CN114872023A - 3D unstacking robot and tool clamp thereof - Google Patents
3D unstacking robot and tool clamp thereof Download PDFInfo
- Publication number
- CN114872023A CN114872023A CN202210508293.9A CN202210508293A CN114872023A CN 114872023 A CN114872023 A CN 114872023A CN 202210508293 A CN202210508293 A CN 202210508293A CN 114872023 A CN114872023 A CN 114872023A
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- China
- Prior art keywords
- clamping
- fixing plate
- plate
- unstacking robot
- clamp
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Links
- 239000000463 material Substances 0.000 claims abstract description 32
- 230000003139 buffering effect Effects 0.000 claims abstract description 15
- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a 3D unstacking robot and a tooling clamp thereof, wherein the tooling clamp comprises a fixing plate and clamping jaw assemblies, mounting flanges are fixedly arranged on the fixing plate and used for being arranged on the 3D unstacking robot, a plurality of clamping jaw assemblies are arranged on the fixing plate side by side, each clamping jaw assembly comprises a buffering part and a clamping part, each clamping part is connected with the fixing plate through the buffering part, each buffering part enables each clamping part to float in the direction perpendicular to the end face of the corresponding fixing plate, and each clamping part is used for clamping materials. The 3D unstacking robot with the tool clamp can clamp different parts of materials, ensures that the materials are stably clamped, can play a role in buffering impact force, protects the materials and the clamp, and has good flexibility.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a 3D unstacking robot and a tool clamp of the 3D unstacking robot.
Background
Industrial production processes often require the stacking and unstacking of materials. Through manual operation, each station all needs an operator to carry the material in the material frame to the transmission belt according to the production demand, and not only working strength is high, and work efficiency is low. Therefore, robots for automated production lines are gradually replacing manual operations.
Some current unstacking robots carry the material through simple clamping jaw, and these clamping jaws simple structure, but the flexibility is relatively poor, are difficult to deal with the material of different gestures, and the clamping jaw can not snatch the material of the shape less rule effectively, leads to material clamping stability poor, and the material takes place to drop easily, probably damages the material packing.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a 3D unstacking robot and a tool clamp thereof.
The invention provides a tool clamp of a 3D unstacking robot, which comprises a fixing plate and a clamping jaw assembly, wherein the fixing plate comprises a base plate body and a clamping jaw assembly, and the clamping jaw assembly comprises:
the mounting flange is fixedly arranged on the fixing plate and is used for being arranged on the 3D unstacking robot;
the clamping jaw assemblies are arranged on the fixing plate side by side;
the clamping jaw assembly comprises a buffering part and a clamping part, the clamping part is connected with the fixed plate through the buffering part, the buffering part enables the clamping part to float in the direction perpendicular to the end face of the fixed plate, and the clamping part is used for clamping materials.
Preferably, the buffer component comprises a mounting plate, guide posts, a shaft sleeve and a pressure spring, wherein at least two guide posts are fixedly mounted on the mounting plate, the shaft sleeve is slidably mounted on the guide posts, the shaft sleeve is fixedly mounted on the fixing plate, the pressure spring is sleeved on the guide posts, and the pressure spring is located between the mounting plate and the fixing plate.
Preferably, the gripping member comprises a drive member and two jaws, the drive member being connected to the two jaws for selectively driving the two jaws towards or away from each other.
Preferably, the driving piece is a pneumatic clamping finger, the pneumatic clamping finger comprises an air cylinder, a piston rod, two levers and two sliding blocks, the air cylinder is fixed on the mounting plate, the piston rod is movably mounted inside the air cylinder, the lever is rotatably mounted on the air cylinder, the two sliding blocks are slidably mounted at the outer end of the air cylinder, one end of the piston rod is respectively connected with the two sliding blocks through the two levers, the piston rod can drive the two sliding blocks to slide in opposite directions or back to back, and the two sliding blocks are fixedly provided with a chuck.
Preferably, the collet is L-shaped.
Preferably, the mounting flange comprises a flange plate and a positioning disc, the flange plate is provided with a bolt mounting hole, the positioning disc is fixed on the flange plate and provided with a positioning hole, and the center of the positioning disc is provided with a magnetic shaft head.
The invention further provides a 3D unstacking robot which comprises a mechanical arm and the tool clamp, wherein the tool clamp is connected with the tail end shaft of the mechanical arm through a mounting flange.
The tool clamp of the 3D unstacking robot is provided with a plurality of clamp assemblies which are arranged on a fixing plate side by side, each clamp assembly clamps materials through a clamping component, and the clamping components can float through a buffering component. When the device works, different parts of the material can be clamped, so that the material is stably clamped; the impact force can be buffered, and materials and the clamp are protected; the plurality of clamp assemblies can also clamp materials at different heights, so that the materials in different postures can be used, and the flexibility is good.
Drawings
Fig. 1 is a perspective view of a tooling fixture of a 3D unstacking robot proposed in the embodiments;
FIG. 2 is a side view of a tooling fixture in an embodiment;
FIG. 3 is a perspective view of a holding member in an embodiment;
FIG. 4 is a perspective view of a top view of the tooling fixture in an embodiment;
FIG. 5 is a front view of a 3D unstacking robot in an embodiment;
fig. 6 is a rear view of the 3D unstacking robot of fig. 5.
