CN112276990A - Robot tail end tool for clamping rotary workpieces - Google Patents
Robot tail end tool for clamping rotary workpieces Download PDFInfo
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- CN112276990A CN112276990A CN202011241050.0A CN202011241050A CN112276990A CN 112276990 A CN112276990 A CN 112276990A CN 202011241050 A CN202011241050 A CN 202011241050A CN 112276990 A CN112276990 A CN 112276990A
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- ball screw
- robot
- end tool
- clamping jaw
- main body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot tail end tool for clamping a rotary workpiece, which comprises a main body structure and a tail end structure, wherein the main body structure comprises a welding part connected with the tail end of a robot; the power device comprises a servo motor, a motor support, a synchronous belt pulley and a synchronous belt, wherein the ball screw of the transmission device is provided with threads which are symmetrical in position but different in rotation direction, and a linear bearing with the support is arranged on the ball screw; the clamping jaw device comprises a connecting piece and a clamping jaw for clamping a workpiece, and the clamping jaw and the sliding block are fixedly connected to the connecting piece; its supplementary sensing device includes infrared photoelectric sensor, radar range sensor and connecting plate, and infrared photoelectric sensor is used for detecting the position of connecting piece and sends the opening and shutting of signal control clamping jaw device, and it can cooperate and use the robot to go up unloading, realizes machine replacement manual operation, and it can snatch the product of different diameter specifications, when producing different diameter specifications product, need not to change another set of robot end instrument, and the work piece processing commonality is better.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to a robot tail end tool for clamping a rotary workpiece.
Background
At present, with the development of the field of mechanical engineering, the goals of reducing the production cost, improving the production efficiency, improving the working environment, realizing intelligent manufacturing and the like are continuously promoted and innovated. In the machining process, the large-sized rotary workpieces are generally loaded and unloaded by adopting equipment such as a manually operated travelling crane, the production efficiency is low, and the labor cost is very high. For example, the inner and outer rings of the slewing bearing are generally processed by loading and unloading in a manner of manually operating a traveling crane, so that the operation is complicated, the production efficiency is low, and the potential safety hazard exists.
Disclosure of Invention
The invention provides a robot end tool for clamping rotary workpieces, and aims to solve the problems that in the prior art, equipment such as a manually operated travelling crane is adopted for feeding and discharging, the operation is complex, the production efficiency is low, the labor cost is high, and the personal safety potential is caused, so that the robot is matched for feeding and discharging, and the manual operation is replaced by a robot.
The invention relates to a robot tail end tool for clamping a rotary workpiece, which comprises a main body structure (I), a transmission device (II), a power device (III), an auxiliary sensing device (IV) and a clamping jaw device (V); the main structure (I) comprises a welding part (1) connected with the tail end of the robot; the power device (III) comprises a servo motor (6), a motor support (5), a synchronous pulley and a synchronous belt (7), the synchronous pulley comprises a driving synchronous pulley (8) and a driven synchronous pulley (15), the servo motor (6) is installed on the main structure (I) through the motor support (5), and the power device (III) transmits power to the transmission device (II) through the synchronous belt (7) and is used for controlling the opening and closing of the clamping jaw device (V); the transmission device (II) comprises a linear guide rail (13), a sliding block (4), a ball screw (2), a linear bearing with a seat (11), a ball screw supporting seat fixing side (14) and a ball screw supporting seat supporting side (17), wherein the ball screw supporting seat fixing side (14) is installed on one side of the main body structure (I), and the ball screw supporting seat supporting side (17) is installed on the other side of the main body structure (I); threads which are symmetrical in position but different in rotation direction are arranged on the ball screw (2), and a linear bearing (11) with a seat is arranged on the ball screw (2); the main structure (I) is provided with linear bearings (11) with seats, and the number of the linear guide rails (13) is at least two and the linear guide rails are respectively arranged on two sides of the main structure (I); the clamping jaw device (V) comprises a connecting piece (3) and a clamping jaw (12) used for clamping a workpiece, and the clamping jaw (12) and the sliding block (4) are fixedly connected to the connecting piece (3); the auxiliary sensing device (IV) comprises an infrared photoelectric sensor (16), a radar ranging sensor (9) and a connecting plate (10), wherein the infrared photoelectric sensor (16) is installed on the main structure (I) and used for detecting the position of the connecting piece (3) and sending a signal to control the opening and closing of the clamping jaw device (V).
