CN108788290B

CN108788290B - centering type robot claw for plate shearing

Info

Publication number: CN108788290B
Application number: CN201810662188.4A
Authority: CN
Inventors: 刘方湖
Original assignee: Shanghai Yang Qi Visual Robot Co Ltd
Current assignee: Shanghai Leadersoft Information Technology Co ltd
Priority date: 2018-06-25
Filing date: 2018-06-25
Publication date: 2019-12-10
Anticipated expiration: 2038-06-25
Also published as: CN108788290A

Abstract

The invention relates to a plate shearing centering type robot paw, which comprises a shell, a connecting rod clamping module, a position sensing module and a driving module, wherein the connecting rod clamping module and the position sensing module which are mutually connected are arranged in the shell, the driving module is connected to the lower end of the shell, the upper end of the shell is of a symmetrical clamping structure and is provided with a pin hole and a sliding groove, and the connecting rod clamping module is connected with the shell through the pin hole and the sliding groove. Compared with the prior art, the centering type clamping module adopts a clamping structure of the pin hole, the pin shaft and the connecting rod, the air cylinder pushes the connecting rod through the sliding block to realize clamping or loosening, the force boosting effect is achieved, large clamping force can be generated through small working air pressure, the strength is stable, and the requirement of the robot on flexible plate shearing production is met.

Description

Centering type robot claw for plate shearing

Technical Field

The invention relates to an industrial vision robot paw, in particular to a plate shearing centering robot paw.

Background

At present, the sheet metal grabbing mode used in the plate shearing operation process mainly comprises a vacuum sucker, an electromagnetic sucker and a vacuum and electromagnetic composite sucker. The electromagnetic chuck has a large suction force, but has a large weight and a high price. The vacuum chuck is light and handy, and the price is relatively cheap, uses extensively. The vacuum and electromagnetic composite sucker has the disadvantages of complex structure, custom-made requirement, heavy weight and high price. With the development of plate shearing operation flexibility, the flexible plate shearing of the robot is also scheduled.

The sheet metal grabbing and clamping device used in the traditional plate shearing industry generally has the following defects: 1. the connecting rod mechanism is not arranged in the common air cylinder, so that the clamping force on the sheet metal part is small, the clamping force is changed along with the fluctuation of an air source and is unstable, the clamping force of the sheet metal part is easily influenced, and the over-tight pressure or the air compression is easily caused; 2. the centering can not be automatically performed; 3. the thin plate can not be clamped in parallel, the clamping pressure is strong, and the thin plate is easy to damage; 4. products for clamping sheet metal parts in two directions are few and few in the market, most sheet metal clamping devices can only clamp the workpieces in one direction, and the flexible plate shearing production requirements of a robot are difficult to meet; 5. the cylinder action direction is almost parallel with the clamping direction, so that the gripper is large in size, large in required space when grabbing the plate, and not beneficial to grabbing the plate.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a centering type robot paw for plate shearing so as to meet the requirement of flexible plate shearing production of a robot.

The purpose of the invention can be realized by the following technical scheme:

The utility model provides a centering type robot gripper of plate shearing, includes casing, connecting rod clamping module, position response module and drive module, the inside connecting rod clamping module and the position response module that set up interconnect of casing, the drive module is connected to the casing lower extreme, wherein, casing upper end is symmetrical formula clamping structure, is equipped with pinhole and spout, connecting rod clamping module passes through pinhole and spout and connects the casing.

Furthermore, eight pin holes are formed, every two pin holes are vertically arranged in a row and symmetrically distributed on the front face and the back face of the shell, the pin holes are symmetrically arranged along the gripper clamping face in a bilateral mode, and the sliding grooves are formed in the central line of the front face and the back face of the shell.

Furthermore, the connecting rod clamping module comprises a sliding block, a middle pin shaft, two lower connecting rods and two sets of connecting rod units which are bilaterally symmetrical along the gripper clamping surface, the sliding block is connected with the sliding groove through the middle pin shaft and is respectively connected with the two sets of connecting rod units through the two lower connecting rods, and the driving module is connected with the sliding block.

