A robotic gripping device for grabbing plastic snaps

Abstract

The utility model discloses a robot clamping device for grabbing plastic buckle, including robot, the free end of robot is provided with industry camera and disc clamping subassembly, disc clamping subassembly includes the connecting support that links with the free end of robot, the side portion of connecting support is equipped with the disc through bolt mounting, the edge of disc is spaced apart and is provided with a plurality of connecting rods along the circumferential direction, the one end of connecting rod is provided with clamping unit away from disc, clamping unit includes the jaw fixed base that is connected with connecting rod thread, the front end of jaw fixed base is oppositely provided with right jaw and left jaw, right jaw and left jaw all are hinged with jaw fixed base. The utility model can solve the problem that the existing clamping device is difficult to move flexibly in the narrow cavity, dense fixture or high dynamic overturning scene because of the limitation of motor cable, cylinder gas pipe, and even will cause the trouble because of cable, gas pipe bending fatigue, and the problem of low efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automotive parts assembly technology, specifically a robotic gripping device for grasping plastic clips. Background Technology

[0002] In the field of automated production, plastic clips are commonly used connectors, and their automated handling is crucial to production efficiency and quality. Traditional devices often rely on motors or cylinders to drive the grippers to hold the plastic clips. If a motor is used, encoders, reducers, and power cables must be installed within the already confined space. The integration of these components not only requires extremely high installation precision, but the power cables are also prone to insulation damage and internal wire breakage due to continuous pulling and bending during operation, significantly increasing the probability of electrical faults and potentially leading to machine shutdown for maintenance. If a cylinder is used, air hoses must be installed to transmit power. Air hoses have inherent rigidity and length limitations, severely restricting the accessibility of the device's end effector in complex scenarios such as narrow cavities, dense jigs, or highly dynamic flipping, often preventing the device from accurately and flexibly reaching the designated work position. Furthermore, traditional gripping devices typically can only hold one plastic clip at a time. In continuous operation scenarios with multiple workstations and multiple material bins, the device needs to frequently travel between the material picking station and various material dispensing stations, which not only consumes a lot of time but also results in very low operating efficiency. Therefore, there is an urgent need to propose a new plastic clip clamping device to solve the above-mentioned technical problems existing in the prior art. Utility Model Content

[0003] This invention provides a robotic gripping device for grasping plastic clips, which can solve the problems of existing gripping devices being difficult to move flexibly in narrow cavities, dense jigs, or high-dynamic flipping scenarios due to the limitations of motor cables and cylinder pipes, and even malfunctions caused by cable and pipe bending fatigue, as well as low efficiency.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a robot gripping device for grasping plastic buckles, comprising a robot, wherein an industrial camera and a disc gripping assembly are provided at the free end of the robot; the disc gripping assembly includes a connecting bracket connected to the free end of the robot, a disc is bolted to the side of the connecting bracket, and multiple connecting rods are spaced apart along the circumferential direction at the edge of the disc, with a gripping unit provided at the end of the connecting rod away from the disc; the gripping unit includes a jaw fixing seat threadedly connected to the connecting rod, and a right jaw and a left jaw are arranged opposite each other at the front end of the jaw fixing seat, both of which are hinged to the jaw fixing seat, and the space between the right jaw and the left jaw is used to grip the plastic buckle. The position of the gripper is confirmed by photographing the material pick-up and drop position with the industrial camera, and then the disc gripper is rotated to drive different gripping units to sequentially connect to the material pick-up position, realizing the simultaneous gripping of multiple buckles and greatly improving the work cycle.

[0005] As a supplement to the technical solution described in this utility model, the front part of the gripper fixing seat is provided with an upwardly extending positioning part, and the two sides of the positioning part are provided with connecting parts. A pin is passed through the connecting part and is hinged to the right gripper and the left gripper through the pin. The pin passes through the hinge hole between the connecting part and the right gripper and the left gripper, and the right gripper and the left gripper are hinged to the gripper fixing seat, so as to ensure that the right gripper and the left gripper can rotate flexibly around the pin.

[0006] As a supplement to the technical solution described in this utility model, a retaining spring is provided at the end of the pin. The retaining spring is secured to the end of the pin to prevent the pin from falling off during the movement of the gripper and to ensure structural stability.

[0007] As a supplement to the technical solution described in this utility model, the bottom of both the right and left grippers is provided with a slot, and a cylindrical pin is inserted through the middle of both the right and left grippers. The slot at the bottom is used to lock onto the connecting part to achieve pre-positioning.