Detailed Description
Referring to fig. 1 to 6, a 3D unstacking robot and a tooling clamp thereof according to an embodiment of the invention are shown. The tooling clamp comprises a fixing plate 1 and a clamping jaw assembly 2. Wherein, fixed mounting flange 3 is gone up fixed mounting on the fixed plate 1, and mounting flange 3 is used for installing this frock clamp on the 3D robot that destacks.
A plurality of jaw assemblies 2 are mounted side by side on the fixed plate 1. Each clamping jaw assembly 2 comprises a buffering part 21 and a clamping part 22, the clamping part 22 is connected with the fixed plate 1 through the buffering part 21, the buffering part 21 enables the clamping part 22 to have a certain floatable range in the direction perpendicular to the end face of the fixed plate 1, and the clamping part 22 is used for clamping materials.
When the 3D unstacking robot works, materials on a stack can be clamped by the tool clamp in the unstacking process. A plurality of clamping jaw assemblies 2 on the tool clamp can work simultaneously and clamp different parts of materials, so that the materials can be stably clamped.
Because the buffer part 21 enables the clamping part 22 to have a floatable range, when the clamping part 22 collides with the surface of the material, on one hand, the impact force can be reduced, and the effect of protecting the material and the tool clamp can be achieved. On the other hand, can make a plurality of clamping jaw assembly 2 can reach the position of co-altitude on to the material centre gripping, therefore have better flexibility, can reach better centre gripping effect.
In this embodiment, three jaw assemblies 2 are mounted side by side on the fixed plate 1. The damping member 21 of the jaw assembly 2 includes a mounting plate 211, a guide post 212, a bushing 213 and a compression spring 214. At least two guide posts 212 are fixedly mounted on the mounting plate 211, a shaft sleeve 213 is slidably mounted on the guide posts 212, and the shaft sleeve 213 is fixedly mounted on the fixing plate 1. The guide post 212 is sleeved with a pressure spring 214, and the pressure spring 214 is located between the mounting plate 211 and the fixing plate 1.
The gripping member 22 includes a driving member and two gripping heads 221, the driving member is connected to the two gripping heads 221 and can selectively drive the two gripping heads 221 to approach each other or move away from each other.
Referring to fig. 3, the driving member is embodied as a pneumatic clamping finger comprising a cylinder 222, a piston rod 223, two levers 224 and two sliders 225. The cylinder 222 is fixed on the mounting plate 211, the piston rod 223 is movably mounted inside the cylinder 222, the lever 224 is rotatably mounted on the cylinder 222, the two sliders 225 are slidably mounted at the outer end of the cylinder 222, one end of the piston rod 223 is respectively connected with the two sliders 225 through the two levers 224, and the piston rod 223 can drive the two sliders 225 to slide oppositely or back to back. A collet 221 is fixedly mounted on each of the two sliders 225, and the collet 221 is L-shaped.
As shown in fig. 5 and 6, the tooling fixture can be installed on a 3D unstacking robot, the 3D unstacking robot further comprises a manipulator 4, the manipulator 4 is a four-axis manipulator 4, and the tooling fixture is connected with the end shaft of the manipulator 4 through a mounting flange 3.
Specifically, an electromagnetic chuck is arranged on a tail end shaft of the manipulator 4, and a positioning pin is installed on the electromagnetic chuck. The mounting flange 3 of the work fixture comprises a flange plate 31 and a positioning disc 32. The flange plate 31 is provided with bolt mounting holes 33, and the flange plate 31 is connected to the fixed plate 1 through the bolt mounting holes 33. The positioning disc 32 is fixed on the flange plate 31, the positioning disc 32 is provided with a positioning hole 34, and the center of the positioning disc 32 is provided with a magnetic spindle head 35. When the positioning device is installed, the positioning holes 34 on the positioning plate 32 can be matched with the positioning pins on the electromagnetic chuck, and the magnetic chuck heads 35 on the positioning plate 32 are sucked by the electromagnetic chuck.
According to the 3D unstacking robot and the tooling clamp thereof in the embodiment, when unstacking is carried out, the 3D vision system can be used for scanning the material stack, data analysis is carried out after scanning, and the material posture and position data are fed back to the 3D unstacking robot, and then the 3D unstacking robot carries the materials on the material stack according to the fed-back data until the unstacking task is completed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. The utility model provides a frock clamp of 3D robot that breaks a jam which characterized in that, includes fixed plate (1) and clamping jaw subassembly (2), wherein:
the mounting flange (3) is fixedly mounted on the fixing plate (1), and the mounting flange (3) is used for being mounted on the 3D unstacking robot;
a plurality of clamping jaw assemblies (2) are arranged on the fixing plate (1) side by side;
the clamping jaw assembly (2) comprises a buffering part (21) and a clamping part (22), the clamping part (22) is connected with the fixing plate (1) through the buffering part (21), the buffering part (21) enables the clamping part (22) to float in the direction perpendicular to the end face of the fixing plate (1), and the clamping part (22) is used for clamping materials.