Furthermore, each set of connecting rod unit comprises an upper rocker, an upper connecting rod, a lower rocker and two connecting pin shafts, the connecting pin shafts are inserted into the pin holes, one end of the upper rocker is connected with the connecting pin shafts, the other end of the upper rocker is connected with one end of the lower rocker through the upper connecting rod, and the other end of the lower rocker is connected with the other connecting pin shaft.

Furthermore, the connecting rod unit further comprises an elastic retainer ring, and the elastic retainer ring surrounds the outer sides of the connecting pin shaft and the middle pin shaft.

Further, the position sensing module comprises a clamping position sensor, a sensor interface and a loosening position sensor, wherein the sensor interface extends out of the outer side of the shell.

Further, the driving module is a cylinder and comprises an air source upper interface, a cylinder body, a cylinder piston and an air source lower interface.

Further, the shell is also provided with a mounting hole, a positioning hole and a mounting groove for connecting an external device.

Compared with the prior art, the invention has the following advantages:

1. The centering type clamping module adopts a clamping structure of the pin hole, the pin shaft and the connecting rod, the air cylinder pushes the connecting rod through the sliding block to realize clamping or loosening, the force boosting effect is achieved, larger clamping force can be generated through smaller working air pressure, the strength is stable, meanwhile, the centering type clamping module adopts an assembly mode of combining an integral shell and an internal connecting rod unit, the processing difficulty is small, the requirement on the wear resistance of materials is low, the assembly workload of the device is reduced, and the production and manufacturing cost is greatly reduced.

2. The robot paw has parallel clamping capacity, the paw has small clamping pressure on a plate, the thin plate is not easy to clamp, the requirement of the robot for clamping the thin plate to complete plate shearing operation can be well met, and the defects that the traditional paw cannot clamp the thin plate in parallel, the clamping pressure is strong, and the thin plate is easy to clamp are overcome.

3. The robot paw has the capability of automatic centering and bidirectional symmetrical clamping, so that the production requirements that the front and back surfaces of a flexible plate shearing plate of the robot grab and the plate are clamped and the central surface is unchanged can be met, and the defect that the traditional paw can only clamp a workpiece in a single direction is overcome.

4. The invention is provided with the position sensor module, can accurately position the clamping degree of the paw, can adapt to various different sheets, and improves the production precision.

5. The plate grabbing device is reliable in structure, the action direction of the air cylinder is vertical to the clamping direction, the paw structure is flattened, the space required for grabbing plates is smaller, and the plate grabbing device is more beneficial to grabbing the plates by a robot in the actual production process.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic front view of the machine of the present invention;

FIG. 3 is a schematic perspective view of another embodiment of the present invention;

FIG. 4 is a schematic view of the clamping of a workpiece according to the present invention;

FIG. 5 is a schematic view of the structure of the unclamping workpiece of the present invention.

Reference numerals: 100. the device comprises a shell, 200, a connecting rod clamping module, 300, a position sensing module, 400, a driving module, 1, a pin hole, 2, an elastic retainer ring, 31, a connecting pin shaft, 32, a middle pin shaft, 4, an upper rocker, 5, an upper connecting rod, 6, a lower rocker, 7, a mounting hole, 8, a lower connecting rod, 9, a sliding groove, 10, a sliding block, 11, a clamping position sensor, 12, a sensor interface, 13, a positioning hole, 14, a loosening position sensor, 15, an air source upper interface, 16, an air cylinder body, 17, an air cylinder piston, 18, an air source lower interface, 19, a mounting groove, 20 and a workpiece.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

As shown in fig. 1 to 3, the embodiment provides a slotted robot gripper for plate shearing, which includes a housing 100, a connecting rod clamping module 200, a position sensing module 300 and a driving module 400, wherein the connecting rod clamping module 200 and the position sensing module 300 are disposed inside the housing 100 and connected to each other, and the driving module 400 is connected to the lower end of the housing 100.

