A gripping mechanism for the end execution of an industrial robot

Abstract

The utility model discloses a kind of for industrial robot end execution's grabbing mechanism, belong to industrial robot automation technical field, including the flange being connected with industrial robot end, the flange is connected with mounting block by adapter plate, the side of the flange is provided with vertical board one, mounting block is installed with inner support clamping assembly and two groups of outer clamping assembly, the side of vertical board one is provided with tightening and quick-change structure. Thus, it can be through two groups of outer clamping assembly, inner support clamping assembly and tightening and quick-change structure mutual cooperation, automatically complete the inner support grabbing of material frame dense product and tool outer clamping transfer, improve feeding and discharging efficiency, quickly complete gripper quick-change, adapt to a variety of different size products, reduce equipment quantity, reduce production line investment.

Description

Technical Field

[0001] This utility model relates to a gripping mechanism for end effector of industrial robots, belonging to the field of industrial robot automation technology. Background Technology

[0002] In industrial settings such as automotive parts cleaning and electronic component assembly, product loading / unloading and tooling fixation are critical processes. Currently, the mainstream operation still relies on manual labor, resulting in significant efficiency bottlenecks and safety hazards. Taking an automotive engine block cleaning line as an example, workers need to handle 5-20 kg of metal parts, remove them from densely stacked material boxes, place them into cleaning fixtures, and then tighten the fixing clamps with a hand screwdriver. Each worker can only process ≤15 products per hour, far below the line's capacity requirement of 20 products per hour, easily causing process delays. Furthermore, manual handling easily leads to back injuries, and the high-pressure water guns and high-temperature drying equipment around the cleaning line can cause burns and electric shocks, with an annual accident rate ≥0.5%. Moreover, manual tightening torque relies on experience, with deviations reaching ±15%, causing 3%-5% of products to shift during high-pressure cleaning, requiring rework and severely impacting production stability.

[0003] While existing industrial robot gripping mechanisms can partially replace manual labor, they suffer from significant drawbacks, including limited functionality and poor adaptability to various scenarios. Current solutions only offer external gripping capabilities, requiring sufficient operating space between products. They are unsuitable for densely stacked products in the material box, and forced gripping can easily scratch surfaces. Furthermore, they lack integrated tightening functions, necessitating the addition of a separate electric screwdriver robot, increasing equipment investment. The program debugging cycle for two robots working together is lengthy, and asynchronous movements can easily lead to malfunctions. In addition, with the trend towards multi-variety, small-batch production in manufacturing, replacing existing mechanisms requires replacing the entire gripper set, which is time-consuming and cannot meet the flexible demand for switching between multiple products per day. This results in low automation levels on production lines, long return-on-investment cycles, and difficulty in adapting to the efficient and flexible production needs of modern industry. Utility Model Content

[0004] To address the aforementioned technical issues, this utility model provides a gripping mechanism for the end effector of an industrial robot. Through the coordinated operation of two sets of external clamping components, an internal support clamping component, and a tightening and quick-change structure, it automatically completes the internal support gripping and external clamping transfer of densely packed products, improving loading and unloading efficiency, quickly completing gripper quick changes, adapting to various products of different sizes, reducing the number of devices, and lowering production line investment.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A gripping mechanism for end effector of an industrial robot includes a flange connected to the end effector of the industrial robot. The flange is connected to a mounting block via an adapter plate and a quick-change plate. A vertical plate is provided on one side of the flange. An inner support clamping assembly and two sets of outer clamping assemblies are mounted on the mounting block. A tightening and quick-change structure is provided on one side of the vertical plate.

[0007] Preferably, the tightening and quick-change structure includes a support column, which is connected to a vertical plate. A mounting plate is provided at the end of the support column, and a smart electric screwdriver is mounted on the mounting plate. The output end of the smart electric screwdriver passes through the mounting plate and is provided with a screwdriver bit.

[0008] Preferably, the internal support clamping assembly includes two gripper cylinders, each of which has two mounting plates, each of which has at least one clamping support column.

[0009] Preferably, an adjusting screw mounting plate is provided on one side of the gripper cylinder two, the adjusting screw mounting plate is provided with an adjusting screw for limiting the movement distance of the mounting plate three, and a stop pin is provided at the end of the adjusting screw.

[0010] Preferably, the external clamping assembly includes a gripper cylinder one, and each of the two drive seats of the gripper cylinder one is provided with a mounting plate two. Each mounting plate two is connected to a polyurethane clamping plate through a vertical plate two, and each of the vertical plates two is provided with a reinforcing rib on one side.

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

[0012] By cooperating with two sets of external clamping components, internal support clamping components, and tightening and quick-change structures, the system can automatically complete the internal support gripping and tooling external clamping transfer of densely packed products, improve loading and unloading efficiency, quickly complete the quick change of grippers, adapt to a variety of different sizes of products, reduce the number of equipment, and reduce production line investment.