According to the robot tail end tool for clamping the rotary workpieces, the power device (IV) transmits power to the transmission device (II) in a synchronous belt transmission mode, so that the ball screw (2) is driven to rotate, and due to the fact that the thread turning directions of the ball screw (3) are different, the rotation of the ball screw (3) can drive the clamping jaws (12) on the connecting piece (3) to move oppositely to clamp the workpieces or move reversely to release the workpieces, and the workpieces are clamped and released.
In the above solution, it is preferred that the infrared photoelectric sensor (16) is mounted on the main structure (i) by means of a spacer (18).
It is also preferable that the ball screw support seat fixing side (14) is mounted on the bottom surface of the main structure (i).
It is also preferable that the ball screw support seat fixing side (14) is installed on the bottom surface of the main structure (I) and on the servo motor (6) side.
It is also preferred that the ball screw support seat support side (17) is mounted on the other side of the bottom surface of the main structure (i).
It is also preferable that two ends of the ball screw (2) are provided with two threads which are symmetrical in position and different in screwing direction.
It is also preferable that the linear bearing with a seat (11) is mounted on a section of the ball screw (2) without a thread in the middle.
It is also preferred that the linear bearing with bearing seat (11) is mounted at the bottom of the main structure (I).
It is also preferable that the linear bearing with a seat (11) is arranged at the central position of the bottom of the main structure (I).
It is also preferred that two infrared photosensors (16) are mounted on the same side of the body structure (i) and on either side of the same slide (4).
The invention can achieve the following beneficial effects:
the robot end tool for clamping the rotary workpieces can solve the problems that in the prior art, equipment such as a manually operated travelling crane is adopted for loading and unloading, the operation is complicated, the production efficiency is low, the labor cost is high, and the personal safety potential exists; the robot can be used for loading and unloading in a matched mode, and manual operation is replaced through the robot; it has the following advantages in particular: (1) the robot can grab products with different diameters, and when the products with different diameters are produced, another set of robot end tool does not need to be replaced, so that the workpiece processing universality is better, and the equipment cost is reduced; (2) the radar ranging sensor can quickly adjust the workpiece grabbing and placing position according to the field condition, and the grabbing and placing position is more accurate and stable; (3) the whole structure is reasonable and convenient, the failure rate is low, and the maintenance cost is low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of a robot end tool for gripping a revolving workpiece according to the present invention.
Fig. 2 is a top view of the end tool of the robot for gripping a revolving type workpiece according to the present invention.
Fig. 3 is a bottom view of the robot end tool for gripping a revolving type workpiece according to the present invention.
In the figure: i is the major structure, II is transmission, III is power device, IV is supplementary sensing device, V is clamping jaw device, 1 is the welding piece, 2 is ball, 3 is the connecting piece, 4 is the slider, 5 is the motor support, 6 is servo motor, 7 is the hold-in range, 8 is driving synchronous pulley, 9 is radar range finding sensor, 10 is the connecting plate, 11 is the area seat linear bearing, 12 is the clamping jaw, 13 is linear guide, 14 is ball supporting seat fixed side, 15 is driven synchronous pulley, 16 is infrared photoelectric sensor, 17 is ball supporting seat support side, 18 is the setting element.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
A robot tail end tool for clamping rotary workpieces is shown in figures 1 to 3 and comprises a main body structure I, a transmission device II, a power device III, an auxiliary sensing device IV and a clamping jaw device V; the main structure I comprises a welding part 1 connected with the tail end of the robot; the power device III comprises a servo motor 6, a motor support 5, a synchronous belt pulley and a synchronous belt 7, the synchronous belt pulley comprises a driving synchronous belt pulley 8 and a driven synchronous belt pulley 15, the servo motor 6 is mounted on the main structure I through the motor support 5, and the power device III transmits power to the transmission device II through the synchronous belt 7 and is used for controlling the clamping jaw device V to be opened and closed; the transmission device II comprises a linear guide rail 13, a slide block 4, a ball screw 2, a linear bearing with a seat 11, a ball screw support seat fixing side 14 and a ball screw support seat supporting side 17, wherein the ball screw support seat fixing side 14 is installed on one side of the main structure I, and the ball screw support seat supporting side 17 is installed on the other side of the main structure I; the ball screw 2 is provided with threads which are symmetrical in position but different in rotation direction, and the linear bearing with the seat 11 is arranged on the ball screw 2; the main structure I is provided with linear bearings 11 with seats, and the number of the linear guide rails 13 is at least two and the linear guide rails are respectively arranged on two sides of the main structure I; the clamping jaw device V comprises a connecting piece 3 and a clamping jaw 12 for clamping a workpiece, and the clamping jaw 12 and the sliding block 4 are fixedly connected to the connecting piece 3; the auxiliary sensing device IV comprises an infrared photoelectric sensor 16, a radar ranging sensor 9 and a connecting plate 10, wherein the infrared photoelectric sensor 16 is installed on the main structure I and used for detecting the position of the connecting piece 3 and sending a signal to control the opening and closing of the clamping jaw device V.
