CN113021322A

CN113021322A - Robot for grabbing cylindrical workpiece

Info

Publication number: CN113021322A
Application number: CN202110446173.6A
Authority: CN
Inventors: 车谦功; 任惠生
Original assignee: Binzhou Bright Electric Co ltd
Current assignee: Binzhou Bright Electric Co ltd
Priority date: 2021-04-25
Filing date: 2021-04-25
Publication date: 2021-06-25

Abstract

The application discloses snatch robot of cylinder work piece relates to the nonstandard automation equipment field of robot, and this application replaces the manual work by the robot to the cylinder work piece, if to motor stator core's transport and pile up neatly, and the anchor clamps assembly is installed at robot assembly and actuating mechanism's end, and the robot assembly idol is integrative, by the unified control of robot, forms the seventh axle of robot, has realized the biggest harmony. The clamp assembly adopts an internal expansion type structure, and the three groups of tensioning arms can be extended out or retracted back through robot control, so that the expansion or reduction of the clamping range of the clamp assembly is realized.

Description

Robot for grabbing cylindrical workpiece

Technical Field

The application relates to the field of non-standard automation equipment of robots, in particular to a robot for grabbing cylindrical workpieces.

Background

At present, for a clamp for clamping and carrying a cylindrical metal workpiece, the following two modes are generally available:

one is an external clamp type clamp. The clamp is simple in structure and easy to implement, but is not applicable when a robot is used for stacking workpieces, because when cylindrical workpieces are stacked vertically, the workpieces are abutted against each other, and no space for accommodating the clamp exists.

And secondly, a common inner hole expansion type clamp. Although the space interference problem when external clamping type clamps are stacked can be avoided by the clamp, the common clamp is simple, and only adopts a parallelogram structure and principle, namely: the central shaft and three or two expansion contact claws uniformly distributed around form a parallelogram, and when the expansion contact claws are manually lifted and the central shaft moves downwards relatively, the diameter direction of the clamp is contracted; on the contrary, when the middle shaft is lifted up, the diameter of the clamp expands to tightly support the inner wall of the cylindrical workpiece, and the workpiece is lifted up by friction force, so that clamping is realized. The clamp is not suitable for the requirements of robot carrying and stacking, because when the clamp is contracted into a cylindrical workpiece, an expansion contact claw is ensured to be contacted with the bottom of the workpiece, a middle shaft must downwards extend out of the lower end face of the workpiece, and the middle shaft is required to be lifted out of the upper end face of the workpiece during expansion, for the field of automation, the workpiece is conveyed by a chain plate conveying line, holes are not formed below the workpiece generally for downwards extending the middle shaft, for lifting the middle shaft, the lifting distance can offset the effective height of robot stacking, and for workpieces with different inner diameters, the lifting height of the middle shaft is different, and the stacking height position is not well controlled, so that the clamp cannot be used universally.

Furthermore, only the mechanical structure of the clamp does not have indication of the clamping state and signal feedback, and the requirement of a control system cannot be met. If not tight, the work piece can appear when the robot transport and gets rid of the accident of taking off, and its reliability, security can not satisfy the needs. The existing clamp cannot meet the requirements of automatic workpiece clamping of a robot in the aspects of control and the like, and manual carrying and stacking are absolutely required to be replaced by the robot and an automatic mode, so that a clamping mechanism which is more reliable, safe, feasible in space and capable of realizing feedback information of a clamping state is urgently needed to be researched and developed.

Disclosure of Invention

In order to solve the technical problem, the application provides a snatch robot of cylinder work piece to solve the space interference that current centre gripping cylinder work piece's anchor clamps exist, the reliability is low and the security subalternation problem, and can realize pressing from both sides tight state information real-time feedback, further improved centre gripping pile up neatly efficiency and precision.

The technical problem of the application is realized by the following technical scheme: including external switch board of robot assembly and robot assembly, its characterized in that: the tail end of the robot assembly is provided with a driving mechanism, and a clamp assembly is connected below the driving mechanism; the clamp assembly comprises a lead screw, a first nut and a second nut which are in threaded connection with the lead screw are sequentially arranged from top to bottom on the lead screw, the first nut is movably connected with an upper connecting rod, the second nut is movably connected with a lower connecting rod, the tail ends of the upper connecting rod and the lower connecting rod are respectively provided with a tensioning arm, and the tensioning arms are movably connected with the upper connecting rod and the lower connecting rod.

