CN112092003A

CN112092003A - Plane positioning clamping jaw mechanism

Info

Publication number: CN112092003A
Application number: CN202011279278.9A
Authority: CN
Inventors: 谢雄敦; 温志庆; 周德成; 李伟
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2020-12-18
Anticipated expiration: 2040-11-16
Also published as: CN112092003B

Abstract

The invention provides a plane positioning clamping jaw mechanism, which comprises a base frame and at least three functional components, wherein the base frame is used for being connected with a robot, the functional components are used for grabbing workpieces, and the at least three functional components are not all on the same straight line; the parts of the at least three functional components, which are used for contacting with the workpiece, are in the same action plane; the swing frame is connected with the base frame in a pivot mode, a swing plane of the swing frame is parallel to the action plane, at least one functional component is arranged on the swing frame, at least one of the at least one functional component can move on the swing frame, and the moving direction of the at least one functional component is perpendicular to a swing shaft of the swing frame; the swing shafts of all the swing frames are parallel; the functional components in the plane positioning clamping jaw mechanism are good in distribution position adjustability and applicability.

Description

Plane positioning clamping jaw mechanism

Technical Field

The invention relates to the technical field of robot accessories, in particular to a plane positioning clamping jaw mechanism.

Background

Currently, in some automated manufacturing operations, transfer of a workpiece is accomplished using a robot and a gripper, wherein the gripper is disposed at the end of the robot. A conventional clamping jaw includes a base frame and a plurality of functional members, such as suction cups, fingers, hooks, etc., disposed on the base frame for gripping a workpiece.

Generally, the distribution positions of the functional components in the clamping jaws are fixed, and a corresponding clamping jaw is generally required to be equipped according to each type of workpiece, and the distribution positions of the functional components in the clamping jaws are set according to the specific shape and structure of the corresponding workpiece, so that the configuration cost of the equipment is increased; when the robot needs to shift different workpieces, the corresponding clamping jaws need to be replaced, so that the clamping jaws need to be frequently replaced to adapt to the production needs of different workpieces, the use is troublesome, and the production efficiency is influenced. At present, the positions of functional components of some clamping jaws are adjustable, but the functional components are generally symmetrically adjusted, namely, the functional components are always in space symmetry, so that the functional components cannot be used for grabbing and transferring asymmetric workpieces or workpieces with asymmetric grabbing position distribution, and the applicability is poor.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a planar positioning clamping jaw mechanism, which has good adjustability of the distribution position of functional components and good applicability.

In order to achieve the purpose, the invention adopts the following technical scheme:

a plane positioning clamping jaw mechanism comprises a base frame and at least three functional components, wherein the base frame is used for being connected with a robot, the functional components are used for grabbing workpieces, and the at least three functional components are not all on the same straight line;

the parts of the at least three functional components, which are used for contacting with the workpiece, are in the same action plane;

the swing frame is connected with the base frame in a pivot mode, a swing plane of the swing frame is parallel to the action plane, at least one functional component is arranged on the swing frame, at least one of the at least one functional component can move on the swing frame, and the moving direction of the at least one functional component is perpendicular to a swing shaft of the swing frame;

the swinging shafts of all the swinging frames are parallel.

In the plane positioning clamping jaw mechanism, at least one functional component is arranged on the base frame, and at least one of the at least one functional component can move on the base frame, and the moving direction of the at least one functional component is perpendicular to the swinging shaft of the swinging frame.

Further, at least one fixed functional component is arranged on the base frame.

In some embodiments, the swing frame is provided with one, and the functional member is provided with three;

the first functional component is arranged on the swing frame and can move on the swing frame, and the moving direction of the first functional component is perpendicular to the swing shaft of the swing frame;

the second functional component is arranged on the base frame and can move on the base frame, and the moving direction of the second functional component is perpendicular to the swinging shaft of the swinging frame;

the third functional component is fixedly arranged on the base frame.