[0008] As a supplement to the technical solution described in this utility model, the ends of the two cylindrical pins are connected by a tension spring. Both ends of the cylindrical pins are provided with mounting holes. The hooks of the tension springs hook onto the corresponding mounting holes. The two ends of the tension springs hook onto the two cylindrical pins through the mounting holes, so that the right and left jaws move closer to each other. The elastic force of the springs provides the clamping preload.

[0009] As a supplement to the technical solution described in this utility model, the industrial camera is connected to the robot via a mounting plate. The mounting plate serves as a fixed carrier for the industrial camera and is connected to the robot's free end and the industrial camera via bolts, thereby fixing the camera at a preset angle.

[0010] As a supplement to the technical solution described in this utility model, the connecting bracket includes a first mounting plate and a second mounting plate arranged opposite to each other. The first mounting plate and the second mounting plate are connected by a sleeve. The sleeve is provided with multiple weight-reducing slots. The first mounting plate is rigidly connected to the free end of the robot by bolts to transmit the robot's motion and power. The second mounting plate is fixed to the disc by bolts to ensure that the disc and subsequent gripper unit stably follow the robot's movement. The multiple weight-reducing slots on the sleeve reduce the weight of the bracket without reducing the strength, thereby reducing the robot's motion load.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This device uses an industrial camera to scan the material handling position in real time, accurately identifying the location of the plastic clips and feeding the data back to the robot to adjust the gripper posture. The device employs a disc-type gripper structure, with multiple gripping units arranged along the circumference of the disc, supporting the parallel gripping of multiple plastic clips. Compared to traditional devices that can only grip one clip at a time, this device can handle multiple clips simultaneously, greatly improving work efficiency. It solves the problems of existing gripping devices being limited by motor cables and cylinder pipes, making them difficult to move flexibly in narrow cavities, dense jigs, or highly dynamic flipping scenarios, and even prone to failure due to cable and pipe bending and fatigue, as well as low efficiency. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a three-dimensional structural diagram of the disc clamping assembly of this utility model;

[0015] Figure 3 This is a three-dimensional structural diagram of the disc clamping assembly at different angles of this utility model;

[0016] Figure 4 A three-dimensional structural diagram of the clamping unit of this utility model clamping the plastic buckle;

[0017] Figure 5 This is a three-dimensional structural diagram of the clamping unit of this utility model;

[0018] Figure 6 This is a three-dimensional structural diagram of the gripper fixing seat of this utility model;

[0019] Figure 7 This is a schematic diagram of the card slot structure of this utility model;

[0020] Figure 8 This is a three-dimensional structural diagram of the pin of this utility model;

[0021] Figure 9This is a three-dimensional structural diagram of the connecting bracket of this utility model.

[0022] Figure label:

[0023] 1. Robot, 2. Industrial camera, 3. Disc clamping assembly, 4. Mounting plate, 5. Plastic buckle, 31. Connecting bracket, 311. First mounting plate, 312. Second mounting plate, 313. Sleeve, 314. Weight reduction slot, 32. Disc, 33. Linkage rod, 34. Clamping unit, 341. Right jaw, 342. Left jaw, 343. Cylindrical pin, 344. Pin, 345. Snap ring, 346. Jaw fixing seat, 347. Tension spring, 348. Positioning part, 349. Connecting part, 350. Slot, 351. Mounting hole. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0025] The present invention relates to a robotic gripping device for grasping plastic clips, such as... Figure 1-9 As shown, the system includes a robot 1, with an industrial camera 2 and a disc clamping assembly 3 mounted on its free end. The disc clamping assembly 3 includes a connecting bracket 31 connected to the free end of the robot 1. A disc 32 is bolted to the side of the connecting bracket 31. Multiple connecting rods 33 are spaced circumferentially along the edge of the disc 32. A clamping unit 34 is mounted on the end of each connecting rod 33 away from the disc 32. The clamping unit 34 includes a jaw fixing seat 346 threadedly connected to the connecting rods 33. A right jaw 341 and a left jaw 342 are positioned opposite each other at the front end of the jaw fixing seat 346. Both the right gripper 341 and the left gripper 342 are hinged to the gripper fixing seat 346. The space between the right gripper 341 and the left gripper 342 is used to clamp the plastic buckle 5. The lower end of the inner sidewall of the right gripper 341 and the left gripper 342 is provided with a positioning surface that matches the positioning part 348. The upper end of the inner sidewall of the right gripper 341 and the left gripper 342 is provided with an arc-shaped groove that matches the sidewall of the plastic buckle 5. The position of the gripper is confirmed by taking pictures of the material pick-up and drop-off position by the industrial camera 2. Then, the disc gripper is rotated to drive different clamping units 34 to connect to the material pick-up position in sequence, so as to realize the simultaneous gripping of multiple buckles and greatly improve the operation cycle.