By adopting the technical scheme: the first nut and the second nut are ensured to have the same amplitude when moving up and down, so that the tightening arm always keeps the same amplitude at the upper end and the lower end when contracting and expanding, the uniform contact with the upper end and the lower end of the inner wall of the workpiece is ensured, and the maximum contact area is kept.

Further, the clamp assembly further comprises a connecting disc and a connecting plate; the connecting disc and the connecting plate are respectively arranged at the top and the bottom of the screw rod; a coupler is arranged at the center of the connecting disc and used for connecting a lead screw and a driving mechanism; the first nut is rotationally connected with the upper connecting rod through a nut pin shaft, and the second nut is rotationally connected with the lower connecting rod through a nut pin shaft; the upper connecting rod and the lower connecting rod are rotatably connected with the tensioning arm through arm pin shafts.

By adopting the technical scheme: the pin shaft connection is simpler and easier to install, the strength can be ensured, the maintenance and the replacement of the pin shaft are quicker, and replacement parts are easy to obtain.

And further, guide rails are arranged on two sides of each group of the upper connecting rod and the lower connecting rod, the tops of the guide rails are fixed on the connecting disc, and the bottoms of the guide rails are fixed on the connecting plate.

By adopting the technical scheme: a gap with a certain width is formed between each group of guide rails, so that the upper connecting rod and the lower connecting rod can only vertically move between the gaps and cannot rotate along the circumferential direction, and the purpose of preventing the tensioning arm from rotating along with the lead screw is achieved.

Furthermore, the top of the guide rail is connected with the connecting disc in a welding mode; the bottom of the guide rail is fixed with the connecting plate through a screw.

Furthermore, the outer side of the tightening arm is provided with an aluminum sheet lining plate, the shape of the aluminum sheet lining plate is consistent with that of the end face of the tightening arm, the outer surface of the aluminum sheet lining plate is arc-shaped and is convenient to contact with the arc-shaped inner wall of a workpiece, and the aluminum sheet lining plate is fixed on the tightening arm through countersunk screws.

By adopting the technical scheme: prevent that the work piece from being pressed from both sides by too big clamp force and hindering, the aluminum product is difficult to cause the damage to the work piece inner wall.

Furthermore, the upper connecting rod, the lower connecting rod and the tightening arm are divided into three groups, the three groups are uniformly distributed at intervals by taking the screw rod as an axis, and the included angle between the three groups is 120 degrees.

By adopting the technical scheme: the span range of the tensioning arm is maximum, and the pressure applied to the workpiece is more uniform.

Furthermore, the side edges of the connecting plate are provided with three mounting plates extending outwards, the angle interval of each mounting plate is 120 degrees, mounting grooves are formed in two sides of each mounting plate, and the bottom ends of the guide rails are fixed in the mounting grooves through hexagon socket head cap screws.

By adopting the technical scheme: the installation of guide rail is more firm and convenient, and the guide rail is placed chucking in mounting groove, and is higher through fixed back bulk strength of bottom hexagon socket head cap screw.

Furthermore, the driving mechanism comprises a servo motor and a gear box, the top surface of the gear box is connected with the robot assembly through a flange plate, the top surface of the gear box is also provided with the servo motor, and the servo motor is connected with a transmission gear in the gear box through an internal motor shaft; the bottom surface of the gear box is provided with a bottom plate, and the bottom plate is connected with a lower clamp assembly.

By adopting the technical scheme: the driving mechanism arranged above the clamp assembly effectively saves the equipment volume, and the overall structure design is more reasonable.

Furthermore, a mechanical arm base is arranged at the bottom of the robot assembly, the top surface of the mechanical arm base is movably connected with a rotating plate, a base motor and a rocker arm are arranged on the rotating plate, and a rocker arm motor is arranged on one side of the lower part of the rocker arm; the tail end of the top of the rocker arm is connected with a cross arm and a motor set; the tail end of the cross arm is connected with a terminal rotating arm, and the bottom of the terminal rotating arm is connected with a driving mechanism.

By adopting the technical scheme: the clamp assembly can be coupled into a system under the driving of the robot assembly, the clamp becomes the seventh axis of the robot and is uniformly controlled by the robot, and the action coordination is higher.

In summary, the present application has the following beneficial effects:

this application replaces artifically to snatch, transport and pile up neatly the cylinder work piece by the robot, and the anchor clamps assembly is installed at robot assembly and actuating mechanism's end, and the robot assembly idol is integrative, by the unified control of robot, forms the seventh axle of robot, has realized the biggest harmony. The clamp assembly adopts an internal expansion type structure, and the three groups of tensioning arms can be extended out or retracted back through robot control, so that the expansion or reduction of the clamping range of the clamp assembly is realized.

