Clamping device and auxiliary feeding structure

Abstract

The utility model provides a kind of clamping device and auxiliary feeding structure, comprising: six-axis robot, the upper side end of the six-axis robot is equipped with feeding clamping seat, the feeding clamping seat includes clamping seat plate, centering chute one, centering screw one, centering rod and centering screw two, compared with prior art, the utility model has the beneficial effects as follows: by increasing six-axis robot, feeding clamping seat and centering clamping assembly, feeding clamping seat is combined with six-axis robot installation, and same structure is provided with two groups of distribution in the both sides of conveying structure, workpiece is first adsorbed by negative pressure suction cup, and the initial correction of workpiece is completed by two groups of centering rod, and centering screw two drives two groups of centering clamping assembly to realize secondary correction and clamping, then negative pressure suction cup is completed high attraction to realize workpiece feeding, so as to be able to assist workpiece centering in auxiliary feeding, by increasing feeding clamping seat, it can be assisted to use in centering correction.

Description

Technical Field

[0001] This utility model belongs to the field of production and assembly technology, and specifically relates to a clamping device and an auxiliary feeding structure. Background Technology

[0002] In automated assembly lines for consumer electronics and small appliances, it is often necessary to remove workpieces from conveyor belts or hoppers and accurately place them into fixtures at the next workstation for processing or assembly. Current technologies often use six-axis robots in conjunction with grippers, with robot trajectory programming driving pneumatic or electric grippers to complete the pick-and-place operations. However, this gripper structure cannot directly center and clamp items such as mobile phone back covers because the workpieces transferring between the conveyor belt and hopper cannot guarantee effective positioning, leading to offset issues after clamping. Subsequent visual camera recognition and correction are needed to ensure the six-axis robot and grippers can accurately place the workpiece directly into the next processing station. Existing technologies employ four-jaw floating self-centering structures; however, these devices have drawbacks such as high cost, increasing production costs.

[0003] In summary, we hope to propose a new structure to solve the aforementioned technical problems. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a clamping device and an auxiliary feeding structure to solve the problems mentioned in the background art.

[0005] This utility model is achieved through the following technical solution: a clamping device and an auxiliary feeding structure, comprising: a six-axis robot, wherein a feeding clamping seat is installed at the upper end of the six-axis robot, and the feeding clamping seat includes a clamping seat plate, a first centering groove, a first centering screw, a centering rod, and a second centering screw; The left end of the rear side of the clamping base plate is provided with a centering groove. The inner side of the centering groove is provided with two sets of centering screws for driving the two sets of centering rods to move simultaneously in opposite directions. A set of centering rods is provided on both the front and rear sides of the centering groove. The inner side of the lower end of the clamping base plate is provided with a centering screw. The clamping base plate is provided with a set of centering clamping components at both the left and right ends of the rear side. The centering clamping components include a centering slider and a centering clamping seat. The centering slider is fixedly connected to the centering clamping seat. The feeding clamping seat also includes a negative pressure suction cup.

[0006] In a preferred embodiment, a negative pressure conduit is fixedly connected to the right side of the negative pressure suction cup, and the other end of the negative pressure conduit is connected to an external negative pressure device. The negative pressure suction is transmitted through the negative pressure conduit, so that the negative pressure suction cup can adsorb and transfer the workpiece conveyed above the conveying structure.

[0007] In a preferred embodiment, a connecting flange is fixedly connected to the front side of the clamping base plate, and the six-axis robot includes a six-axis robot body, with a fixed base fixedly connected to the lower end of the six-axis robot body.

[0008] In a preferred embodiment, a set of connecting flanges is also fixedly connected to the upper end of the six-axis robot body. The two sets of connecting flanges are attached to each other and fixed by bolts. The six-axis robot is installed in two sets in a symmetrical structure on both sides of the conveying structure. The six-axis robot is fixed by the fixed base, and the connecting flanges complete the detachable fixing of the loading clamp.