In some embodiments, there are two of the swing frames and four of the functional members;

each swinging frame is provided with a functional component, the functional component can move on the swinging frame, and the moving direction of the functional component is vertical to the swinging shaft of the swinging frame;

the base frame is provided with two functional components, one of the functional components is fixedly arranged, the other functional component can move on the base frame, and the moving direction of the functional component is perpendicular to the swinging shaft of the swinging frame.

In the plane positioning clamping jaw mechanism, each swing frame is correspondingly provided with a swing driving device, and the swing driving devices are used for adjusting the swing angles of the corresponding swing frames.

In the plane positioning clamping jaw mechanism, a moving driving device for driving the functional component to move is arranged on the swing frame; the base frame is provided with a movement driving device for driving the functional component to move.

Further, the movement driving device comprises a guide rail, a sliding block arranged on the guide rail, and a power device for driving the sliding block to move; the slider is used for connecting with the functional component.

In the plane positioning clamping jaw mechanism, the functional component comprises a functional part and a first connecting part, the base frame and the swing frame are provided with second connecting parts, and the second connecting parts are detachably connected with the first connecting parts.

Further, the functional part is a sucker, a pneumatic flexible finger claw or a hook.

In the plane positioning clamping jaw mechanism, the base frame comprises a base frame body and a connector, and the connector is used for being connected with the tail end of a robot; the bed frame body is provided with a plurality of installation portions arranged at different positions, and the installation portions are used for detachably connecting the connectors.

Has the advantages that:

according to the plane positioning clamping jaw mechanism, the workpieces can be grabbed at multiple points by arranging at least three functional components, the stability is good, the functional components on the swing frame can swing along with the swing frame, and at least one functional component on the swing frame can move on the swing frame, so that the relative positions of the functional components can be adjusted according to needs, the adjustment of the distribution positions of the functional components is realized, the plane positioning clamping jaw mechanism is adaptive to the actual grabbing positions of the workpieces, the production requirements of different workpieces can be met, and the plane positioning clamping jaw mechanism is good in applicability.

Drawings

Fig. 1 is a schematic structural diagram of a first planar positioning clamping jaw mechanism provided by the invention.

Fig. 2 is a schematic view of a first plane positioning clamping jaw mechanism provided by the invention in a use state.

Fig. 3 is a schematic structural diagram of a second planar positioning clamping jaw mechanism provided by the invention.

Fig. 4 is a schematic structural view of a third plane positioning clamping jaw mechanism provided by the invention.

Fig. 5 is a schematic structural view of a fourth plane positioning clamping jaw mechanism provided by the invention.

Fig. 6 is a view showing a connection structure of an exemplary first connection portion and second connection portion.

Fig. 7 is a view showing a connection structure of an exemplary first connection portion and second connection portion.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The following disclosure provides embodiments or examples for implementing different configurations of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Referring to fig. 1-5, the plane positioning clamping jaw mechanism provided by the present invention includes a base frame 1 and at least three functional components 2, wherein the base frame 1 is used for connecting with a robot, the functional components 2 are used for grabbing a workpiece, and the at least three functional components 2 are not all on the same straight line;

the parts of the at least three functional members 2 for contact with the workpiece (e.g. the bottom of the suction cup, the hook of the hook, the ends of the fingers, etc.) are in the same plane of action;

the swing frame 3 is connected with the base frame 1 in a pivot mode, the swing plane of the swing frame 3 (namely, the plane which is crossed by the swing frame 3 when swinging and is vertical to the swing shaft of the swing frame 3) is parallel to the action plane, at least one functional component 2 is arranged on the swing frame 3, and at least one of the at least one functional component can move on the swing frame 3 in the direction vertical to the swing shaft of the swing frame 3 (so that the part, used for contacting with a workpiece, of each functional component 2 is always in the action plane);

the swing axes of all the swing frames 3 are parallel.