Drawings

FIG. 1 is a schematic view of the general assembly of the present application;

FIG. 2 is a schematic view of a robot assembly in a front view;

FIG. 3 is a rear view schematic view of a robot assembly according to the present application;

FIG. 4 is a schematic view of the drive mechanism of the present application;

FIG. 5 is a cross-sectional view of the drive mechanism of the present application;

FIG. 6 is a schematic view of a clamp assembly according to the present application;

FIG. 7 is a bottom view of the clamp assembly of the present application;

FIG. 8 is a schematic view of a clamp assembly and drive mechanism according to the present application;

fig. 9 is an operational state diagram of the clamping portion of fig. 8.

Description of reference numerals:

1. a robot assembly; 101. a mechanical arm base; 102. a rotating plate; 103. a rocker arm; 104. a cross arm; 105. A terminal rotating arm; 106. a base motor; 107. a rocker arm motor; 108. a motor unit;

2. a drive mechanism; 201. a servo motor; 202. a motor shaft; 203. a gear case; 204. a base plate;

3. a clamp assembly; 301. a connecting disc; 302. a connecting plate; 303. a lead screw; 304. a coupling; 305 a first nut; 306. a second nut; 307. an upper connecting rod; 308. a lower connecting rod; 309. a tightening arm; 3010. an arm pin; 3011. an aluminum sheet lining plate; 3012. a guide rail; 3013. a connecting ring; 3014. countersunk head screws; 3015. a nut pin shaft;

4. a control cabinet; 5. a work table; 6. and (5) a workpiece.

Detailed Description

The present application is described in further detail below with reference to the attached drawings. Referring to fig. 1-9, the application discloses a robot for grabbing a cylindrical workpiece, which comprises a robot assembly 1 and a control cabinet 4 externally connected with the robot assembly 1, wherein a driving mechanism 2 is arranged at the tail end of the robot assembly 1, and a clamp assembly 3 is connected below the driving mechanism 2; the clamp assembly 3 comprises a lead screw 303, the lead screw 303 is a bidirectional lead screw, and the middle of the lead screw 303 is connected by a connecting ring 3013; the connecting ring 3013 is provided with a first nut 305 and a second nut 306 which are in threaded connection with the lead screw 303 respectively at the upper and lower parts, and when the lead screw 303 rotates, the first nut 305 and the second nut 306 move towards or away from each other; first nut 305 swing joint goes up connecting rod 307, second nut 306 swing joint lower connecting rod 308, it all sets up the arm 309 that props up to go up connecting rod 307 and lower connecting rod 308 end, prop up the arm 309 and be swing joint with last connecting rod 307 and lower connecting rod 308, prop and set up aluminum sheet welt 3011 in the arm 309 outside, aluminum sheet welt 3011 shape is unanimous with propping up arm 309 terminal surface, aluminum sheet welt 3011 is fixed in on propping the arm 309 with countersunk head screw 3014.

The lead screw 303 does not extend downward or upward when the tightening arm 309 contracts and expands, i.e.: the screw 303 and the tightening arm 309 are always kept parallel and level, and the two ends are always on the same horizontal plane, so that the stacking requirement of the machine is met. The cross section of the outer side of the tightening arm 309 is designed to be circular arc, and the aluminum sheet lining plate 3011 is also circular arc and is matched with the inner hole circular arc of the workpiece 6, so that the contact area and the stress area with the inner wall of the workpiece are increased.

The clamp assembly 3 further comprises a connecting disc 301 and a connecting plate 302; the connecting disc 301 and the connecting plate 302 are respectively arranged at the top and the bottom of the screw 303 and play a role in fixing; a coupler 304 is arranged at the center of the connecting disc 301 and used for connecting a lead screw 303 and a driving mechanism 2; the first nut 305 is rotationally connected with the upper connecting rod 307 through a nut pin 3014, and the second nut 306 is rotationally connected with the lower connecting rod 308 through a nut pin 3014; the upper link 307 and the lower link 308 are rotatably connected to the tightening arm 309 through an arm pin 3010. The upper connecting rod 307, the lower connecting rod 308 and the tightening arm 309 are three groups, are uniformly distributed at intervals by taking the screw 303 as an axis, and form an included angle of 120 degrees with each other. The clamping part of the clamp assembly 3 has various specifications with different diameter ranges, and can be replaced and used according to the size of an inner hole of a workpiece when necessary. Generally, cylindrical workpieces with internal diameters ranging from phi 67mm to phi 325mm can be accommodated.

