of the limiting holes 102. A sliding plate 7 is provided on the upper side of the support platform 1. A second connecting sleeve 11 is fixedly connected to the top of the sliding plate 7. A six-axis robotic arm 3 is installed in the second connecting sleeve 11. A cylinder 401 is provided on the upper side of the support platform 1. The cylinder 401 is installed on the six-axis robotic arm 3 and moves with the six-axis robotic arm 3 in the six-axis direction.

[0034] The gripping mechanism 4 is located on one side of the cylinder 401 and is used to grip non-standard parts.

[0035] In a specific embodiment of this utility model, the support platform 1 serves as the basic load-bearing component of the entire gripper, providing a stable mounting platform and support foundation for the sliding plate 7, six-axis robotic arm 3, cylinder 401, and gripping mechanism 4 mounted on it. It can withstand the weight of each component and various forces generated during operation, ensuring the stability and reliability of the entire gripper structure during operation and preventing instability of the foundation from affecting the gripping and handling accuracy of non-standard parts.

[0036] The positioning groove 101 is formed at the top of the support platform 1 and is mainly used for positioning and guiding the sliding plate 7. When the sliding plate 7 moves on the support platform 1, the positioning groove 101 can restrict the movement trajectory of the sliding plate 7, ensuring that the sliding plate 7 can only move in a straight line along the direction of the positioning groove 101, preventing the sliding plate 7 from deviating or shaking during movement, thereby ensuring the positional accuracy of components such as the six-axis robotic arm 3 installed on the sliding plate 7.

[0037] Limiting holes 102 are formed on the front and rear inner walls of the positioning groove 101, and their main function is to provide an installation position for the limiting rod 8. By fixing the limiting rod 8 through the limiting holes 102, the movement range of the sliding plate 7 can be further limited, preventing the sliding plate 7 from exceeding the preset range during movement, thus protecting the equipment and ensuring operational safety.

[0038] The limiting rod 8 is fixedly connected within one of the limiting holes 102, and works with the limiting hole 102 to limit the movement stroke of the sliding plate 7. When the sliding plate 7 moves to the position where it contacts the limiting rod 8, the limiting rod 8 will prevent the sliding plate 7 from moving further, thereby precisely controlling the extreme position of the sliding plate 7's movement, preventing the sliding plate 7 from colliding with other components due to excessive movement, and ensuring the normal operation of the equipment.

[0039] The sliding plate 7 is located on the upper side of the support platform 1, and a second connecting sleeve 11 is fixedly connected to its top. It is an intermediate component connecting the support platform 1 and the six-axis robotic arm 3. The sliding plate 7 can slide along the positioning groove 101 on the support platform 1, thereby driving the six-axis robotic arm 3, cylinder 401 and gripping mechanism 4 mounted on it to adjust their positions in the horizontal direction to meet the gripping needs of non-standard parts in different positions.

[0040] The second connecting sleeve 11 is fixed to the top of the sliding plate 7 and is mainly used for installing and fixing the six-axis robotic arm 3. It can securely connect the six-axis robotic arm 3 to the sliding plate 7, ensuring that the six-axis robotic arm 3 will not loosen or shift during operation, and ensuring that the six-axis robotic arm 3 can accurately drive the cylinder 401 and the gripping mechanism 4 to perform various actions.

[0041] The six-axis robotic arm 3, installed within the second connecting sleeve 11, is the core component enabling multi-directional and multi-angle movement of the gripper. It possesses six degrees of freedom, allowing for flexible rotation, extension, and retraction within three-dimensional space. This drives the cylinder 401 and gripping mechanism 4 mounted on it to move along the six axes. The position and orientation of the gripping mechanism 4 can be precisely adjusted to accommodate the gripping needs of non-standard parts of different shapes, sizes, and locations.

[0042] Cylinder 401, mounted on the six-axis robotic arm 3, is the power source for the gripping mechanism 4. It converts the pressure energy of compressed air into mechanical energy, providing driving force to the gripping mechanism 4 through the extension and retraction of the piston rod. This enables the gripping mechanism 4 to open and close, thus completing the gripping and releasing operations of non-standard parts. Simultaneously, because cylinder 401 moves with the six-axis robotic arm 3 in the six-axis direction, it ensures that the gripping mechanism 4 receives appropriate driving force and movement trajectory during the gripping process.