[0013] The clamping pillar of the inner support clamping component is inserted into the inner hole of the product to grip it, and the two sets of outer clamping components alternately load and unload the product, which improves the loading and unloading efficiency, avoids the safety hazards of manual handling, and reduces the product scratch rate from 5% to less than 0.1%.

[0014] The Smart Electric Screwdriver 6 can monitor torque and angle in real time, supports alarms for missing locks / slipped threads, improves the tightening qualification rate of tooling, reduces rework costs, eliminates the need for additional tightening robots, and reduces equipment investment. 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 the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the external clamping component of this utility model;

[0018] Figure 3 This is a schematic diagram of the internal support clamping assembly of this utility model.

[0019] In the diagram: 1. Flange; 2. Adapter plate; 3. Vertical plate one; 4. Support column; 5. Mounting plate one; 6. Intelligent electric screwdriver; 7. Screwdriver bit; 8. Quick change disc; 9. Mounting block; 10. External clamping assembly; 1001. Clamping cylinder one; 1002. Mounting plate two; 1003. Vertical plate two; 1004. Reinforcing rib; 1005. Polyurethane clamping plate; 11. Internal support clamping assembly; 1101. Clamping cylinder two; 1102. Mounting plate three; 1103. Clamping support column; 1104. Stop pin; 1105. Adjusting screw; 1106. Adjusting screw mounting plate. Detailed Implementation

[0020] 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.

[0021] Please see Figures 1-3 This utility model provides a technical solution:

[0022] like Figure 1As shown, a gripping mechanism for an industrial robot end effector includes a flange 1 connected to the end effector of the industrial robot. The flange 1 is forged from 45# steel and galvanized. A positioning hole is formed in the center of the flange 1, and six M10 threaded holes are evenly distributed around its perimeter. It is rigidly connected to the end effector of the industrial robot via M10×20 socket head cap bolts, with a coaxiality ≤0.05mm. This allows for the transmission of the robot's torque and displacement, ensuring the motion accuracy of the gripping mechanism. A mounting block 9 is connected to the flange 1 via an adapter plate 2 and a quick-change disc 8. The adapter plate 2 is used for structural transition and weight reduction. The installation dimensions of flange 1 and quick-change plate 8 differ, and the aluminum alloy material reduces the weight of the mechanism to avoid overloading the robot. The quick-change plate 8 uses a SCHUNKSWS80 quick-change plate, weighing 1.2kg, with a maximum load of 50kg and a repeatability accuracy of ≤0.02mm. It enables quick separation / connection between the mounting block 9 and the base structure, with a changeover time of ≤10 minutes. It supports switching between multiple grippers. One side of flange 1 is equipped with a vertical plate 3. The mounting block 9 is equipped with an internal support clamping assembly 11 and two sets of external clamping assemblies 10. One side of the vertical plate 3 is equipped with a tightening and quick-change structure.

[0023] Furthermore, the tightening and quick-change structure includes a support column 4, which is used to maintain the parallelism between the mounting plate 5 and the vertical plate 3, ensuring the coaxiality of the tightening of the intelligent electric screwdriver 6. The support column 4 is connected to the vertical plate 3, and the end of the support column 4 is provided with the mounting plate 5. The intelligent electric screwdriver 6 is mounted on the mounting plate 5. The mounting plate 5 can position the intelligent electric screwdriver 6 and ensure the coaxiality of the bit 7 and the tightening hole of the tooling. The output end of the intelligent electric screwdriver 6 passes through the mounting plate 5 and is provided with the bit 7. The intelligent electric screwdriver 6 is a HIOSBL-7000 intelligent servo electric screwdriver with an adjustable torque range of 5-70 N·m and a speed of 100-500 rpm. It supports real-time monitoring of torque and rotation angle. The intelligent electric screwdriver 6 is used to automatically tighten the fixing bolts of the cleaning tooling, avoiding torque deviation due to manual operation. It supports alarms for missed locks and stripped threads. The bit 7 is connected to the output shaft of the intelligent electric screwdriver 6 through a quick-change chuck.

[0024] like Figure 3 As shown, the inner support clamping assembly 11 includes two gripper cylinders 1101. The gripper cylinders 1101 are SMCMHS3-40D three-jaw cylinders with a stroke of 15mm and a clamping force of 800N. Each gripper cylinder 1101 has two mounting plates 1102 on its drive seat, and each mounting plate 1102 has at least one clamping support column 1103.

[0025] Furthermore, an adjusting screw mounting plate 1106 is provided on one side of the gripper cylinder 2 1101. The adjusting screw mounting plate 1106 is provided with an adjusting screw 1105 for limiting the movement distance of the mounting plate 3 1102. A stop pin 1104 is provided at the end of the adjusting screw 1105.

[0026] Specifically, in this embodiment, four clamping supports 1103 are inserted into the inner hole of the product, and the gripper cylinder 1101 retracts to achieve internal support and gripping, which is suitable for products stacked without gaps in the material frame and avoids interference with adjacent products.