Two sides of each group of the upper connecting rod 307 and the lower connecting rod 308 are respectively provided with a guide rail 11, the top of each guide rail 11 is fixed on the connecting disc 301, and the bottom of each guide rail 11 is fixed on the connecting plate 302; the top of the guide rail 11 is connected with the connecting disc 301 in a welding mode; the bottom of the guide rail 11 is fixed with the connecting plate 302 through screws.

The side of the connecting plate 302 is provided with three mounting plates extending outwards, the angle interval of each mounting plate is 120 degrees, mounting grooves are formed in two sides of each mounting plate, and the bottom end of the guide rail 11 is fixed in the mounting grooves through hexagon socket head cap screws. The frame structure formed by the connecting disc 12, the connecting plate 13 and the guide rail 11 effectively enhances the overall rigidity of the clamp, reduces the stress degree of the lead screw 303 and prevents the lead screw 303 from deforming.

The driving mechanism 2 comprises a servo motor 201 and a gear box 203, the top surface of the gear box 203 is connected with the robot assembly 1 through a flange plate, the top surface of the gear box 203 is also provided with the servo motor 201, and the servo motor 201 is connected with a transmission gear in the gear box 203 through an internal motor shaft 202; the bottom surface of the gear box 203 is provided with a bottom plate 204, and the bottom plate 204 is connected with the lower clamp assembly 3.

The bottom of the robot assembly 1 is a mechanical arm base 101, the top surface of the mechanical arm base 101 is movably connected with a rotating plate 102, a base motor 106 and a rocker arm 103 are arranged on the rotating plate 102, and a rocker arm motor 107 is arranged on one side of the lower part of the rocker arm 103; the tail end of the top of the rocker arm 103 is connected with a cross arm 104 and a motor set 108; the tail end of the cross arm 104 is connected with a terminal rotating arm 105, and the bottom of the terminal rotating arm 105 is connected with a driving mechanism 2; robot assembly 1 can realize 6 cooperations, still sets up laser range finder at anchor clamps assembly 3 and robot assembly front end, and whether high unanimity between real-time perception work piece height and pile up neatly layer, collision when automatic preventing the pile up neatly.

The clamp assembly 3 can clamp a plurality of workpieces 6 with different diameters and specifications, and the universality is strong; for larger or smaller inner holes of the workpiece, corresponding parts can be replaced by disassembling screws of the coupler 304 and plugging and unplugging signal line plugs, so that the device is convenient and quick and has high reliability.

Sensors are provided between the upper and lower parts of the arm 309 to detect if the clamp conforms to the specification of the workpiece 6 to be gripped, and if not, the clamp and robot system will stop gripping and alarm. The sensor on the clamp assembly 3 can automatically sense the clamping state and feed back a robot signal, so that the robot assembly 1 and the clamp assembly 3 have intelligent judgment capability. The device can intelligently give out a proper clamping torque according to the weight and the size of the workpiece 6, can ensure that the workpiece 6 is reliably clamped, can prevent the workpiece 6 from being clamped by an overlarge clamping force, and is safe, reliable and intelligent. The clamping system formed by coupling the clamp assembly 3 and the robot assembly 1 has automatic detection and processing functions in four aspects of clamping state, clamp specification, workpiece specification and clamping torque output, and forms an intelligent system.

The working principle of this application does: the clamp assembly 3 and the robot assembly 1 are coupled into a whole, a seventh axis of the robot is formed with an original six-axis transmission structure of the robot assembly 1, and the robot assembly 1 is used for uniformly controlling the robot assembly to realize the coordination of the robot action and the clamp action. The tightening arm 309 is provided with a sensor at a suitable position, and when the aluminum sheet lining 3011 contacts the inner wall of the workpiece 6, a signal is fed back to the robot assembly 1. The stretching and shrinking of the stretching arms 309 are achieved under the driving of the forward and reverse rotation of the servo motor 201, when the stretching arms 309 shrink and the diameter becomes small, the robot stretches the clamp into a workpiece central hole, then expands tightly, when the torque reaches a set value, the robot lifts the workpiece 6 for carrying and stacking, and otherwise, the robot stops continuing to act and gives an alarm to prompt manual processing.

The above is a preferred embodiment of the present application, and the fixture and the robot intelligent system of the present application are not limited to the above-mentioned structure, and may have various modifications, and also may be applied to more similar fields, and in short, all improvements and changes that do not depart from the design idea, mechanical structure form, and intelligent driving control manner of the present application belong to the scope of the present application.

