A robot hand claw for robot multi-process feeding and discharging

Abstract

The utility model discloses a kind of robot hand claws of robot multiple processes feeding and discharging, belong to robot automation feeding and discharging technical field, including robot connecting piece, the top of robot connecting piece is provided with two cameras and the camera outer cover for protecting camera, the two sides of robot connecting piece are provided with the clamping unit for being grabbed to workpiece, the included angle between two clamping units is 100 °~140 °;The clamping unit includes bottom plate, two movable finger vertical boards are provided on the bottom plate and the driving element for driving the movement of two finger vertical boards.

Description

Technical Field

[0001] This utility model relates to a robotic gripper for loading and unloading materials in multiple processes, belonging to the field of robotic automated loading and unloading technology. Background Technology

[0002] In automated aluminum bottle production lines, multiple loading and unloading processes rely on robotic grippers for automation. However, existing technologies have the following prominent drawbacks: Low clamping force control precision: The mainstream adopts pneumatic drive, and the clamping force depends on air pressure adjustment, which can easily lead to deformation of aluminum bottles or insecure clamping, and cannot be adapted to thin-walled aluminum bottles. Poor compatibility: A single gripper can only be used with 1-2 sizes of aluminum bottles. Changing the size requires disassembling and replacing the finger parts, which cannot meet the needs of multi-size production lines. Inefficient: Most are designed with a single clamping unit, which can only clamp one aluminum bottle at a time, making it difficult to meet high production capacity requirements; Inadequate positioning and protection: Lack of a visual positioning system, relying on tooling for positioning; Structural redundancy: Some grippers are made of solid structure to ensure strength, with a weight of ≥5kg, which increases the robot's load. Summary of the Invention

[0003] To solve the above-mentioned technical problems, this utility model provides a robotic gripper for loading and unloading materials in multiple processes. Through a collaborative system of dual gripping units, servo precision drive, visual positioning and layered protection, it can achieve compatibility with 15 types of aluminum bottles, simultaneous gripping of two bottles, and controllable clamping force, thus meeting the high-capacity requirements of aluminum bottle production lines.

[0004] The technical solution adopted by this utility model to solve its technical problem is: A robotic gripper for loading and unloading materials in multiple processes includes a robot connector. The top of the robot connector is provided with two cameras and a camera cover for protecting the cameras. Both sides of the robot connector are provided with gripping units for grasping workpieces. The included angle between the two gripping units is 100° to 140°. The clamping unit includes a base plate, on which two movable finger stands and a drive unit for driving the movement of the two finger stands are provided.

[0005] Preferably, the driving component includes a servo motor and a lead screw. The servo motor is connected to the base plate through a motor fixing plate. One end of the lead screw and the output end of the servo motor are both provided with synchronous pulleys. The two synchronous pulleys are sleeved with a synchronous belt. Two ball nuts are threaded onto the lead screw, and the ball nuts are respectively connected to the finger support plate.

[0006] Preferably, the finger support plate has a concave structure, and two sets of finger pads are provided on each opposite side of the two finger support plates. Each set of finger pads includes two pads, and the two pads are arranged symmetrically. A sensor is provided between the two pads in one set of finger pads.

[0007] Preferably, the finger stand is provided with reinforcing ribs.

[0008] Preferably, the base plate is provided with two slide rails, the end of the finger stand is provided with a slider corresponding to the slide rail, and the end of the slide rail is provided with an anti-collision block for buffering the slider.

[0009] Preferably, an accordion cover is provided between the two sliders.