[0026] In this embodiment, as Figure 4-6As shown, the front of the gripper fixing seat 346 is provided with an upwardly extending positioning part 348. The positioning part 348 is provided with connecting parts 349 on both sides. A pin 344 passes through the connecting part 349 and is hinged to the right gripper 341 and the left gripper 342 through the pin 344. The two ends of the pin 344 are provided with baffles on both sides of the right gripper 341 and the left gripper 342. The baffles connect the two pins 344. The pin 344 passes through the connecting part 349, the baffles and the hinge holes of the right gripper 341 and the left gripper 342, and hinges the right gripper 341 and the left gripper 342 to the gripper fixing seat 346, ensuring that the right gripper 341 and the left gripper 342 can rotate flexibly around the pin 344.

[0027] In this embodiment, as Figure 4-5 As shown, a retaining spring 345 is attached to the end of the pin 344. The retaining spring 345 is attached to the end of the pin 344 to prevent the pin 344 from falling off during the movement of the gripper and to ensure structural stability.

[0028] In this embodiment, as Figure 7 As shown, both the right gripper 341 and the left gripper 342 have a slot 350 at their bottoms. Both the right gripper 341 and the left gripper 342 have a cylindrical pin 343 inserted through their middle parts. The slot 350 at their bottoms is used to engage with the connecting part 349 to achieve pre-positioning.

[0029] In this embodiment, as Figure 4 and Figure 8 As shown, the ends of the two cylindrical pins 343 are connected by tension springs 347. Both ends of the cylindrical pins 343 are provided with mounting holes 351. The hooks of the tension springs 347 hook onto the corresponding mounting holes 351. The two ends of the tension springs 347 hook onto the two cylindrical pins 343 through the mounting holes 351, so that the right jaw 341 and the left jaw 342 are brought closer to each other, and the elastic force of the spring provides the clamping preload.

[0030] In this embodiment, as Figure 3 As shown, the industrial camera 2 is connected to the robot 1 via a mounting plate 4. The mounting plate 4 serves as a fixed carrier for the industrial camera 2 and is connected to the free end of the robot 1 and the industrial camera 2 via bolts, thereby fixing the camera at a preset angle.

[0031] In this embodiment, as Figure 9As shown, the connecting bracket 31 includes a first mounting plate 311 and a second mounting plate 312 arranged opposite to each other. The first mounting plate 311 and the second mounting plate 312 are connected by a sleeve 313. The sleeve 313 is provided with multiple weight-reducing slots 314. The first mounting plate 311 is rigidly connected to the free end of the robot 1 by bolts to transmit the robot's motion and power. The second mounting plate 312 is fixed to the disc 32 by bolts to ensure that the disc 32 and the subsequent gripper unit stably follow the robot's movement. The multiple weight-reducing slots 314 on the sleeve 313 reduce the weight of the bracket without reducing the strength, thereby reducing the motion load on the robot 1.

[0032] In this embodiment, as Figure 1 As shown, during installation, the industrial camera 2 is fixed to the free end of the robot 1 via the mounting plate 4. One side of the mounting plate 4 is fixed to the flange of the free end of the robot 1 with bolts, and the other side is connected to the industrial camera 2 through a slotted hole. The camera's shooting angle can be adjusted to ensure that the camera lens is facing the material handling area. The connecting bracket 31 is fixed to the end flange of the robot 1 with bolts. Then, the disc 32 is fixed to the connecting bracket 31. The edge of the disc 32 is provided with 7 mounting slots. The connecting rod 33 is fixed in the mounting slots with bolts. Each connecting rod 33 is fixed in the mounting slots. The end of the rod 33 is connected to the clamping unit 34 by a thread; the left jaw 342 and the right jaw 341 are hinged to both sides of the jaw body 346 by pins 344, and the snap ring 345 clamps the end of the dual-purpose pin 344 to prevent it from falling off. Finally, the two ends of the tension spring 347 are hooked onto the cylindrical pins 343 of the left jaw 342 and the right jaw 341 respectively to bring the two jaws closer to each other. The elastic force of the tension spring 347 provides the clamping preload. The left jaw 342 and the right jaw 341 can be made of POM or nylon to protect the surface of the plastic buckle 5 from being scratched.