[0009] In a preferred embodiment, a second centering groove is provided at the lower end of the right side of the clamping base plate, and a second centering screw is provided inside the second centering groove. A screw sleeve is fixedly connected through the center of the centering slider, and the centering slider and the second centering groove are movably engaged with each other.

[0010] In a preferred embodiment, the second centering screw and the screw sleeve are connected by a threaded engagement, the centering rod and the first centering groove are movably engaged with each other, the first centering screw and the centering rod are also connected by a threaded engagement, and a double-headed motor is fixedly connected between the two sets of the first centering screws. The double-headed motor controls the rotation of the two sets of the first centering screws, and completes the movement of the two sets of centering rods closer or further apart in cooperation with the centering rod.

[0011] In a preferred embodiment, a set of flexible pads is fixedly connected to the opposite surfaces of the two sets of centering clamps, and the flexible pads are made of rubber material.

[0012] In a preferred embodiment, a rotating seat is fixedly connected to the front side of the negative pressure suction cup, and a telescopic cylinder is fixedly connected to the front side of the rotating seat. The telescopic section of the telescopic cylinder is connected to the rotating seat via a damping shaft. During the initial alignment, the damping shaft assists in the alignment rotation, and the telescopic cylinder drives the negative pressure suction cup to telescopically move, thereby assisting in alignment correction.

[0013] After adopting the above technical solution, the beneficial effects of this utility model are: By adding a six-axis robot, a loading clamping seat, and a centering clamping assembly, the loading clamping seat and the six-axis robot are combined and installed together. Two sets of identical structures are distributed on both sides of the conveying structure. The workpiece is first adsorbed by the negative pressure suction cup, and the workpiece is initially corrected by the two sets of centering rods approaching each other. The centering screw drives the two sets of centering clamping assemblies to achieve secondary correction and clamping. Then, the negative pressure suction cup completes the high attraction force to load the workpiece, thereby assisting in the centering of the workpiece during loading.

[0014] By adding a feeding clamp, the centering rotation is assisted by a damping shaft during the initial centering, and the telescopic cylinder drives the negative pressure suction cup to telescopically move, thereby assisting in centering correction. Attached Figure Description

[0015] 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.

[0016] Figure 1 This is a schematic diagram of the overall structure of a clamping device and auxiliary feeding structure according to the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of a six-axis robot in a clamping device and auxiliary feeding structure according to the present invention.

[0018] Figure 3 This is a schematic diagram of the upper structure of the feeding clamping seat in the clamping device and auxiliary feeding structure of this utility model.

[0019] Figure 4 This is a schematic diagram of the lower structure of the feeding clamping seat in the clamping device and auxiliary feeding structure of this utility model.

[0020] Figure 5 This is a schematic diagram of the centering clamping component in a clamping device and auxiliary feeding structure according to the present invention.

[0021] In the diagram, 100 represents the six-axis robot, 101 represents the fixed base, and 102 represents the six-axis robot body. 201-Feeding clamping seat, 202-Centering slide groove one, 203-Centering screw one, 204-Dual-head motor, 205-Centering rod, 206-Centering slide groove two, 207-Centering screw two, 208-Connecting flange, 209-Telescopic cylinder, 210-Rotating seat, 211-Negative pressure suction cup, 212-Negative pressure conduit; 300-Alignment clamping assembly, 301-Alignment slider, 302-Screw sleeve, 303-Alignment clamping seat, 304-Flexible clamping pad. Detailed Implementation

[0022] 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.