[0010] Preferably, a slotted photoelectric sensor is provided on the slide rail, and one of the sliders is provided with a light-blocking sheet metal part that matches the slotted photoelectric sensor.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: Through torque feedback from the drive components, the clamping force can be adjusted in real time according to the aluminum bottle specifications, reducing the aluminum bottle damage rate from 5% to 0.1% and the detachment rate from 3% to 0. The sensor confirms that the gripper is in place, the anti-collision block avoids impact on the components, and the slotted photoelectric sensor achieves accurate positioning of the origin, reducing the failure rate to below 2%. The finger-mounted plate has an opening and closing stroke of 30-80mm, which is compatible with 15 different sizes of aluminum bottles. No parts need to be replaced, shortening the specification switching time. The dual clamping units with an angle of 100° to 140° can simultaneously clamp two aluminum bottles, keeping the production line cycle time within 35 seconds, with an annual output of ≥2 million bottles, thus increasing production capacity. The accordion cover achieves IP53 dustproof rating, extends the lifespan of drive components to 2000 hours, and the weight-reducing design of robot connector 1 and finger support plate 7 keeps the total weight of the gripper to 3.5kg, a 30% reduction compared to a solid structure, and reduces robot energy consumption by 15%. The timing belt 13 has adjustable tension via a waist-shaped hole, and the finger pads 8 have an adhesive design for easy replacement, with a replacement time of ≤5 minutes, reducing annual maintenance costs by 40%. The camera identifies the position and specifications of aluminum bottles with a positioning error of ≤0.5mm. It does not rely on tooling for positioning and is suitable for multi-process workstation layouts. Attached Figure Description

[0012] 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 the structures shown in these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a structural schematic diagram of the robot connector of this utility model; Figure 3 This is a schematic diagram of the clamping unit of this utility model.

[0014] In the diagram: 1. Robot connector; 2. Camera housing; 3. Camera; 4. Base plate; 5. Slide rail; 6. Slider; 7. Finger stand; 8. Finger pad; 9. Reinforcing rib; 10. Servo motor mounting plate; 11. Servo motor; 12. Synchronous pulley; 13. Synchronous belt; 14. Lead screw; 15. Anti-collision block; 16. Slotted photoelectric sensor; 17. Light-blocking sheet metal part; 18. Ball nut; 19. Bellows cover; 20. Sensor. Detailed Implementation

[0015] 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.

[0016] Please see Figures 1-3 This utility model provides a technical solution: like Figure 1 and Figure 2As shown, a robotic gripper for loading and unloading materials in multiple processes includes a robot connector 1. The robot connector 1 is integrally formed from 6061 aluminum alloy, and two cameras 3 are fixed to the top with bolts. The cameras 3 are industrial CMOS cameras, model MV-CA050-10GM, with a resolution of 5 megapixels and a frame rate of 30fps. The cameras 3 are symmetrically distributed with a spacing of 120mm. The top of the robot connector 1 is provided with a camera cover 2 for protecting the cameras 3. The camera cover 2 is made of cold-rolled steel plate with a thickness of 1. 5mm thick, IP54 protection rating, to avoid mechanical collision and dust pollution. Six weight-reduction holes are evenly opened in the middle of the robot connector 1, reducing the weight by 30% while ensuring strength and load-bearing capacity ≥20kg. The bottom is rigidly connected to the robot end shaft through a flange. Both sides of the robot connector 1 are equipped with clamping units for gripping workpieces. The included angle between the two clamping units is 100°~140°, which is suitable for the multi-process station layout of aluminum bottle production line, avoiding interference during clamping. Each clamping unit operates independently and can clamp two aluminum bottles simultaneously. The clamping unit includes a base plate 4, on which two movable finger stands 7 are mounted and a drive unit for driving the movement of the two finger stands 7.

