CN111745671A

CN111745671A - Robot taking and placing mechanism

Info

Publication number: CN111745671A
Application number: CN202010528670.6A
Authority: CN
Inventors: 许英南
Original assignee: Suzhou Heroic Automation Technology Co Ltd
Current assignee: Suzhou Heroic Automation Technology Co Ltd
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2020-10-09

Abstract

The invention discloses a robot material taking and placing mechanism which comprises a robot and a clamping jaw mechanism arranged at the execution tail end of the robot, wherein the clamping jaw mechanism comprises a flange component and a plurality of clamping jaw modules, the clamping jaw modules are distributed along the circumferential direction of the flange component, and the flange component is arranged at the execution tail end of the robot. Parts for assembling products are placed around the robot, and specifically, the parts are located within a circular range centered on the robot base with the radius of the longest extension of the performing tip. The execution tail end of the robot can move to each part positioning seat to clamp the parts and transfer the parts to the assembly station, and the assembly of the product is completed by the corresponding assembly instrument. Compared with the linear conveying mechanism in the prior art, the robot material taking and placing mechanism has the advantages of small occupied area, short part transferring time and utilization of improvement of product assembling efficiency.

Description

Robot taking and placing mechanism

Technical Field

The invention relates to the technical field of product assembly, in particular to a part taking and placing mechanism in assembly equipment.

Background

The product is assembled by a plurality of parts. During assembly, the parts move forwards on the conveying line to an assembly station, and mechanical equipment or manual work assembles the parts into products. The part quantity is a plurality of, needs a plurality of transfer chain to carry the part, and this just needs great place, and in addition, the part is carried by the straight line, carries time-consuming, is unfavorable for the improvement of product packaging efficiency.

Disclosure of Invention

The technical problems solved by the invention are as follows: the space and time for conveying the parts are saved.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a material mechanism is got to robot, includes the robot and sets up at the terminal fixture of robot execution, fixture includes flange subassembly and a plurality of clamping jaw module, and a plurality of clamping jaw module distribute along the circumference of flange subassembly, and flange unit mount is carried out at the robot and is terminal.

Parts for assembling products are placed around the robot, and specifically, the parts are located within a circular range centered on the robot base with the radius of the longest extension of the performing tip. The execution tail end of the robot can move to each part positioning seat to clamp the parts and transfer the parts to the assembly station, and the assembly of the product is completed by the corresponding assembly instrument.

Alternatively, the flange assembly can be mounted on a rotating shaft of the robot execution tail end, only one position of the robot execution tail end and the part positioning seat is aligned, any clamping jaw module firstly rotates to the position where the robot execution tail end is fixed, and the clamping jaw module can accurately clamp the part on the positioning seat after the robot execution tail end and the part positioning seat are aligned.

Compared with a linear conveying mechanism in the prior art, the robot material taking and placing mechanism has the advantages of small occupied area, short part transferring time and contribution to improvement of product assembling efficiency.

Drawings

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic view of a robotic drop feed mechanism;

FIG. 2 is a schematic view of the jaw mechanism 20;

FIG. 3 is a schematic view of first jaw module 40;

FIG. 4 is a schematic view of the second jaw module 50;

fig. 5 is a schematic view of the third jaw module 60.

The symbols in the drawings illustrate that:

10. a robot; 11. a robot execution end; 12. a robot base;

20. a jaw mechanism;

30. a flange assembly; 31. a connecting flange; 32. a flange plate;

40. a first jaw module; 41. an externally supported jaw; 410. the outer side wall of the external-supporting type clamping jaw; 42. a first lifting cylinder; 43. a first connecting plate; 44. a first jaw cylinder; 45. a second connecting plate; 46. a part clamped by the externally supported clamping jaw;

50. a second jaw module; 51. a first type of gripping jaw; 52. a second lifting cylinder; 53. a third connecting plate; 54. a second jaw cylinder; 55. a fourth connecting plate; 56. a part held by a first type of holding jaw;

60. a third clamping jaw module; 61. a second type of clamping jaw; 610. positioning a groove; 62. a third lifting cylinder; 63. a fifth connecting plate; 64. a third jaw cylinder; 65. a sixth connecting plate; 66. a part held by a second type of holding jaw.

Detailed Description

With reference to fig. 1 and 2, a robot material taking and placing mechanism includes a robot 10 and a clamping jaw mechanism 20 arranged at a robot execution end 11, the clamping jaw mechanism includes a flange assembly 30 and a plurality of clamping jaw modules, the plurality of clamping jaw modules are distributed along the circumferential direction of the flange assembly, and the flange assembly is installed at the robot execution end.

Alternatively, the robot 10 is a six-axis robot.

Alternatively, the flange assembly 30 is mounted on the rotational axis of the robotic effector tip 11. The motion sequence and the motion amount of each shaft of the robot and the motion sequence and the motion amount of each clamping jaw module are controlled by the program of the main control unit. The robot executing end needs a reference which is unique when executing the required movement amount of the program. Therefore, before any clamping jaw module clamps the part, the clamping jaw module needs to move to a certain fixed position of the robot execution tail end, the distance between the position and the reference is fixed, or the position is the reference position, and then after the robot execution tail end moves to the corresponding part positioning seat, the clamping jaw module can accurately clamp the part from the corresponding part positioning seat. The rotating shaft of the robot execution tail end rotates by a fixed angle, and each clamping jaw module can be moved to the fixed position of the robot execution tail end.

Any clamping jaw module includes the lift cylinder of being connected with flange subassembly 30, the clamping jaw cylinder of being connected with the lift cylinder, installs a pair of clamping jaw on the clamping jaw cylinder. After the robot executes that the tail end 11 shifts to the top of corresponding part positioning seat, according to the procedure of main control unit, lift cylinder drive clamping jaw cylinder descends, and later, clamping jaw cylinder drive a pair of clamping jaw centre gripping part, and later, lift cylinder rises and resets, and the robot transfers the part to the equipment station.