The robot end tool for clamping the rotary workpieces in the embodiment has the advantages that the power device IV transmits power to the transmission device II in a synchronous belt transmission mode so as to drive the ball screw 2 to rotate, and the rotation of the ball screw 3 can drive the clamping jaws 12 on the connecting piece 3 to move in opposite directions to clamp the workpieces or move in opposite directions to release the workpieces due to the fact that the threads of the ball screw 3 are different in rotation direction, so that the workpieces are clamped or moved in opposite directions to release the workpieces, and the grabbing and releasing operation on the workpieces is completed. An infrared photoelectric sensor 16 is arranged on the main structure I and used for detecting the position of the connecting piece and sending signals to respectively control the opening and closing of the clamping jaw device V; the radar ranging sensor 9 can rapidly adjust the workpiece grabbing and placing position according to the field situation, the grabbing and placing position is more accurate and stable, and the radar ranging sensor 9 is used for detecting the specific position of the workpiece and other objects which are likely to collide, so that the protection effect is achieved. Wherein, radar range sensor 9 passes through connecting plate 10 to be installed on major structure I, and connecting plate 10 is fixed on major structure I promptly, and radar range sensor 9 installs on connecting plate 10. The gyration type work piece of this embodiment is got and is used terminal instrument of robot to snatch the product of different diameter specifications, when producing different diameter specifications products, need not to change another set of terminal instrument of robot, therefore the work piece processing commonality is better.
Example 2
The robot end tool for gripping a revolving workpiece according to embodiment 1 may be more specifically configured such that the infrared photoelectric sensor 16 is mounted on the main structure i through the positioning member 18. This facilitates and makes more secure the mounting of the infrared photoelectric sensor 16. The positioning member 18 may be a plate or block secured to the body structure i. The infrared photoelectric sensor 16 is mounted on a spacer 18.
It can also be specific that the ball screw support seat fixed side 14 is installed on the bottom surface of the main structure i. And preferably, the ball screw supporting seat fixing side 14 is installed on the bottom surface of the main structure i and is located on the servo motor 6 side. At this time, the ball screw support base support side 17 is installed on the other side on the bottom surface of the main structure i.
It can also be specific that two sections of threads with symmetrical positions but different screwing directions are arranged at two ends of the ball screw 2. At this moment, the number of the connecting pieces 3 can be two, the two connecting pieces 3 are respectively connected with the clamping jaws 12, and the rotation of the ball screw can drive the clamping jaws 12 on the two connecting pieces 3 to move oppositely to clamp the workpiece or move reversely to release the workpiece due to the fact that the two sections of threads of the ball screw 3 are different in rotating direction, so that the workpiece is grabbed and released. Preferably, the linear bearing with bearing 11 is mounted on the ball screw 2 in the middle of a section without a thread.
In a further specific embodiment, the linear bearing with seat 11 is installed at the bottom of the main structure i. At this time, preferably, the linear bearing with seat 11 is installed at the central position of the bottom of the main structure i. And, the linear bearing with seat 11 can be installed at the bottom center position of the main structure i with a screw connection structure.