[0027] like Figure 2 As shown, the external clamping assembly 10 includes a gripper cylinder 1001. The gripper cylinder 1001 uses an SMCMHZ2-20D pneumatic gripper with a stroke of 20mm and a clamping force of 500N. Both drive seats of the gripper cylinder 1001 are equipped with mounting plates 1002. Each mounting plate 1002 is connected to a polyurethane clamping plate 1005 via a vertical plate 1003. One side of each vertical plate 1003 is provided with a reinforcing rib 1004. The polyurethane clamping plate 1005 is connected via M... 3×8 bolts are fixed to the inner side of the upright plate 1003, and anti-slip texture is opened on the surface. Specifically, two sets of external clamping components 10 are installed on the adjacent sides of the mounting block 9. One set is used for loading and clamping the product from the transfer table to the tooling, and the other set is used for unloading and clamping the cleaned product from the tooling to the finished product frame. The center distance can be adjusted by the mounting plate 1002 to adapt to products with a width of 50-200mm. The external clamping method avoids damage to the product surface. The two sets work alternately to reduce the robot's idle travel time and improve efficiency.

[0028] The workflow of this embodiment is as follows: The robot moves the gripping mechanism above the material frame. A vision camera is installed at the end of the robot to capture the position of the product's inner hole. The clamping support column 1103 is aligned with the four inner holes of the product. The robot descends to insert the support column. The gripper cylinder 1101 is vented and retracted, and the gripper support column 1103 is extended outward. The product is confirmed to be clamped by the electric screwdriver torque sensor. If there is no looseness, the robot transfers the product to the transfer platform. The gripper cylinder 1101 resets. The product is placed on the transfer platform for secondary vision positioning with a positioning accuracy of ±0.05mm. The loading external clamping assembly 10 moves to the transfer platform. The gripper cylinder 1001 is vented to clamp the polyurethane clamping plates 1005 on both sides of the product, with a clamping force of 300N. The robot transfers the product to the cleaning fixture. The product is placed... The tooling positioning slot is reset, the external clamping component 10 is reset, the intelligent electric screwdriver 6 is moved to the tooling bolt, the screwdriver bit 7 is aligned with the bolt, the tightening program is started with the torque set to 20 N·m, the rotation angle is monitored at 360°±5°, after completion the electric screwdriver is reset, the alarm system confirms no missing locks, after cleaning, the unloading external clamping component 10 clamps the product and transfers it to the finished product frame, at the same time the loading component grabs the next product, realizing alternating work. When switching to a small-sized product, the robot moves the current mounting block 9 to the gripper storage rack, the quick-change plate 8 is vented and unlocked, the mounting block 9 is placed in the storage rack, the robot moves to the mounting block 9 that is adapted to the small-sized product, the quick-change plate 8 is aligned and vented and locked, the clamping component action is tested twice, the torque parameter of the intelligent electric screwdriver 6 is adjusted to 10 N·m, and the changeover is completed.

[0029] 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 gripping mechanism for end effector of an industrial robot, characterized in that, Includes a flange (1) connected to the end of an industrial robot, the flange (1) being connected to a mounting block (9) via an adapter plate (2) and a quick-change plate (8), a vertical plate (3) being provided on one side of the flange (1), an inner support clamping assembly (11) and two sets of outer clamping assemblies (10) being installed on the mounting block (9), and a tightening and quick-change structure being provided on one side of the vertical plate (3).

2. The gripping mechanism for end effector of an industrial robot according to claim 1, characterized in that, The tightening and quick-change structure includes a support column (4), which is connected to the upright plate (3). The end of the support column (4) is provided with an mounting plate (5), and an intelligent electric screwdriver (6) is installed on the mounting plate (5). The output end of the intelligent electric screwdriver (6) passes through the mounting plate (5) and is provided with a screwdriver bit (7).

3. A gripping mechanism for end effector of an industrial robot according to claim 1, characterized in that, The inner support clamping assembly (11) includes two gripper cylinders (1101), and each gripper cylinder (1101) has two mounting plates (1102) on its drive seat. Each mounting plate (1102) has at least one clamping support column (1103).

4. A gripping mechanism for end effector of an industrial robot according to claim 3, characterized in that, An adjusting screw mounting plate (1106) is provided on one side of the gripper cylinder two (1101). An adjusting screw (1105) is provided on the adjusting screw mounting plate (1106) to limit the moving distance of the mounting plate three (1102). A stop pin (1104) is provided at the end of the adjusting screw (1105).

5. A gripping mechanism for end effector of an industrial robot according to claim 1, characterized in that, The external clamping assembly (10) includes a first gripper cylinder (1001), and each of the two drive seats of the first gripper cylinder (1001) is provided with a second mounting plate (1002). The second mounting plate (1002) is connected to a polyurethane clamping plate (1005) through a second upright plate (1003). Each side of the second upright plate (1003) is provided with a reinforcing rib (1004).

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