The upper end of the shell 100 is of a symmetrical clamping structure and is provided with eight pin holes 1 and eight sliding grooves 9, each pin hole 1 is vertically arranged in a row, the pin holes are symmetrically distributed on the front face and the back face of the shell 100 and are arranged along the gripper clamping face in a bilateral symmetry mode, and the connecting rod clamping module 200 is connected with the shell 100 through the pin holes 1 and the sliding grooves 9. The slide groove 9 is provided on the center line of the front and back surfaces of the housing 100. The housing 100 is also provided with a mounting hole 7 for connecting an external device, a positioning hole 13, and a mounting groove 19.

The connecting rod clamping module 200 comprises a sliding block 10, a middle pin shaft 32, two lower connecting rods 8 and two sets of connecting rod units which are bilaterally symmetrical along the gripper clamping surface, the sliding block 10 is connected with the sliding groove 9 through the middle pin shaft 32 and is respectively connected with the two sets of connecting rod units through the two lower connecting rods 8, and the driving module 400 is connected with the sliding block 10. Each set of connecting rod unit comprises an upper rocker 4, an upper connecting rod 5, a lower rocker 6 and two connecting pin shafts 31, the connecting pin shafts 31 are inserted into the pin holes 1, one end of the upper rocker 4 is connected with the connecting pin shafts 31, the other end of the upper rocker 4 is connected with one end of the lower rocker 6 through the upper connecting rod 5, and the other end of the lower rocker 6 is connected with the other connecting pin shaft 31 to form an Contraband-shaped structure. The connecting rod unit further comprises an elastic retainer ring 2, and the elastic retainer ring 2 surrounds the outer sides of the connecting pin shaft 31 and the middle pin shaft 32 and plays a role in buffering.

The position sensing module 300 includes a clamping position sensor 11, a sensor interface 12, and a release position sensor 13, the sensor interface 12 extending outside the housing 100. The clamping position sensor 11 indirectly senses whether the object to be grabbed is in a clamping state by sensing the position of one end, connected with the sliding block 10 and the air cylinder piston 17, of the connecting part; the unclamping position sensor 14 indirectly senses whether the object to be grabbed is in a completely unclamping state by sensing the position of one end of the connecting slide block 10 and the cylinder piston 17; the sensor interface 12 is a bridge connecting the plate gripper with an external information exchange and power supply.

The driving module 400 is a cylinder, and includes an air source upper interface 15, a cylinder block 16, a cylinder piston 17, and an air source lower interface 18. The cylinder is provided with an air source upper connector 15 and an air source lower connector 18; compressed air enters the air source upper connector 15 and/or the air source lower connector 18 to enable the air cylinder piston 17 to do piston movement; when the cylinder piston 17 does piston motion, the cylinder piston 17 pushes the sliding block 10 to slide linearly up and down in the sliding groove 9, so as to drive the left and right symmetrical lower connecting rods 8 to drive the left and right lower rocking rods 6 to swing up and down, and further drive the left and right sets of connecting rod units to perform symmetrical and parallel clamping and loosening actions on a clamping surface to clamp and loosen an object to be clamped, and the connecting rod clamping module 200 has a force boosting effect and can generate a larger clamping force by using smaller working air pressure.

The working principle of the embodiment is as follows:

Firstly, as shown in fig. 4, in the clamping process of the connecting rod clamping module 200, compressed air enters the cylinder block 16 from the air source lower interface 18, air in the upper cavity of the cylinder block 16 is exhausted from the air source upper interface 15, the cylinder piston 17 is pushed to move upwards, and the slider 10 is pushed to slide upwards in the chute 9 in a straight line manner, so that the left and right symmetrical lower connecting rods 8 are driven to drive the left and right lower rocking rods 6 to swing upwards, and then the left and right two sets of connecting rod units are driven to perform symmetrical and parallel actions of clamping a workpiece 20 relative to the clamping surface, and the left and right upper connecting rods 5 clamp the workpiece 20. The workpiece 20 is automatically centered on the center plane of symmetry of the gripper housing 100. At the same time, the end of the slider 10 connected to the cylinder piston 17 reaches the sensing position of the clamping position sensor 11. The clamping position sensor 11 indirectly senses that the workpiece 20 is in a clamping state by sensing the position of one end of the connecting slide 10 and the cylinder piston 17.

