An adaptive material taking gripper

Abstract

The utility model discloses a kind of self-adaptive material taking gripper, including mechanical arm, the mechanical arm includes base, multi-angle rotating arm, the base is equipped with a plurality of threaded holes, a plurality of the threaded hole is all threadedly connected with bolt;Material taking assembly, the material taking assembly includes mounting bracket, first material taking module, second material taking module and third material taking module, the first material taking module includes cylinder, lifting block, fixed base, mounting piece and two pneumatic gripper, the fixed base is installed on mounting bracket by a plurality of bolts.The utility model can be respectively realized to big rectangular block, welded round rod and small rectangular block component, and the stable clamping and accurate handling of embedded part whole after welding is completed, with certain self-adaptive adjustment capability simultaneously, to cope with the tiny change of material specification, reduce manual intervention, improve the automation level and production efficiency of welding equipment, reduce production cost, guarantee the stability of embedded part product quality.

Description

Technical Field

[0001] This utility model relates to the field of embedded part processing technology, and in particular to an adaptive material handling gripper. Background Technology

[0002] In modern industrial manufacturing, embedded parts, as important connecting and fastening components, are widely used in various industries such as construction, machinery, and nuclear power construction. The efficiency and quality of their production directly affect the production progress and product reliability of downstream industries. The welding of embedded parts is a core link in their production process. Current mainstream embedded part welding equipment needs to complete the precise loading and assembly of large rectangular blocks, welded round rods, and small rectangular blocks, as well as the overall unloading of the welded embedded parts. The entire process places extremely high demands on the accuracy, stability, and adaptability of material handling. Traditional embedded part welding equipment often uses a single-structure material handling device in the material handling stage, which is difficult to meet the clamping requirements of different types of materials. For example, for the handling of large rectangular blocks, in the early days, manual assistance or simple mechanical clamps were often used. Manual material handling is not only labor-intensive and inefficient, but also poses problems such as material positioning deviation due to operational errors and personnel safety issues, which in turn affect the subsequent welding quality. Simple mechanical clamps are mostly designed with fixed dimensions. When the size of the large rectangular block changes slightly, it is impossible to achieve stable clamping, and the clamps need to be changed frequently, which seriously reduces the continuity of production. In the final unloading stage after welding, both the electromagnet and traditional material handling devices face challenges due to the high temperature of the welded parts. The embedded parts have both rigidity and a certain dimensional range. Traditional clamps either cannot adapt to the overall size due to their fixed clamping range, or the unreasonable design of the clamping points causes the embedded parts to tilt or collide during unloading, resulting in equipment downtime and production disruption. At the same time, the electromagnet will demagnetize at high temperatures. The temperature of the welded parts is at least above 400°C, which makes it impossible for the electromagnetic grippers to clamp the welded parts. It is necessary to wait for the parts to cool down, resulting in a significant reduction in overall production efficiency.

[0003] Therefore, an adaptive material handling gripper needs to be designed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an adaptive material handling gripper. This invention can stably clamp and accurately transport large rectangular blocks, welded round rods and small rectangular block assemblies, as well as the entire embedded part after welding. It also has a certain degree of adaptive adjustment capability to cope with minor changes in material specifications, reduce manual intervention, improve the automation level and production efficiency of welding equipment, reduce production costs, and ensure the stability of embedded part product quality.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive material handling gripper includes a robotic arm comprising a base and a multi-angle rotating arm. The base has multiple threaded holes, each threaded with a bolt. A material handling assembly includes a mounting frame, a first material handling module, a second material handling module, and a third material handling module. The first material handling module includes a cylinder, a lifting block, a fixed base, a mounting plate, and two pneumatic grippers. The fixed base is mounted on the mounting frame with multiple bolts. The cylinder is fixedly connected to the mounting plate, and the fixed base is fixedly connected to the telescopic end of the cylinder. The two pneumatic grippers are respectively mounted on the left and right sides of the fixed base. The second material handling module includes a mounting frame and electromagnets. The mounting frame is mounted on the rear side of the mounting frame with multiple bolts. There are three electromagnets, all mounted on the rear side of the mounting frame.