Claims

1. The utility model provides a snatch robot of cylinder work piece, includes external switch board (4) of robot assembly (1) and robot assembly (1), its characterized in that: the tail end of the robot assembly (1) is provided with a driving mechanism (2), and a clamp assembly (3) is connected below the driving mechanism (2); the clamp assembly (3) middle part sets up lead screw (303), lead screw (303) set gradually from top to bottom with lead screw (303) threaded connection's first nut (305) and second nut (306), connecting rod (307) on first nut (305) swing joint, connecting rod (308) under second nut (306) swing joint, go up connecting rod (307) and connecting rod (308) end down and all set up and prop tight arm (309), prop tight arm (309) and last connecting rod (307) and connecting rod (308) down and be swing joint.

2. A robot for gripping a cylindrical workpiece as defined in claim 1, wherein: the clamp assembly (3) further comprises a connecting disc (301) and a connecting plate (302); the connecting disc (301) and the connecting plate (302) are respectively arranged at the top and the bottom of the lead screw (303); a coupling (304) is arranged at the center of the connecting disc (301) and used for connecting a lead screw (303) and a driving mechanism (2); the first nut (305) is rotatably connected with the upper connecting rod (307) through a nut pin shaft (3014), and the second nut (306) is rotatably connected with the lower connecting rod (308) through a nut pin shaft (3014); the upper connecting rod (307) and the lower connecting rod (308) are rotatably connected with the tightening arm (309) through an arm pin shaft (3010).

3. A robot for gripping a cylindrical workpiece as defined in claim 2, wherein: and guide rails (11) are arranged on two sides of each group of the upper connecting rod (307) and the lower connecting rod (308), the top of each guide rail (11) is fixed on the connecting disc (301), and the bottom of each guide rail (11) is fixed on the connecting plate (302).

4. A robot for gripping a cylindrical workpiece as defined in claim 3, wherein: the top of the guide rail (11) is connected with the connecting disc (301) in a welding mode; the bottom of the guide rail (11) is fixed with the connecting plate (302) through screws.

5. A robot for gripping a cylindrical workpiece as defined in claim 2, wherein: the outside of the tightening arm (309) is provided with an aluminum sheet lining plate (3011), the shape of the aluminum sheet lining plate (3011) is consistent with the end face of the tightening arm (309), the outside is arc-shaped, and the aluminum sheet lining plate (3011) is fixed on the tightening arm (309) by using a countersunk head screw (3014).

6. A robot for gripping a cylindrical workpiece as recited in claim 1 or 2, wherein: the upper connecting rod (307), the lower connecting rod (308) and the tightening arm (309) are divided into three groups, the three groups are uniformly distributed at intervals by taking the screw rod (303) as an axis, and the included angles between the three groups are 120 degrees.

7. A robot for gripping a cylindrical workpiece as recited in claim 3 or 4, wherein: the side of the connecting plate (302) is provided with three mounting plates extending outwards, the angle interval of each mounting plate is 120 degrees, mounting grooves are formed in two sides of each mounting plate, and the bottom end of the guide rail (11) is fixed in each mounting groove through an inner hexagonal socket head cap screw.

8. A robot for gripping a cylindrical workpiece as defined in claim 1, wherein: the driving mechanism (2) comprises a servo motor (201) and a gear box (203), the top surface of the gear box (203) is connected with the robot assembly (1) through a flange plate, the servo motor (201) is further arranged on the top surface of the gear box (203), and the servo motor (201) is connected with a transmission gear in the gear box (203) through an internal motor shaft (202); the bottom surface of the gear box (203) is provided with a bottom plate (204), and the bottom plate (204) is connected with a lower clamp assembly (3).

9. A robot for gripping a cylindrical workpiece according to any one of claims 1 to 6, wherein: the robot assembly comprises a robot assembly (1) and a robot arm, wherein the bottom of the robot assembly (1) is provided with a robot arm base (101), the top surface of the robot arm base (101) is movably connected with a rotating plate (102), the rotating plate (102) is provided with a base motor (106) and a rocker arm (103), and one side of the lower part of the rocker arm (103) is provided with a rocker arm motor (107); the tail end of the top of the rocker arm (103) is connected with a cross arm (104) and a motor set (108); the tail end of the cross arm (104) is connected with a terminal rotating arm (105), and the bottom of the terminal rotating arm (105) is connected with a driving mechanism (2).