[0043] The gripping mechanism 4, located on one side of the cylinder 401, is the component that directly contacts the non-standard parts and performs the gripping action. Driven by the cylinder 401, the gripping mechanism 4 can open and close, thereby firmly grasping or releasing the non-standard parts. Its structural design can adapt to non-standard parts of different shapes and sizes, ensuring that the non-standard parts are not damaged during the gripping process, while guaranteeing the stability and reliability of the gripping. It is a key actuator for realizing the automated loading and unloading of non-standard parts.

[0044] Please refer to the details. Figures 1-4 The capturing mechanism 4 includes:

[0045] The first connecting sleeve 402 is fixedly connected to the outer surface of the cylinder 401;

[0046] Adjusting block 404 is fixedly connected to the telescopic end of cylinder 401;

[0047] Three connecting blocks 405 are rotatably connected to the adjusting block 404;

[0048] Three grippers 406 are fixedly connected to three springs 403, and three grippers 406 are slidably connected to the first connecting sleeve 402.

[0049] Spring 403 is fixedly connected to the adjacent ends of the first connecting sleeve 402 and the adjusting block 404;

[0050] Distance sensor 408 is fixedly connected to the telescopic end of cylinder 401.

[0051] In this embodiment: when it is necessary to grasp non-standard parts, the six-axis robotic arm 3 moves the cylinder 401 and the entire grasping mechanism 4 to the vicinity of the target part, and the distance sensor 408 begins to detect the distance to the part. When the distance reaches the preset grasping distance, the distance sensor 408 sends a signal to the control system, and the control system controls the extension end of the cylinder 401 to extend.

[0052] When the cylinder 401 extends, it causes the adjusting block 404 to move forward, compressing the spring 403. Since the connecting block 405 is rotatably connected to both the adjusting block 404 and the gripper 406, the movement of the adjusting block 404 is transmitted to the gripper 406 via the connecting block 405. This causes the three grippers 406 to retract and close towards the center along the first connecting sleeve 402, gradually approaching and ultimately gripping the non-standard part. During the gripping process, the elastic force of the spring 403 provides a certain degree of cushioning to the grippers 406, preventing excessive clamping and damage to the part.

[0053] When a component needs to be released, the control system retracts the telescopic end of cylinder 401, and the adjusting block 404 moves backward along with the telescopic end. The spring 403 releases its elastic potential energy, pushing the adjusting block 404 to reset. Driven by the adjusting block 404, the connecting block 405 causes the gripper 406 to slide outward along the first connecting sleeve 402, thereby releasing the non-standard component and completing one gripping and releasing cycle.

[0054] Please refer to the details. Figures 1-3 Another limiting hole 102 is rotatably connected to a lead screw 9, and a nut 10 is threadedly connected to the circumferential surface of the lead screw 9. A sliding plate 7 is fixedly connected to the circumferential surface of the nut 10. The sliding plate 7 is slidably connected in the positioning groove 101. A motor 6 is fixedly connected to one side of the support platform 1. The output end of the motor 6 is fixedly connected to one end of the lead screw 9.

[0055] In this embodiment: the lead screw 9 is rotatably connected to another limiting hole 102, one end of which is fixedly connected to the output end of the motor 6 fixed to one side of the support platform 1. Its circumferential surface is threadedly connected to the nut 10, and the circumferential surface of the nut 10 is fixedly connected to the sliding plate 7, which is slidably connected to the positioning groove 101. When the motor 6 starts, the output end drives the lead screw 9 to rotate in the limiting hole 102. Due to the threaded engagement between the lead screw 9 and the nut 10, and the sliding restriction of the sliding plate 7 in the positioning groove 101, the nut 10 will drive the sliding plate 7 to move linearly along the positioning groove 101, thereby realizing the position adjustment of the sliding plate 7 and the components above it. With the help of the limiting rod 8, the movement range of the sliding plate 7 can be precisely controlled.

[0056] Please refer to the details. Figure 2 Plastic pads 407 are fixedly connected to the close ends of the three grippers 406.

[0057] In this embodiment, three plastic pads 407 are fixedly connected to the adjacent ends of three grippers 406. When the grippers 406 close to grasp the non-standard parts, the plastic pads 407 directly contact the surface of the parts. The plastic material has a certain elasticity and friction, which can increase the friction between the grippers 406 and the parts, preventing the parts from slipping. Furthermore, its elasticity can further buffer the clamping force of the grippers 406, preventing scratches or damage to the surface of the parts. Combined with the buffering effect of the spring 403, this enhances the protection of the non-standard parts.