[0006] Preferably, the third material handling includes a servo motor, a reducer, a gear, two first slide rails, two second slide rails, two first sliders, two second sliders, two fixing bars, and multiple clamping blocks. The reducer is installed at the inner bottom of the mounting frame. The output shaft of the servo motor is fixedly connected to the input shaft of the reducer. The end of the output shaft of the reducer passes through the inner bottom of the mounting frame. The gear is installed on the output shaft of the reducer. Two first sliders and second sliders are fixedly connected to the lower end of the mounting frame. The two first slide rails are slidably connected to the corresponding second sliders, and the two second slide rails are slidably connected to the corresponding first sliders. The two second slide rails are located between the two first slide rails. The upper end of the fixing bar is fixedly connected to the corresponding first slide rail and second slide rail. Each pair of mating clamping blocks is symmetrically fixedly connected to the lower end of the corresponding fixing bar. Racks are fixedly connected to adjacent sides of the two second slide rails.

[0007] Preferably, the two racks are located on the left and right sides of the gear, and both racks mesh with the gear.

[0008] Preferably, each pair of mating clamps has a groove on the adjacent sides.

[0009] Preferably, a plurality of mounting blocks are fixedly connected to the lower end of the mounting frame, and a rectangular frame is fixedly connected to the lower end of the plurality of mounting blocks. A vision sensor is installed inside the rectangular frame, and a CCD light source is installed at the bottom of the mounting frame. The CCD light source is ring-shaped.

[0010] Preferably, the center of the CCD light source and the center of the vision sensor are located on the same axis.

[0011] Compared with existing technologies, the advantages of this device are: Compared with existing technologies, the electromagnet integrated in this device can stably attract large rectangular blocks during the raw material feeding stage, while the pneumatic gripper can flexibly hold round rods and small rectangular block components (avoiding deformation or detachment caused by improper force). The servo motor-driven gripper can adaptively adjust the gripping range through gear and rack transmission, adapting to the whole of welded embedded parts of different specifications. The three types of modules share the same robotic arm and mounting frame, eliminating the need for frequent equipment changes and greatly improving the continuity of material handling and the utilization rate of equipment space. Compared with existing technologies, this device is equipped with a vision sensor with a CCD light source at the lower end of the mounting frame, which can accurately capture material position information, significantly improve the accuracy of material handling and assembly, and effectively reduce the welding defect rate. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an adaptive material handling gripper proposed in this utility model; Figure 2 This is a schematic diagram of the material handling assembly. Figure 3 for Figure 2 A structural diagram from another perspective; Figure 4 for Figure 2 A structural diagram viewed from below; Figure 5 for Figure 2 A structural diagram from the left side.

[0013] In the diagram: 1. Robotic arm, 2. Rotary bearing, 3. Flange, 4. Mounting bracket, 5. Servo motor, 6. Reducer, 7. Cylinder, 8. Lifting block, 9. Fixed seat, 10. Pneumatic gripper, 11. Clamping block, 12. Fixing bar, 13. First slide rail, 14. Electromagnet, 15. Second slide rail, 16. Rack, 17. CCD light source, 18. Vision sensor, 19. Gear, 20. First slider, 21. Second slider, 22. Mounting plate. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0015] Reference Figures 1-5 An adaptive material handling gripper includes a robotic arm 1, which includes a base and a multi-angle rotating arm. The base is provided with multiple threaded holes, and bolts are threaded into each of the multiple threaded holes. The material handling assembly includes a mounting frame 4, a first material handling module, a second material handling module, and a third material handling module. The mounting frame 4 is a rectangular frame with a base plate bolted to its bottom. The first material handling module includes a cylinder 7, a lifting block 8, a fixed seat 9, a mounting plate 22, and two pneumatic grippers 10. The fixed seat 9 is mounted on the mounting frame 4 with multiple bolts. The cylinder 7 is fixedly connected to the mounting plate 22. The fixed seat 9 is fixedly connected to the telescopic end of the cylinder 7. The two pneumatic grippers 10 are respectively mounted on the left and right sides of the fixed seat 9. The pneumatic grippers 10 are existing technology, and the air nozzles of the pneumatic grippers 10 are connected to an external air source. The second material handling module includes a mounting frame and electromagnets 14. The mounting frame is mounted on the rear side of the mounting bracket 4 by multiple bolts. There are three electromagnets 14, all of which are mounted on the rear side of the mounting frame. The electromagnets 14 are electrically connected to the external control system, and the control system controls the on and off of the electromagnets 14.