Secondly, as shown in fig. 5, in the process of loosening the connecting rod clamping module 200, compressed air enters the cylinder block 16 from the air source upper interface 15, air in the lower cavity of the cylinder block 16 is exhausted from the air source lower interface 18, the cylinder piston 17 is pushed to move downwards, and the slider 10 is pulled to slide downwards in the chute 9 in a straight line manner, so that the left and right symmetrical lower connecting rods 8 are driven to pull the left and right lower rocking rods 6 to swing downwards, the left and right sets of connecting rod units are driven to perform symmetrical and parallel actions of loosening the workpiece 20 relative to the clamping surface, and the left and right upper connecting rods 5 loosen the workpiece 20. At the same time, the end of the slider 10 connected to the cylinder piston 17 reaches the sensing position of the release position sensor 14. The release position sensor 14 indirectly senses that the workpiece 20 is in a completely released state by sensing the position of the end of the slider 10 connected to the cylinder piston 17.

the foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. The centering type robot gripper for the plate shearing is characterized by comprising a shell (100), a connecting rod clamping module (200), a position sensing module (300) and a driving module (400), wherein the connecting rod clamping module (200) and the position sensing module (300) which are connected with each other are arranged inside the shell (100), the lower end of the shell (100) is connected with the driving module (400), the upper end of the shell (100) is of a symmetrical clamping structure and is provided with a pin hole (1) and a sliding groove (9), one end of the connecting rod clamping module (200) is connected into the pin hole (1) of the shell (100), the other end of the connecting rod clamping module is connected into the sliding groove (9) of the shell (100), the connecting rod clamping module (200) comprises a sliding block (10), a middle pin shaft (32), two lower connecting rods (8) and two sets of connecting rod units which are bilaterally symmetrical along a clamping surface of the gripper, the sliding block (10) is connected with the middle pin shaft (32, and the two sets of connecting rod units are respectively connected through two lower connecting rods (8), the driving module (400) is connected with the sliding block (10), and the left and right sets of connecting rod units clamp and release the object to be grabbed symmetrically and parallelly relative to the clamping surface.

2. The plate shearing centering robot gripper according to claim 1, characterized in that eight pin holes (1) are vertically arranged in a row of two pin holes, symmetrically distributed on the front and back of the shell (100), and symmetrically arranged along the gripper clamping surface, and the sliding grooves (9) are arranged on the central line of the front and back of the shell (100).

3. The centered robot gripper for plate shearing according to claim 2, characterized in that each set of link units comprises an upper rocker (4), an upper link (5), a lower rocker (6) and two connecting pins (31), the connecting pins (31) are inserted into the pin holes (1), one end of the upper rocker (4) is connected with the connecting pins (31), the other end of the upper rocker (4) is connected with one end of the lower rocker (6) through the upper link (5), and the other end of the lower rocker (6) is connected with the other connecting pin (31).

4. The plate shearing centering robot gripper according to claim 3, characterized in that said link unit further comprises a circlip (2), said circlip (2) surrounding the outside of the connecting pin (31) and the middle pin (32).

5. the plate shearing centering robot gripper according to claim 1, characterized in that said position sensing module (300) comprises a clamping position sensor (11), a sensor interface (12) and a release position sensor (13), said sensor interface (12) protruding outside the housing.

6. The plate shearing centering robot gripper according to claim 1, characterized in that the drive module (400) is a cylinder comprising an air source upper interface (15), a cylinder block (16), a cylinder piston (17) and an air source lower interface (18).

7. The plate shearing centering robot gripper according to claim 1, characterized in that said housing (100) is further provided with mounting holes (7), positioning holes (13) and mounting slots (19) for connecting external devices.