Specifically, the two infrared photoelectric sensors 16 may be installed on the same side of the main structure i and located on two sides of the same slider 4. In this case, it is preferred that the infrared photoelectric sensor 16 is mounted on the side of the main structure i.
Example 3
The robot end tool for clamping a rotary workpiece according to any of the embodiments described above may further specifically include a main structure i that may be a welding part 1 of an integral structure, a threaded hole may be provided on the welding part 1 of the integral structure, and the welding part 1 may be connected to the end of the robot by a threaded connection structure. The welding part 1 can be also provided with a through hole which is matched with a thread structure for connection and fixation. And, the through-hole and the screw hole may be provided at an upper portion of the welding member 1 of the integrated structure.
It can also be specific that the number of the linear guide rails 13 can be four, and four linear guide rails 13 can be symmetrically installed on the main structure i. And four linear guides 13 can be symmetrically installed at the bottom of the main structure i, for example, four linear guides 13 can be symmetrically installed on the bottom surface of the main structure i.
In particular, the sliding block 4 and the clamping jaw 12 can be fixed on the connecting piece 3 through a threaded connection structure. The jaws 12 may be provided with a raised curved surface for gripping a workpiece.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A robot tail end tool for clamping rotary workpieces comprises a main body structure (I), a transmission device (II), a power device (III), an auxiliary sensing device (IV) and a clamping jaw device (V); the robot is characterized in that the main structure (I) comprises a welding part (1) connected with the tail end of the robot; the power device (III) comprises a servo motor (6), a motor support (5), a synchronous pulley and a synchronous belt (7), the synchronous pulley comprises a driving synchronous pulley (8) and a driven synchronous pulley (15), the servo motor (6) is installed on the main structure (I) through the motor support (5), and the power device (III) transmits power to the transmission device (II) through the synchronous belt (7) and is used for controlling the opening and closing of the clamping jaw device (V); the transmission device (II) comprises a linear guide rail (13), a sliding block (4), a ball screw (2), a linear bearing with a seat (11), a ball screw supporting seat fixing side (14) and a ball screw supporting seat supporting side (17), wherein the ball screw supporting seat fixing side (14) is installed on one side of the main body structure (I), and the ball screw supporting seat supporting side (17) is installed on the other side of the main body structure (I); threads which are symmetrical in position but different in rotation direction are arranged on the ball screw (2), and a linear bearing (11) with a seat is arranged on the ball screw (2); the main structure (I) is provided with linear bearings (11) with seats, and the number of the linear guide rails (13) is at least two and the linear guide rails are respectively arranged on two sides of the main structure (I); the clamping jaw device (V) comprises a connecting piece (3) and a clamping jaw (12) used for clamping a workpiece, and the clamping jaw (12) and the sliding block (4) are fixedly connected to the connecting piece (3); the auxiliary sensing device (IV) comprises an infrared photoelectric sensor (16), a radar ranging sensor (9) and a connecting plate (10), wherein the infrared photoelectric sensor (16) is installed on the main structure (I) and used for detecting the position of the connecting piece (3) and sending a signal to control the opening and closing of the clamping jaw device (V).
2. The rotary type robot end tool for gripping a workpiece as set forth in claim 1, wherein the infrared photoelectric sensor (16) is mounted on the main body structure (i) through a positioning member (18).
3. The rotary type robot end tool for gripping a workpiece as claimed in claim 1, wherein the ball screw supporting seat fixing side (14) is installed on the bottom surface of the main body structure (i).
4. A robot end tool for picking up rotary type work as claimed in claim 3, wherein the ball screw supporting seat fixing side (14) is installed on the bottom surface of the main body structure (i) at the side of the servo motor (6).
5. The rotary type robot end tool for gripping a workpiece as claimed in claim 4, wherein the ball screw supporting base supporting side (17) is installed on the other side on the bottom surface of the main body structure (i).
6. The rotary type robot end tool for gripping workpieces as set forth in claim 1, wherein two threads having symmetrical positions but different directions of rotation are provided at both ends of the ball screw (2).