[0016] The third material handling mechanism includes a servo motor 5, a reducer 6, a gear 19, two first slide rails 13, two second slide rails 15, two first sliders 20, two second sliders 21, two fixing bars 12, and multiple clamping blocks 11. The reducer 6 is installed on the inner bottom of the mounting frame 4. The output shaft of the servo motor 5 is fixedly connected to the input shaft of the reducer 6. The end of the output shaft of the reducer 6 passes through the inner bottom of the mounting frame 4. The gear 19 is installed on the output shaft of the reducer 6. Two first sliders 20 and second sliders 21 are fixedly connected to the lower end of the mounting frame 4. The two first slide rails 13 are slidably connected to the corresponding second sliders 21, and the two second slide rails 15 are slidably connected to the corresponding first sliders 20. Two second slide rails 15 are located between two first slide rails 13. The upper end of the fixing bar 12 is fixedly connected to the corresponding first slide rail 13 and second slide rail 15. Each pair of mating clamps 11 are symmetrically fixedly connected to the lower end of the corresponding fixing bar 12. A rack 16 is fixedly connected to the adjacent sides of the two second slide rails 15. The two racks 16 are located on the left and right sides of the gear 19. By rotating the gear 19, the two racks 16 are driven to move in opposite directions first, so that the two second slide rails 15 move in opposite directions, driving the corresponding fixing bar 12, clamp 11 and first slide rail 13 to move synchronously. Both racks 16 mesh with the gear 19. Each pair of mating clamps 11 has a groove on the adjacent side.

[0017] The mounting frame 4 has multiple mounting blocks fixedly connected to its lower end. The lower ends of the multiple mounting blocks are fixedly connected to a rectangular frame. A vision sensor 18 is installed inside the rectangular frame. A CCD light source 17 is installed at the bottom of the mounting frame. The CCD light source 17 is circular. The center of the CCD light source and the vision sensor 18 are located on the same axis. The vision sensor 18 identifies the part to be clamped and positions the clamping position.

[0018] The functional principle of this utility model can be explained through the following operation: Before the operation starts, the entire device is fixed at the designated work position of the equipment through the threaded holes and bolts on the base of the robotic arm 1, ensuring that the multi-angle rotating arm of the robotic arm 1 can flexibly cover the material picking area, the assembly and welding area, and the unloading area. First, the large rectangular block is clamped and loaded: the robotic arm 1 moves the mounting frame 4 to the storage location of the large rectangular block. The three electromagnets 14 on the rear mounting frame of the mounting frame 4 are energized to generate magnetism, firmly attracting the large rectangular block. Then, the multi-angle rotating arm adjusts its posture to accurately transport the large rectangular block to the welding station and position it. The electromagnets 14 are de-energized to release the large rectangular block, completing the loading operation. Next, the assembly stage of the round rod and small rectangular block components begins: This stage is performed by the first material handling module. The robotic arm 1 moves the mounting frame 4 to the component storage area. The cylinder 7 extends and retracts to adjust the height of the fixed seat 9, so that the two pneumatic grippers 10 on the left and right sides of the fixed seat 9 are aligned with the welded round rod and small rectangular block components. The pneumatic grippers 10 close to achieve flexible clamping. Then, the robotic arm 1 adjusts the angle and transports the component to the large rectangular block above the welding station. The cylinder 7 fine-tunes the height again to ensure that the component and the large rectangular block are precisely aligned and assembled. The pneumatic grippers 10 open to release the component, and the equipment immediately starts the welding process.