[0033] In this embodiment, as Figure 1As shown, during use, robot 1 drives the disc gripping assembly 3 to move to the picking station. Industrial camera 2 starts scanning to identify the actual position of plastic buckle 5 and transmits the coordinate data to the robot control system. The control system drives robot 1 to fine-tune its posture so that one of the gripping units 34 is aligned with the target buckle. Plastic buckle 5 enters the opening between the left gripper 342 and the right gripper 341 and is slowly pressed into the space between the left gripper 342 and the right gripper 341. During the pressing process, the left gripper 342 and the right gripper 341 slowly open. After the plastic buckle 5 is pressed in, the left gripper 342 and the right gripper 341 clamp the plastic buckle 5 under the tension of the tension spring 347. The plastic buckle 5 is clamped by the arc-shaped grooves on the inner side of the left gripper 342 and the right gripper 341. 2. A second scan confirms successful gripping; the free end of robot 1 drives the disc 32 to rotate, and the next gripping unit 34 aligns with the target buckle, continuing the gripping until all gripping units 34 have gripped the plastic buckle 5. Robot 1 then moves the plastic buckle 5 to the assembly station and installs it into the target position. After one is installed, the free end of robot 1 drives the disc 32 to rotate, continuing to install the next plastic buckle 5 into the target position. This process is repeated until all are installed, allowing for the next gripping. Multiple plastic buckles 5 can be installed at once, greatly improving work efficiency. After the industrial camera 2 grips the plastic buckle 5, it will double-check the gripping result. If an "empty grip" occurs where no buckle is gripped, the system can immediately trigger a warning.

[0034] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0035] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0036] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. A robotic gripping device for grasping plastic clips, characterized in that, include: Robot (1), the free end of which is provided with an industrial camera (2) and a disc clamping assembly (3); The disc clamping assembly (3) includes a connecting bracket (31) connected to the free end of the robot (1). A disc (32) is bolted to the side of the connecting bracket (31). Multiple connecting rods (33) are spaced along the circumferential direction at the edge of the disc (32). A clamping unit (34) is provided at the end of the connecting rod (33) away from the disc (32). The clamping unit (34) includes a jaw fixing seat (346) threadedly connected to the connecting rod (33). The front end of the jaw fixing seat (346) is provided with a right jaw (341) and a left jaw (342) opposite to each other. The right jaw (341) and the left jaw (342) are both hinged to the jaw fixing seat (346). The space between the right jaw (341) and the left jaw (342) is used to clamp the plastic buckle (5).

2. The robot gripping device for grasping plastic buckles according to claim 1, characterized in that: The front part of the gripper fixing seat (346) is provided with an upwardly extending positioning part (348), and the two sides of the positioning part (348) are provided with connecting parts (349). The connecting parts (349) are provided with pins (344), and are hinged to the right gripper (341) and the left gripper (342) through the pins (344).

3. The robot gripping device for grasping plastic buckles according to claim 2, characterized in that: The end of the pin (344) is fitted with a retaining spring (345).

4. The robot gripping device for grasping plastic buckles according to claim 1, characterized in that: The bottom of the right jaw (341) and the left jaw (342) are provided with a slot (350), and a cylindrical pin (343) is inserted through the middle of the right jaw (341) and the left jaw (342).

5. The robot gripping device for grasping plastic buckles according to claim 4, characterized in that: The ends of the two cylindrical pins (343) are connected by a tension spring (347). Both ends of the cylindrical pins (343) are provided with mounting holes (351), and the hooks of the tension springs (347) hook into the corresponding mounting holes (351).

6. The robot gripping device for grasping plastic buckles according to claim 1, characterized in that: The industrial camera (2) is connected to the robot (1) via a mounting plate (4).

7. The robot gripping device for grasping plastic buckles according to claim 1, characterized in that: The connecting bracket (31) includes a first mounting plate (311) and a second mounting plate (312) arranged opposite to each other. The first mounting plate (311) and the second mounting plate (312) are connected by a sleeve (313), which has a plurality of weight-reducing slots (314).

Images