Alternatively, the number of the gripper modules is three, and the gripper modules are uniformly distributed along the circumferential direction of the flange assembly 30, and the angular distance between two adjacent gripper modules is 120 degrees, so that the angle of each rotation of the rotating shaft of the robot execution terminal 11 is a multiple of 120 degrees, and the corresponding gripper module can be displaced to the fixed position of the robot execution terminal. Wherein, the rotation axis of the robot executing end is one of six axes of the robot.

Referring to fig. 2, the flange assembly 30 includes a coupling flange 31 coupled to the robot actuating end 11, and a flange plate 32 coupled to the coupling flange.

Three clamping jaw modules are respectively a first clamping jaw module 40, a second clamping jaw module 50 and a third clamping jaw module 60.

As shown in fig. 3, the first lifting cylinder 42 of the first clamping jaw module 40 is connected with the flange plate 32 through a first connecting plate 43, and the first clamping jaw cylinder 44 of the first clamping jaw module is connected with the first lifting cylinder through a second connecting plate 45. A pair of clamping jaw of first clamping jaw module is external stay formula clamping jaw 41, and the lateral wall 410 of external stay formula clamping jaw is the arc, the foraminiferous part of centre gripping, specifically, during the hole of part was stretched into to the external stay formula clamping jaw that closes up, first clamping jaw cylinder 44 drive external stay formula clamping jaw struts, and the lateral wall 410 of external stay formula clamping jaw offsets with the lateral wall in the hole of part, realizes the centre gripping.

Referring to fig. 4, the second lifting cylinder 52 of the second gripper module 50 is connected to the flange 32 through a third connecting plate 53, and the second gripper cylinder 54 of the second gripper module is connected to the second lifting cylinder through a fourth connecting plate 55. The pair of jaws of the second jaw module is a first type of clamping jaw 51, and the inner side walls of the first type of clamping jaw are planar and are jaws in a conventional sense. Specifically, the opened first type clamping jaws are positioned on the left side and the right side of the part, the second clamping jaw air cylinder 54 drives the first type clamping jaws to be folded, and the inner side walls of the first type clamping jaws are abutted against the left side wall and the right side wall of the part, so that clamping is realized.

Referring to fig. 5, the third lift cylinder 62 of the third gripper module 60 is connected to the flange 32 via a fifth connecting plate 63, and the third gripper cylinder 64 of the third gripper module is connected to the third lift cylinder via a sixth connecting plate 65. The pair of jaws of the third jaw module is a second type of clamping jaw 61, similar to the first type of clamping jaw 51, except that the second type of clamping jaw is provided with a positioning groove 610 for clamping a part having a convex portion on the left and right side walls. Specifically, the opened second type clamping jaw is located on the left side and the right side of the part, the third clamping jaw cylinder 64 drives the second type clamping jaw to be folded, the inner side wall of the second type clamping jaw abuts against the left side wall and the right side wall of the part, and the positioning groove 610 is matched with the convex portions on the left side wall and the right side wall of the part to realize stable clamping of the part. For example, when a horizontally placed long part is clamped, the second type clamping jaw 61 can stably clamp the part by using the positioning groove 610 to match with the convex part on the side wall of the part.

The clamping jaw modules are provided with different types of clamping jaws, so that the robot material taking and placing mechanism can clamp various parts, and the application range of the robot material taking and placing mechanism is expanded.

In practice, a product (for example a yarn feeder) is assembled from different types of parts, positioned in respective positioning seats, distributed around the robot. The robot 10 uses the gripper mechanism 20 of its execution end 11 to transfer the parts in sequence to the assembly station, where the assembly of the product is completed by the assembly equipment.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description herein, since various changes and modifications can be made in the details of the embodiment and the application range according to the spirit of the present invention.

Claims

1. The utility model provides a robot gets and puts material mechanism, includes robot (10) and sets up gripper mechanism (20) at robot execution end (11), its characterized in that: the clamping jaw mechanism comprises a flange assembly (30) and a plurality of clamping jaw modules, the clamping jaw modules are distributed along the circumferential direction of the flange assembly, and the flange assembly is installed at the tail end of the robot.

2. The pick-and-place mechanism of claim 1, wherein: any clamping jaw module includes the lift cylinder of being connected with flange subassembly (30), the clamping jaw cylinder of being connected with lift cylinder, installs a pair of clamping jaw on the clamping jaw cylinder.

3. The pick-and-place mechanism of claim 2, wherein: the flange assembly (30) comprises a connecting flange (31) connected with the robot execution tail end (11) and a flange plate (32) connected with the connecting flange, the lifting cylinder of any clamping jaw module is connected with the flange plate through a first connecting plate, and the clamping jaw cylinder of any clamping jaw module is connected with the lifting cylinder through a second connecting plate.

4. The pick-and-place mechanism of claim 2, wherein: in the plurality of clamping jaw modules, a pair of clamping jaws of at least one clamping jaw module are externally-supported clamping jaws (41), and the outer side walls (410) of the externally-supported clamping jaws are arc-shaped.

5. The pick-and-place mechanism of claim 2, wherein: in the plurality of clamping jaw modules, a pair of clamping jaws of at least one clamping jaw module are first-class clamping jaws (51), and the inner side walls of the first-class clamping jaws are planar.

6. The pick-and-place mechanism of claim 2, wherein: in the plurality of clamping jaw modules, a pair of clamping jaws of at least one clamping jaw module are second clamping type clamping jaws (61), and positioning grooves (610) are arranged on the second clamping type clamping jaws.