[0019] During this process, the lower end of the mounting frame 4 captures the material position in real time through the vision sensor 18 in the rectangular frame fixed by the mounting block. The CCD light source 17 at the bottom of the rectangular frame protects the vision sensor 18 from welding spatter. The circular hole on the CCD light source 17 is coaxial with the center of the vision sensor 18, ensuring accurate transmission of the vision signal. This assists the robotic arm 1 and the pneumatic gripper 10 in correcting positional deviations and ensuring assembly accuracy.

[0020] The robotic arm 1 moves the mounting frame 4 above the welding station, causing multiple clamping blocks 11 to move to the symmetrical sides of the large rectangular block. The servo motor 5 starts, and after being reduced in speed by the reducer 6, it drives the gear 19 to rotate. The gear 19 meshes with the racks 16 on the adjacent sides of the two second slide rails 15, thereby driving the two second slide rails 15 to move relative to each other, so that the multiple clamping blocks 11 clamp the rectangular block, thus completing the material cutting operation of the embedded part.

[0021] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An adaptive material handling gripper, characterized in that, include: The robotic arm (1) includes a base and a multi-angle rotating arm. The base is provided with multiple threaded holes, and bolts are threaded into the multiple threaded holes. The material handling assembly includes a mounting frame (4), a first material handling module, a second material handling module and a third material handling module. The first material handling module includes a cylinder (7), a lifting block (8), a fixed seat (9), a mounting plate (22) and two pneumatic grippers (10). The fixed seat (9) is mounted on the mounting frame (4) by multiple bolts. The cylinder (7) is fixedly connected to the mounting plate (22). The fixed seat (9) is fixedly connected to the telescopic end of the cylinder (7). The two pneumatic grippers (10) are respectively mounted on the left and right sides of the fixed seat (9). The second material handling module includes a mounting frame and an electromagnet (14). The mounting frame is mounted on the rear side of the mounting bracket (4) by multiple bolts. There are three electromagnets (14), and all three electromagnets (14) are mounted on the rear side of the mounting frame.

2. The adaptive gripper according to claim 1, characterized in that: The third material handling includes a servo motor (5), a reducer (6), a gear (19), two first slide rails (13), two second slide rails (15), two first sliders (20), two second sliders (21), two fixing bars (12), and multiple clamping blocks (11). The reducer (6) is installed on the inner bottom of the mounting frame (4). The output shaft of the servo motor (5) is fixedly connected to the input shaft of the reducer (6). The end of the output shaft of the reducer (6) passes through the inner bottom of the mounting frame (4). The gear (19) is installed on the output shaft of the reducer (6). The lower end of the mounting frame (4) is fixedly connected to... There are two first sliders (20) and two second sliders (21). The two first slide rails (13) are slidably connected to the corresponding second sliders (21). The two second slide rails (15) are slidably connected to the corresponding first sliders (20). The two second slide rails (15) are located between the two first slide rails (13). The upper end of the fixing bar (12) is fixedly connected to the corresponding first slide rail (13) and the second slide rail (15). Each pair of mating clamps (11) are symmetrically fixedly connected to the lower end of the corresponding fixing bar (12). The adjacent sides of the two second slide rails (15) are fixedly connected with racks (16).

3. The adaptive gripper according to claim 2, characterized in that: The two racks (16) are located on the left and right sides of the gear (19), and both racks (16) mesh with the gear (19).

4. The adaptive gripper according to claim 2, characterized in that: Each pair of mating clamps (11) has a groove on the adjacent side.

5. The adaptive gripper according to claim 1, characterized in that: The lower end of the mounting frame (4) is fixedly connected to multiple mounting blocks, and the lower ends of the multiple mounting blocks are fixedly connected to a rectangular frame. A vision sensor (18) is installed inside the rectangular frame, and a CCD light source (17) is installed at the bottom of the mounting frame. The CCD light source (17) is circular.

6. The adaptive gripper according to claim 5, characterized in that: The center of the CCD light source (17) and the visual sensor (18) are located on the same axis.

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