[0023] Please see Figures 1-5 As the first embodiment of this utility model: A clamping device and auxiliary feeding structure include: a six-axis robot 100, a feeding clamping seat 200 installed at the upper end of the six-axis robot 100, the feeding clamping seat 200 including a clamping seat plate 201, a centering groove 202, a centering screw 203, a centering rod 205 and a centering screw 207. A centering groove 202 is provided on the left side of the rear side of the clamping plate 201. Two sets of centering screws 203 are provided on the inner side of the centering groove 202 to drive the two sets of centering rods 205 to move simultaneously in opposite directions. A set of centering rods 205 is provided on both the front and rear sides of the centering groove 202. A centering screw 207 is provided on the inner side of the lower end of the clamping plate 201. A set of centering clamping components 300 is provided on both the left and right sides of the rear side of the clamping base plate 201. The centering clamping components 300 include a centering slider 301 and a centering clamping seat 303. The centering slider 301 is fixedly connected to the rear side of the centering clamping seat 303. The feeding clamping base 200 also includes a negative pressure suction cup 211.

[0024] A negative pressure conduit 212 is fixedly connected to the right side of the negative pressure suction cup 211. The other end of the negative pressure conduit 212 is connected to an external negative pressure device. The negative pressure suction force is transmitted through the negative pressure conduit 212, so that the negative pressure suction cup 211 can adsorb and transfer the workpiece conveyed above the conveying structure.

[0025] A connecting flange 208 is fixedly connected to the front side of the clamping base plate 201. The six-axis robot 100 includes a six-axis robot body 102, and a fixed base 101 is fixedly connected to the lower end of the six-axis robot body 102.

[0026] A set of connecting flanges 208 is also fixedly connected to the upper end of the six-axis robot body 102. The two sets of connecting flanges 208 are attached to each other and fixed with bolts. The six-axis robot 100 is installed with two sets in a symmetrical structure on both sides of the conveying structure. The six-axis robot 100 is fixed through the fixed base 101, and the connecting flanges 208 complete the detachable fixing of the loading clamp seat 200.

[0027] The lower right side of the clamping base plate 201 is provided with a centering groove 206. The centering screw 207 is located inside the centering groove 206. The centering slider 301 is fixedly connected to the center by a screw sleeve 302. The centering slider 301 and the centering groove 206 are mutually movable and fitted.

[0028] The centering screw 207 and the screw sleeve 302 are connected by a threaded engagement. The centering rod 205 and the centering groove 202 are movably engaged with each other. The centering screw 203 and the centering rod 205 are also connected by a threaded engagement. A double-headed motor 204 is fixedly connected between the two sets of centering screws 203. The double-headed motor 204 controls the rotation of the two sets of centering screws 203, and completes the movement of the two sets of centering rods 205 closer or further apart in cooperation with the centering rod 205.

[0029] Each of the two sets of centering clamping seats 303 has a set of flexible clamping pads 304 fixedly connected to its opposite surface. The flexible clamping pads 304 are made of rubber material.

[0030] Specifically, in production, the six-axis robot body 102 is first controlled to move the loading clamp 200. Negative pressure suction is then delivered via the negative pressure conduit 212, causing the negative pressure suction cup 211 to adsorb and transfer the workpiece conveyed above the conveying structure. Then, the negative pressure suction cup 211 is positioned with its opening facing upwards. The dual-head motor 204 controls the rotation of two sets of centering screws 203, which, in conjunction with the centering rod 205, move closer or further away from each other, performing the initial centering operation on the workpiece. Next, the centering screw 2... 07 rotates under the action of the motor, and with the threaded engagement of the screw sleeve 302, it drives the two sets of centering and clamping components 300 to move closer to the workpiece at the same time, completing the secondary centering and clamping of the workpiece, and allowing the flexible clamping pad 304 to directly contact the workpiece to prevent clamping damage. During the secondary correction, the negative pressure suction of the negative pressure suction cup 211 is reduced, and after the correction is completed, the negative pressure suction cup 211 completes high adsorption and fixation again. The workpiece is then transferred to the next station by the six-axis robot body 102, thereby assisting in the centering of the workpiece during loading.