2. The tooling clamp of the 3D unstacking robot as claimed in claim 1, wherein the buffering component (21) comprises a mounting plate (211), guide posts (212), a shaft sleeve (213) and a pressure spring (214), at least two guide posts (212) are fixedly mounted on the mounting plate (211), the shaft sleeve (213) is slidably mounted on the guide posts (212), the shaft sleeve (213) is fixedly mounted on the fixing plate (1), the pressure spring (214) is sleeved on the guide posts (212), and the pressure spring (214) is located between the mounting plate (211) and the fixing plate (1).
3. A tooling fixture of a 3D unstacking robot according to claim 2, characterized in that the gripping member (22) comprises a driving member and two gripping heads (221), the driving member being connected with the two gripping heads (221) for selectively driving the two gripping heads (221) towards or away from each other.
4. The tooling clamp of the 3D unstacking robot as claimed in claim 3, wherein the driving part is a pneumatic clamping finger, the pneumatic clamping finger comprises a cylinder (222), a piston rod (223), two levers (224) and two sliding blocks (225), the cylinder (222) is fixed on the mounting plate (211), the piston rod (223) is movably mounted inside the cylinder (222), the lever (224) is rotatably mounted on the cylinder (222), the two sliding blocks (225) are slidably mounted at the outer end of the cylinder (222), one end of the piston rod (223) is respectively connected with the two sliding blocks (225) through the two levers (224), the piston rod (223) can drive the two sliding blocks (225) to slide in opposite directions or back to back, and the two sliding blocks (225) are fixedly provided with a chuck (221).
5. A tool holder of a 3D unstacking robot according to claim 4, characterized in that the collet (221) is L-shaped.
6. A tooling clamp of a 3D unstacking robot as claimed in claim 1, wherein the mounting flange (3) comprises a flange plate (31) and a positioning disc (32), a bolt mounting hole (33) is formed in the flange plate (31), the positioning disc (32) is fixed on the flange plate (31), a positioning hole (34) is formed in the positioning disc (32), and a magnetic attraction shaft head (35) is arranged in the center of the positioning disc (32).
7. A 3D unstacking robot comprising a manipulator (4) and further comprising a tooling fixture according to any one of claims 1-6, the tooling fixture being connected to an end shaft of the manipulator (4) via a mounting flange (3).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448762 | 2022-04-27 | ||
| CN2022104487622 | 2022-04-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114872023A true CN114872023A (en) | 2022-08-09 |
Family
ID=82674831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210508293.9A Pending CN114872023A (en) | 2022-04-27 | 2022-05-11 | 3D unstacking robot and tool clamp thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114872023A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116395389A (en) * | 2023-06-05 | 2023-07-07 | 沈阳和研科技股份有限公司 | Transport module and transport mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206011124U (en) * | 2016-08-29 | 2017-03-15 | 东华理工大学 | A kind of lever type mechanical hand |
| CN207309964U (en) * | 2017-06-12 | 2018-05-04 | 巨轮（广州）机器人与智能制造有限公司 | A kind of electromagnetism magic chuck of industrial robot |
| WO2019061668A1 (en) * | 2017-09-29 | 2019-04-04 | 安徽理工大学 | Rotatable non-simultaneous multi-finger gripper for casting robot |
| WO2020056643A1 (en) * | 2018-09-19 | 2020-03-26 | 深圳配天智能技术研究院有限公司 | Stacking fixture and robot |
| CN214494831U (en) * | 2021-01-29 | 2021-10-26 | 连天剑智能装备(苏州)有限公司 | Robot with fan part clamping jig |
| CN215625158U (en) * | 2021-04-12 | 2022-01-25 | 青岛即东诺佳科技有限公司 | Motor casing clamping tool |
-
2022
- 2022-05-11 CN CN202210508293.9A patent/CN114872023A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206011124U (en) * | 2016-08-29 | 2017-03-15 | 东华理工大学 | A kind of lever type mechanical hand |
| CN207309964U (en) * | 2017-06-12 | 2018-05-04 | 巨轮（广州）机器人与智能制造有限公司 | A kind of electromagnetism magic chuck of industrial robot |
| WO2019061668A1 (en) * | 2017-09-29 | 2019-04-04 | 安徽理工大学 | Rotatable non-simultaneous multi-finger gripper for casting robot |
| WO2020056643A1 (en) * | 2018-09-19 | 2020-03-26 | 深圳配天智能技术研究院有限公司 | Stacking fixture and robot |
| CN214494831U (en) * | 2021-01-29 | 2021-10-26 | 连天剑智能装备(苏州)有限公司 | Robot with fan part clamping jig |
| CN215625158U (en) * | 2021-04-12 | 2022-01-25 | 青岛即东诺佳科技有限公司 | Motor casing clamping tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116395389A (en) * | 2023-06-05 | 2023-07-07 | 沈阳和研科技股份有限公司 | Transport module and transport mechanism |
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