This plane location gripper mechanism can carry out the multiple spot through setting up at least three functional component 2 and snatch to the work piece, and stability is good, and functional component 2 on the rocker 3 can swing along with rocker 3, and at least one functional component 2 on the rocker 3 can move on the rocker 3 to can adjust the relative position between each functional component 2 as required, realize the adjustment of functional component 2 distribution position, thereby can snatch the position looks adaptation with the reality of work piece, the production needs of adaptable different work pieces, and the suitability is good. In the prior art, some clamping jaws have rotatable rotating rods, and fixed sucking discs are arranged on the rotating rods, so that the positions of the sucking discs can be adjusted, and certain sucking disc distribution position adjustability is achieved.

In some embodiments, see fig. 1-5, at least one functional component 2 is provided on the base frame 1, and at least one of said at least one functional component is movable on the base frame 1 in a direction perpendicular to the axis of oscillation of the pendulum 3 (ensuring that the portion of each functional component 2 intended to come into contact with the workpiece is always in the action plane).

In some embodiments, see fig. 1-5, the base frame 1 is provided with at least one fixed functional element 2.

In fact, the number of the swing frames 3, the number of the functional members 2 and the specific distribution of the functional members 2 can be set according to actual needs.

For example, in some embodiments, see fig. 1-4, the swing frame 3 is provided with one and the functional member 2 is provided with three;

wherein, the first functional component 2 is arranged on the swing frame 3 and can move on the swing frame 3, and the moving direction is vertical to the swing shaft of the swing frame 3;

wherein, the second functional component 2 is arranged on the base frame 1 and can move on the base frame 1, and the moving direction of the second functional component is vertical to the swinging shaft of the swinging frame 3;

wherein the third functional component 2 is fixedly arranged on the base frame 1.

This embodiment snatchs the work piece through three functional component 2, realizes that three points of triangular distribution snatch, and stability is good, and because the number of snatching the point is less, finds three suitable position of snatching on the work piece more easily, once selected the available three point of snatching on the work piece, just accessible adjustment rocker angle and the position of moving functional component make the relative position of three functional component unanimous with the selected point position of snatching, can carry out the snatching of work piece, and the suitability is stronger. For example, in fig. 2, the workpiece is a circuit board 90, a plurality of electronic components are distributed on the circuit board 90, the functional component 2 includes a suction cup, the circuit board 90 is sucked by three suction cups, because the electronic components of different circuit boards are distributed at different positions, positions without electronic components are searched for suction during suction, when the circuit board is grabbed by the plane positioning clamping jaw mechanism, as long as three positions which are not completely on the same straight line and are not provided with electronic components exist on the circuit board (generally, three grabbing points which are not on the same straight line are selected for stable grabbing), the plane positioning clamping jaw mechanism can generally adjust the positions of the three suction cups to corresponding positions, and three-point suction is realized.

The third functional component 2 can also be fixedly arranged on the swing frame 3, or the third functional component 2 can be movably arranged on the base frame 1 or the swing frame 3, and the moving direction of the third functional component is perpendicular to the swing axis of the swing frame 3.

For another example, in some embodiments, see fig. 5, the swing frame 3 is provided in two, and the functional members 2 are provided in four;

each swing frame 3 is provided with a functional component 2, and the functional component 2 can move on the swing frame 3, and the moving direction of the functional component 2 is vertical to the swing shaft of the swing frame 3;

two functional components 2 are arranged on the base frame 1, wherein one of the functional components is fixedly arranged, and the other functional component can move on the base frame 1, and the moving direction of the functional components is perpendicular to the swinging shaft of the swinging frame 3.

For example, in fig. 5, the workpiece is a square frame-shaped structural member 91 of an automobile, four-point grabbing is performed at four corners of the workpiece, and stability is high, so that the clamping jaw of the present embodiment is suitable for such a workpiece.

Wherein, two functional components 2 on the base frame 1 can also be arranged to be movable on the base frame 1, and the moving direction is perpendicular to the swing axis of the swing frame 3.