[0031] Please see Figure 1 and Figures 3-4 As a second embodiment of this utility model: A rotating seat 210 is fixedly connected to the front side of the negative pressure suction cup 211. A telescopic cylinder 209 is fixedly connected to the front side of the rotating seat 210. The telescopic section of the telescopic cylinder 209 is connected to the rotating seat 210 via a damping shaft. During the initial alignment, the damping shaft assists in the alignment rotation, and the telescopic cylinder 209 drives the negative pressure suction cup 211 to achieve telescopic movement.

[0032] Based on the first embodiment described above, further, during the initial centering, the damping shaft assists in the centering rotation (the damping shaft remains in a non-rotating state when the centering rod 205 is not under any force), and the telescopic cylinder 209 drives the negative pressure suction cup 211 to telescopically move, thereby realizing auxiliary operation during the centering process, which can assist in centering correction.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A clamping device and auxiliary feeding structure, comprising: A six-axis robot (100) is characterized in that: a loading clamping seat (200) is installed at the upper end of the six-axis robot (100), the loading clamping seat (200) includes a clamping seat plate (201), a centering groove one (202), a centering screw one (203), a centering rod (205) and a centering screw two (207); The clamping base plate (201) has a centering groove (202) on the left side of its rear side. The centering groove (202) has two sets of centering screws (203) on its inner side, which are used to drive the two sets of centering rods (205) to move in opposite directions at the same time. The centering groove (202) has a set of centering rods (205) on both the front and rear sides. The clamping base plate (201) has a centering screw (207) on its lower inner side. The clamping base plate (201) is provided with a set of centering clamping components (300) on both the left and right sides of the rear side. The centering clamping components (300) include a centering slider (301) and a centering clamping seat (303). The centering slider (301) is fixedly connected to the rear side of the centering clamping seat (303). The feeding clamping base (200) also includes a negative pressure suction cup (211).

2. The clamping device and auxiliary feeding structure as described in claim 1, characterized in that: The negative pressure suction cup (211) is fixedly connected to a negative pressure conduit (212) on the right side, and the other end of the negative pressure conduit (212) is connected to an external negative pressure device.

3. The clamping device and auxiliary feeding structure as described in claim 2, characterized in that: The clamping base plate (201) is fixedly connected to the front side of the connecting flange (208), and the six-axis robot (100) includes a six-axis robot body (102), and a fixed base (101) is fixedly connected to the lower end of the six-axis robot body (102).

4. The clamping device and auxiliary feeding structure as described in claim 3, characterized in that: A set of connecting flanges (208) is also fixedly connected to the upper end of the six-axis robot body (102). The two sets of connecting flanges (208) are attached to each other and fixed by bolts. The six-axis robot (100) is equipped with two sets of flanges and is installed on both sides of the conveying structure in a symmetrical structure.

5. The clamping device and auxiliary feeding structure as described in claim 1, characterized in that: The clamping base plate (201) has a centering groove two (206) at the lower end of the right side surface. The centering screw two (207) is located inside the centering groove two (206). The centering slider (301) is fixedly connected to the center by a screw sleeve (302). The centering slider (301) and the centering groove two (206) are mutually movable and fitted.

6. The clamping device and auxiliary feeding structure as described in claim 5, characterized in that: The second centering screw (207) and the screw sleeve (302) are connected by a threaded engagement. The centering rod (205) and the first centering groove (202) are movably engaged with each other. The first centering screw (203) and the centering rod (205) are also connected by a threaded engagement. A double-headed motor (204) is fixedly connected between the two sets of the first centering screws (203).

7. The clamping device and auxiliary feeding structure as described in claim 1, characterized in that: Each of the two sets of centering clamps (303) has a set of flexible clamps (304) fixedly connected to its opposite surface. The flexible clamps (304) are made of rubber material.

8. The clamping device and auxiliary feeding structure as described in claim 1, characterized in that: The negative pressure suction cup (211) is fixedly connected to a rotating seat (210) on the front side, and a telescopic cylinder (209) is fixedly connected to the front side of the rotating seat (210). The telescopic section of the telescopic cylinder (209) is connected to the rotating seat (210) via a damping shaft.

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