[0058] Please refer to the details. Figures 1-4 A plastic sleeve 2 is fixedly connected to the outer surface of the support platform 1, and an intelligent controller 5 is fixedly connected to one side of the support platform 1.

[0059] In this embodiment, the plastic sleeve 2 is fixedly connected to the outer surface of the support platform 1, which can protect the support platform 1 and reduce the damage to the support platform 1 when it collides with external objects.

[0060] The working principle and usage process of this utility model are as follows: After the equipment is started, the intelligent controller 5 initializes the system, the operator presets the parameters of the non-standard parts, the motor 6 starts and drives the lead screw 9 to rotate, which drives the sliding plate 7 to move along the positioning groove 101 through the nut 10. With the help of the limit rod 8, the sliding plate 7 and the upper part are adjusted to a suitable horizontal position; then the six-axis robotic arm 3 drives the cylinder 401 and the gripping mechanism 4 to move precisely in three-dimensional space. The distance sensor 408 detects the distance to the non-standard parts and feeds it back to the intelligent controller 5. When the distance reaches the preset value, When the cylinder 401 extends, it moves the adjusting block 404, compressing the spring 403. Through the connecting block 405, the gripper 406 contracts and closes along the first connecting sleeve 402. The plastic pads 407 on the spring 403 and the gripper 406 provide cushioning and protection, firmly gripping the parts. Then, the six-axis robotic arm 3 moves the parts to the designated position, the cylinder 401 retracts, the adjusting block 404 resets, the spring 403 releases its potential energy, and through the connecting block 405, the gripper 406 opens to release the parts, completing a non-standard parts loading and unloading operation.

[0061] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A non-standard loading and unloading gripper adapted for assembly lines, characterized in that, include: A support platform (1) is provided with a positioning groove (101) at the top. The front and rear inner walls of the positioning groove (101) are provided with limit holes (102). A limit rod (8) is fixedly connected in one of the limit holes (102). A sliding plate (7) is provided on the upper side of the support platform (1). A second connecting sleeve (11) is fixedly connected to the top of the sliding plate (7). A six-axis robotic arm (3) is installed in the second connecting sleeve (11). A cylinder (401) is provided on the upper side of the support platform (1). The cylinder (401) is installed on the six-axis robotic arm (3) and moves with the six-axis robotic arm (3) in the six-axis direction. The gripping mechanism (4) is located on one side of the cylinder (401) and is used to grip non-standard parts.

2. The non-standard loading and unloading gripper adapted for production lines according to claim 1, characterized in that: The grasping mechanism (4) includes: The first connecting sleeve (402) is fixedly connected to the outer surface of the cylinder (401); Adjusting block (404), the adjusting block (404) is fixedly connected to the telescopic end of cylinder (401); Three connecting blocks (405) are rotatably connected to the adjusting block (404); Three grippers (406) are fixedly connected to three springs (403), and the three grippers (406) are slidably connected to the first connecting sleeve (402); A spring (403) is fixedly connected to the adjacent ends of the first connecting sleeve (402) and the adjusting block (404); A distance sensor (408) is fixedly connected to the telescopic end of the cylinder (401).

3. The non-standard loading and unloading gripper adapted for production lines according to claim 2, characterized in that: Another limiting hole (102) is rotatably connected to a lead screw (9), and a nut (10) is threadedly connected to the circumferential surface of the lead screw (9). A sliding plate (7) is fixedly connected to the circumferential surface of the nut (10). The sliding plate (7) is slidably connected to the positioning groove (101). A motor (6) is fixedly connected to one side of the support platform (1), and the output end of the motor (6) is fixedly connected to one end of the lead screw (9).

4. The non-standard loading and unloading gripper adapted for production lines according to claim 3, characterized in that: Plastic pads (407) are fixedly connected to the adjacent ends of the three grippers (406).

5. A non-standard loading and unloading gripper adapted for production lines according to claim 4, characterized in that: A plastic sleeve (2) is fixedly connected to the outer surface of the support platform (1), and an intelligent controller (5) is fixedly connected to one side end of the support platform (1).

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