[0017] like Figure 3 As shown, the driving components include a servo motor 11 and a lead screw 14. The servo motor 11 is a Panasonic A6 series servo motor, model MSMF042L1U2M, with a power of 400W and a rated speed of 3000r / min. It is fixed to one end of the base plate 4 by a servo motor mounting plate 10. Synchronous pulleys 12 are provided at one end of the lead screw 14 and the output end of the servo motor 11. The output shaft of the servo motor 11 and one end of the lead screw 14 are both interference-fitted with the synchronous pulleys 12. The synchronous pulleys 12 are made of aluminum alloy, with 20 teeth and a pitch of 5mm. The two synchronous pulleys 12 are sleeved together. The transmission ratio of the synchronous belt 13, the two synchronous pulleys 12 and the synchronous belt 13 is 1:1. The servo motor mounting plate 10 has a waist-shaped hole, which can adjust the position of the servo motor 11 to tension the synchronous belt 13. The lead screw 14 is threaded with two ball nuts 18, which are respectively connected to the finger plate 7. The lead screw 14 is a ball screw, model SFU2005, with a lead of 5mm and a length of 220mm. Both ends are fixed to the base plate 4 through bearing seats. The internal threads of the two ball nuts 18 are opposite, so that the two finger plates 7 open and close synchronously in opposite directions when driven by the motor.

[0018] Furthermore, the finger support plate 7 is a concave aluminum alloy structure with a reinforcing rib 9 welded to the outside. The reinforcing rib 9 has a triangular structure and a thickness of 4mm, which improves bending strength while reducing weight by 20%. Two sets of finger pads 8 are provided on opposite sides of the two finger support plates 7. Each set of finger pads 8 includes two pads, which are symmetrically arranged. A sensor 20 is provided between the two pads in one set of finger pads 8. The sensor 20 is a diffuse reflection photoelectric sensor, model E3Z-D61, with a detection distance of 5-10mm, used to determine whether an aluminum bottle has been clamped with a detection accuracy of 100%.

[0019] Specifically, the pad has a two-layer design: the outer layer is a silicone cushioning pad with a Shore hardness of 40HA to prevent damage to the aluminum bottle; the inner layer is a nitrile rubber friction pad with a thickness of 3mm and a coefficient of friction ≥0.8 to ensure that it does not slip when gripped.

[0020] Furthermore, two slide rails 5 are provided on the base plate 4. The base plate 4 is made of 5052 aluminum alloy plate, and the upper surface is fixed to the two parallel slide rails 5 by T-bolts. The parallelism error of the two slide rails 5 is ≤0.05mm / m. The end of the finger stand plate 7 is provided with a slider 6 corresponding to the slide rail 5. The slider 6 is fixed to the finger stand plate 7 by bolts. The clearance between the slider 6 and the slide rail 5 is ≤0.03mm to ensure the linear motion accuracy of the finger stand plate 7 is ±0.1mm. The end of the slide rail 5 is provided with a shock-absorbing block 15 for buffering the slider 6. The shock-absorbing block 15 is made of polyurethane material with a Shore hardness of 60HA and a thickness of 10mm to prevent the slider 6 from impacting the end of the slide rail. A bellows cover 19 is provided between the two sliders 6. The bellows cover 19 is made of PVC material with an extended length of 200mm and a contracted length of 50mm. Both ends are bolted to the two sliders 6 respectively, completely covering the slide rail 5 and the lead screw 14 to prevent dust and aluminum chips from entering the transmission structure, thus extending the component life to 2000 hours.

[0021] Furthermore, a slotted photoelectric sensor 16 is provided on the slide rail 5, and a light-blocking sheet metal part 17 matching the slotted photoelectric sensor 16 is provided on one of the sliders 6. The slotted photoelectric sensor 16 is model EE-SX672. When the light-blocking sheet metal part 17 is inserted into the slotted photoelectric sensor 16, the origin signal is triggered for positioning, ensuring that the finger stand plate 7 is reset to the initial position after each gripping.