7. The rotary type robot end tool for gripping a workpiece as set forth in claim 6, wherein the linear bearing with a seat (11) is mounted on a section of the ball screw (2) having no thread in the middle.
8. A robot end tool for gripping rotary type work pieces according to claim 1, characterized in that said linear bearing with a seat (11) is mounted at the bottom of the main structure (i).
9. The rotary type robot end tool for gripping a workpiece as set forth in claim 8, wherein said linear bearing with mount (11) is installed at a central position of a bottom of the main body structure (i).
10. The end tool of a robot for gripping revolving type workpieces as claimed in claim 1, wherein two infrared photosensors (16) are installed on the same side of the main body structure (i) and located on both sides of the same slide block (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241050.0A CN112276990A (en) | 2020-11-09 | 2020-11-09 | Robot tail end tool for clamping rotary workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241050.0A CN112276990A (en) | 2020-11-09 | 2020-11-09 | Robot tail end tool for clamping rotary workpieces |
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| Publication Number | Publication Date |
|---|---|
| CN112276990A true CN112276990A (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011241050.0A Pending CN112276990A (en) | 2020-11-09 | 2020-11-09 | Robot tail end tool for clamping rotary workpieces |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104708A (en) * | 2021-11-01 | 2022-03-01 | 上海森松制药设备工程有限公司 | Clamping device and clamping system |
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| EP1293307A2 (en) * | 2001-07-11 | 2003-03-19 | Studio Tecnico Commerciale Morelli & C. S.a.s. | Method and apparatus for operating a clamp in automatic manipulators |
| DE202005019060U1 (en) * | 2005-12-06 | 2006-03-30 | H+F Maschinenbau Gmbh | Gripping device for production line or industrial robot, comprising parallel positioned electric drive and spindle |
| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| CN106271822A (en) * | 2016-08-18 | 2017-01-04 | 重庆科菲精密机械有限公司 | The loading and unloading manipulator of Digit Control Machine Tool |
| CN206263962U (en) * | 2016-11-25 | 2017-06-20 | 天津市科百汇自动化科技有限公司 | A kind of control system of lifting mechanical arm |
| CN107627319A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of robot clamp of parallel clamping |
| JP2018069380A (en) * | 2016-10-28 | 2018-05-10 | 株式会社アイエイアイ | Actuator and gripper |
| CN211806228U (en) * | 2020-04-07 | 2020-10-30 | 浙江博拉自动化科技有限公司 | Bearing robot clamp |
| CN213616780U (en) * | 2020-11-09 | 2021-07-06 | 天津市天森智能设备有限公司 | Robot tail end tool for clamping rotary workpieces |
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2020
- 2020-11-09 CN CN202011241050.0A patent/CN112276990A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1293307A2 (en) * | 2001-07-11 | 2003-03-19 | Studio Tecnico Commerciale Morelli & C. S.a.s. | Method and apparatus for operating a clamp in automatic manipulators |
| DE202005019060U1 (en) * | 2005-12-06 | 2006-03-30 | H+F Maschinenbau Gmbh | Gripping device for production line or industrial robot, comprising parallel positioned electric drive and spindle |
| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| CN106271822A (en) * | 2016-08-18 | 2017-01-04 | 重庆科菲精密机械有限公司 | The loading and unloading manipulator of Digit Control Machine Tool |
| JP2018069380A (en) * | 2016-10-28 | 2018-05-10 | 株式会社アイエイアイ | Actuator and gripper |
| CN206263962U (en) * | 2016-11-25 | 2017-06-20 | 天津市科百汇自动化科技有限公司 | A kind of control system of lifting mechanical arm |
| CN107627319A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of robot clamp of parallel clamping |
| CN211806228U (en) * | 2020-04-07 | 2020-10-30 | 浙江博拉自动化科技有限公司 | Bearing robot clamp |
| CN213616780U (en) * | 2020-11-09 | 2021-07-06 | 天津市天森智能设备有限公司 | Robot tail end tool for clamping rotary workpieces |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104708A (en) * | 2021-11-01 | 2022-03-01 | 上海森松制药设备工程有限公司 | Clamping device and clamping system |
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