In the present embodiment, each swing frame 3 is provided with a swing driving device 4, and the swing driving device 4 is used for adjusting the swing angle of the corresponding swing frame 3. The swing driving device 4 may be, but is not limited to, a steering engine, a motor, a rotary cylinder, or a rotary cylinder. The on-line automatic adjustment of the position of the functional component 2 can be realized through the swing driving device 4, and the degree of automation is high.

In the case where the functional member 2 is movably provided on the swing frame 3, a movement driving device 5 for driving the functional member 2 to move is provided on the swing frame 3; in the case where the functional member 2 is movably provided on the base frame 1, a movement driving device 5 for driving the functional member 2 to move is provided on the base frame 1.

In some preferred embodiments, the movement driving device 5 includes a guide rail 501, a slider 502 disposed on the guide rail 501, and a power device 503 for driving the slider 502 to move; the slider 502 is used for connecting with the functional component 2. The power device 503 may be, but is not limited to, an air cylinder, a hydraulic cylinder, a lead screw, a linear motor, or an electric telescopic rod. The corresponding functional components 2 can be driven to reciprocate by driving the sliding block 502 to reciprocate, and the functional components 2 can be ensured to always move on the same straight line through the positioning action of the guide rail 501, so that the parts of the functional components 2, which are used for contacting with the workpiece, are always positioned in the action plane.

In some preferred embodiments, the functional component 2 includes a functional portion 201 and a first connecting portion 202, the swing frame 3 is provided with a second connecting portion 6 (the second connecting portion is provided on the slider 502 on the swing frame 3, and if the functional component 2 is further fixedly provided on the swing frame 3, the second connecting portion is further provided on the body of the swing frame 3), and if the functional component 2 is provided on the base frame 1, the second connecting portion 6 is also provided on the base frame 1 (if the functional component 2 is movably provided on the base frame 1, the second connecting portion is provided on the slider 502 on the base frame 1, and if the functional component 2 is further fixedly provided on the base frame 1, the second connecting portion is further provided on the body of the base frame 1); the second connecting portion 6 is detachably connected to the first connecting portion 202. Because the second connecting portion 6 can be dismantled with first connecting portion 202, can change the functional component 2 of different grade type as required, further improved the suitability, and when certain functional component 2 damaged the back, can change alone, cost of maintenance is lower.

In some embodiments, see fig. 1, 3 and 4, the first connecting portion 202 includes a screw portion a and two nuts b sleeved on the screw portion a, the second connecting portion 6 is provided with a connecting hole (which is a unthreaded hole) adapted to the screw portion a, the screw portion a is disposed through the connecting hole, and the two nuts b are screwed and pressed against the upper and lower surfaces of the second connecting portion 6, respectively, so as to lock the screw portion a.

The structure of the first connecting portion 202 and the second connecting portion 6 is not limited to this, for example, in fig. 6, the first connecting portion includes a connecting rod c, the second connecting portion 6 is provided with a connecting hole (being a light hole) adapted to the connecting rod c, the second connecting portion 6 is further provided with a locking screw d, and the connecting rod c is inserted into the connecting hole and locked by the locking screw d. Preferably, the circumferential surface of the connecting rod c is provided with a plurality of positioning annular grooves e at intervals, and the tail end of the locking screw d is a tip end capable of extending into the positioning annular grooves e. For example, in fig. 7, the first connecting portion includes a connecting rod f, the second connecting portion 6 is provided with a connecting hole adapted to the connecting rod f, the second connecting portion 6 is provided with a notch g, two sides of the notch g are provided with connecting protrusions i, a locking screw j is connected between the two connecting protrusions i, and the two connecting protrusions i can be drawn together by screwing the locking screw j, so that the second connecting portion 6 hoops the connecting rod f. Preferably, the rear surface of the connecting rod f is provided with an antiskid line k.

Wherein the functional part 201 can be, but is not limited to, a suction cup (see fig. 1 and 2), a pneumatic flexible finger (see fig. 3), or a hook (see fig. 4-5).