[0022] The workflow of this embodiment is as follows: During installation, The robot connector 1 is fixed to the robot end shaft via a flange. The camera 3 is mounted on the top of the connector, and the camera cover 2 is fastened and fixed. Two clamping units are fixed to both sides of the robot connector 1 with bolts to ensure that the included angle between the two units is 120°. The base plate 4 is tightly fitted to the connector with a gap of ≤0.1mm. The slide rail 5 is fixed to the base plate 4, and the slider 6 is inserted into the slide rail. The finger stand plate 7 is bolted to the slider 6. The reinforcing rib 9 is welded to the inside of the finger stand plate. The servo motor 11 is mounted on the servo motor mounting plate 10. After the synchronous pulley 12 and the synchronous belt 13 are assembled, the motor position is adjusted and the synchronous belt is tensioned. The lead screw 14 is fixed to the bearing seat. The ball nut 18 is connected to the finger stand plate 7. The finger pad 8 is pasted to the finger stand plate 7. The sensor 20 is fixed in the gap between the pads. The bellows cover 19 is connected to the slider 6. The slotted photoelectric sensor 16 is aligned and installed with the light-blocking sheet metal part 17. When using, After the production line starts, camera 3 collects the position and specification information of the aluminum bottles in real time to identify the diameter differences of 15 types of aluminum bottles and transmits the data to the robot controller. The controller determines the opening and closing stroke of the gripping unit. Servo motor 11 receives the control command and rotates in the forward direction. Through synchronous wheel 12 and synchronous belt 13, it drives the lead screw 14 to rotate. Two ball nuts 18 drive the finger plate 7 to open in the reverse direction along the slide rail 5 until the distance matches the aluminum bottle specification. The robot drives the gripper to move above the aluminum bottle. Servo motor 11 reverses, finger plate 7 closes, and the buffer layer of finger pad 8 contacts the aluminum bottle first, followed by the friction layer. When the torque of servo motor 11 reaches the set value, the motor stops. Sensor 20 detects that the aluminum bottle outputs a high level, confirming that the workpiece is gripped in place. The robot transfers the aluminum bottle to the target process. Servo motor 11 rotates in the forward direction again to open the fingers and complete the unloading action. Then the motor reverses, the light-blocking sheet metal part 17 triggers the slotted photoelectric sensor 16, and the finger plate 7 returns to the origin.

[0023] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic gripper for loading and unloading materials in multiple processes, comprising a robot connector (1), characterized in that, The top of the robot connector (1) is provided with two cameras (3) and a camera cover (2) for protecting the cameras (3). Both sides of the robot connector (1) are provided with clamping units for gripping the workpiece, and the included angle between the two clamping units is 100° to 140°. The clamping unit includes a base plate (4), on which two movable finger stands (7) and a drive unit for driving the two finger stands (7) to move are provided.

2. The robotic gripper for loading and unloading materials in multiple processes according to claim 1, characterized in that, The driving component includes a servo motor (11) and a lead screw (14). The servo motor (11) is connected to the base plate (4) through a motor fixing plate (10). One end of the lead screw (14) and the output end of the servo motor (11) are provided with a synchronous pulley (12). The two synchronous pulleys (12) are sleeved with a synchronous belt (13). Two ball nuts (18) are threaded on the lead screw (14). The ball nuts (18) are respectively connected to the finger stand plate (7).

3. The robotic gripper for loading and unloading materials in multiple processes according to claim 1, characterized in that, The finger support plate (7) has a concave structure. Two sets of finger pads (8) are provided on opposite sides of the two finger support plates (7). Each set of finger pads (8) includes two pads. The two pads are arranged symmetrically. A sensor (20) is provided between the two pads in one set of finger pads (8).

4. The robotic gripper for loading and unloading materials in multiple processes according to claim 1, characterized in that, The finger support plate (7) is provided with reinforcing ribs (9).

5. A robotic gripper for loading and unloading materials in multiple processes according to claim 1, characterized in that, The base plate (4) is provided with two slide rails (5), and the end of the finger stand plate (7) is provided with a slider (6) corresponding to the slide rail (5). The end of the slide rail (5) is provided with a shock-absorbing block (15) for buffering the slider (6).

6. A robotic gripper for loading and unloading materials in multiple processes according to claim 5, characterized in that, An accordion cover (19) is provided between the two sliders (6).

7. A robotic gripper for loading and unloading materials in multiple processes according to claim 5, characterized in that, A slotted photoelectric sensor (16) is provided on the slide rail (5), and a light-blocking sheet metal part (17) matching the slotted photoelectric sensor (16) is provided on one of the sliders (6).

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