For example, a pneumatically flexible finger, may be of conventional design (as shown in fig. 3): the inner side of the finger claw air bag is smooth and provided with an anti-skid friction material, the outer side of the finger claw air bag is provided with a groove p, and the air bag bends inwards to clamp a workpiece when the finger claw air bag is inflated. The flexible finger structure is not limited thereto, and can be installed and used as long as the installation part structure is designed to be the same as the embodiment of the present invention.

For example, the hook in fig. 4 includes a truncated cone portion m provided at a lower end of the screw portion a, and a hook portion n provided at a lower end of the truncated cone portion m. But the structure of the hook is not limited thereto.

It should be noted that, if the functional part 201 is a suction cup, a pneumatic flexible finger or other functional device requiring pneumatic operation, the screw part a, the connecting rod c and the connecting rod f may be tubular to directly communicate the functional part 201 with the gas transmission pipeline; compared with the mode of directly connecting the gas transmission pipeline to the functional part 201, the gas transmission pipeline is connected to the top of the screw part a, the connecting rod c or the connecting rod f, and when the functional component 2 moves, the gas transmission pipeline cannot be scratched due to friction with the swing frame 3, the base frame 1 and other parts.

In some preferred embodiments, see fig. 1, 3, 4, the base frame 1 comprises a base frame body and a connecting head 101, the connecting head 101 being for connecting with a robot tip; the base frame body is provided with a plurality of installation parts 102 arranged at different positions, and the installation parts 102 are detachably connected with the connecting heads 101. When in use, the connecting head 101 can be connected to different mounting parts 102 according to requirements (for example, according to the actual distribution positions of the robot and the workpiece), and the applicability is further improved. In this embodiment, the connecting head 101 includes a flange and a mounting rod, the mounting portion 102 includes two parallel mounting plates, and the mounting rod extends between the two mounting plates and is fixed by a plurality of bolts connected between the two mounting plates. But the structures of the mounting portion 102 and the connection head 101 are not limited thereto.

In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.

Claims

1. A plane positioning clamping jaw mechanism comprises a base frame and at least three functional components, wherein the base frame is used for being connected with a robot, the functional components are used for grabbing workpieces, and the at least three functional components are not all on the same straight line; it is characterized in that the preparation method is characterized in that,

the swinging shafts of all the swinging frames are parallel.

2. The flat positioning gripper mechanism of claim 1, wherein at least one functional member is disposed on the base frame, and wherein at least one of the at least one functional member is movable on the base frame in a direction perpendicular to the axis of oscillation of the swing frame.

3. A flat positioning gripper mechanism according to claim 2 wherein at least one fixed functional member is provided on said base frame.

4. The flat positioning jaw mechanism according to claim 3, wherein said pendulum frame is provided with one, and said functional member is provided with three;

the third functional component is fixedly arranged on the base frame.

5. The flat positioning jaw mechanism according to claim 3, wherein said pendulum frame is provided in two and said functional members are provided in four;

6. The plane positioning jaw mechanism of claim 1, wherein each swing frame is provided with a swing driving device, and the swing driving device is used for adjusting the swing angle of the corresponding swing frame.

7. The plane positioning jaw mechanism according to claim 2, wherein said swing frame is provided with a movement driving device for driving the functional member to move; the base frame is provided with a movement driving device for driving the functional component to move.

8. The planar positioning jaw mechanism of claim 7, wherein said movement driving means comprises a guide rail, a slide block disposed on said guide rail, and power means for driving said slide block to move; the slider is used for connecting with the functional component.

9. The plane positioning gripper mechanism of claim 2, wherein the functional member comprises a functional portion and a first connecting portion, and wherein the base frame and the swing frame are provided with a second connecting portion detachably connected to the first connecting portion.

10. A planar positioning gripper mechanism as claimed in claim 9 wherein said functional portion is a suction cup, a pneumatically flexible finger or a hook.

11. The planar positioning gripper mechanism of claim 1, wherein the base frame comprises a base frame body and a connector for connecting with a robot end; the bed frame body is provided with a plurality of installation portions arranged at different positions, and the installation portions are used for detachably connecting the connectors.