CN115122379A - Flexible adsorption clamping jaw for copper pipe detection - Google Patents

Abstract

The invention discloses a flexible adsorption clamping jaw for copper pipe detection, which is used for clamping and transferring an L-shaped copper pipe fitting and comprises a robot connecting piece, a negative pressure adsorption device and an attitude adjusting device; the posture adjusting device comprises a linear sliding base, a linear sliding rod, a compression spring and a lower follow-up plate, wherein an L-shaped groove matched with the L-shaped copper pipe fitting in shape is formed in the lower end face of the lower follow-up plate; the negative pressure adsorption device comprises a sucker mounting seat and two groups of vacuum adsorption pieces, each group of vacuum adsorption pieces comprises a vacuum safety valve, a sucker rod and a vacuum sucker, the vacuum suckers or the sucker rods penetrate through the lower follow-up plate in a non-contact manner, and the two groups of vacuum suckers are respectively arranged at two ends of an L-shaped groove of the lower follow-up plate; the robot connecting piece comprises a first hoop and a second hoop, and a robot clamping hole is formed between the first hoop and the second hoop. The invention can automatically adjust and correct the posture of the L-shaped copper pipe fitting, has simple structure and reliable use.

Description

Flexible adsorption clamping jaw for copper pipe detection

Technical Field

The invention relates to the technical field of workpiece production and detection equipment, in particular to a flexible adsorption clamping jaw for copper pipe detection.

Background

Along with the technological progress, machines are used for replacing workers in the production process more and more. The head angle is almost gradually revealed in the robot technology and the related industrial camera auxiliary positioning, detection and the like, the robot can gradually replace a series of process flows of human eye detection with the characteristics of high sensitivity, high precision, low delay and the like, and a plurality of detection devices carrying industrial cameras are derived on the market.

However, the position state of the workpiece may change, such as inclination, when the workpiece is transported on the production line, and the vacuum adsorption device does not have a state adjustment function when the workpiece is picked and transferred from the production line to the detection device, so that the material state does not change after the transfer, which may cause inaccurate and out-of-position detection or installation.

Disclosure of Invention

The invention aims to solve the problem that the state of a workpiece is not adjusted and corrected when the workpiece is transferred to the next station from a robot for an assembly line, and provides a flexible adsorption clamping jaw for copper pipe detection, which is used for adjusting and correcting the posture and the position of an L-shaped copper pipe on the assembly line when the L-shaped copper pipe is transferred by the robot.

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

a flexible adsorption clamping jaw for copper pipe detection clamps and transfers an L-shaped copper pipe fitting, and comprises a robot connecting piece, a negative pressure adsorption device and a posture adjusting device; the posture adjusting device comprises a linear sliding base, a linear sliding rod, a compression spring and a lower follow-up plate, wherein the linear sliding rod is movably connected with the linear sliding base, one end of the compression spring is fixedly connected with the linear sliding base, the other end of the compression spring is fixedly connected with the tail of the linear sliding rod, the upper end surface of the lower follow-up plate is fixedly connected with the head of the linear sliding rod, and the lower end surface of the lower follow-up plate is provided with an L-shaped groove matched with the L-shaped copper pipe fitting in shape; the negative pressure adsorption device comprises a sucker mounting seat and two groups of vacuum adsorption pieces, each group of vacuum adsorption pieces comprises a vacuum safety valve, a sucker rod and a vacuum sucker, the sucker mounting seat is fixedly connected with the linear sliding base, the vacuum safety valve and the sucker rod of each group of vacuum adsorption pieces are respectively fixed with the sucker mounting seat and are mutually communicated, the vacuum suckers are fixed with and are communicated with the sucker rods, the vacuum suckers or the sucker rods pass through the lower follow-up plate in a non-contact manner, and the two groups of vacuum suckers are respectively arranged at two ends of the L-shaped groove of the lower follow-up plate; the robot connecting piece comprises a first hoop and a second hoop, the first hoop is fixed at the tail end of the linear sliding base, the second hoop is fixedly connected with the first hoop, and a robot clamping hole is formed between the first hoop and the second hoop.

When the L-shaped copper pipe fitting is on the assembly line, the central plane of the L-shaped copper pipe fitting is parallel to the assembly line conveying belt to be in a normal posture, the flexible adsorption clamping jaw and the robot shaft are clamped and fixed, after the industrial camera obtains coordinate data of the L-shaped copper pipe fitting, the robot shaft moves to the position above the L-shaped copper pipe fitting and presses downwards, the lower follow-up plate firstly touches the L-shaped copper pipe fitting, an L-shaped groove below the lower follow-up plate is in contact with the surface of the L-shaped copper pipe fitting, the surface of the L-shaped groove is preset with a normal contact surface in a normal posture with the L-shaped copper pipe fitting, the compression spring provides downward pressure for the lower follow-up plate to press the L-shaped copper pipe fitting, the surface of the L-shaped groove can provide position guidance for the L-shaped copper pipe fitting, then the vacuum chuck contacts with materials and performs vacuum adsorption on the materials; if L type copper pipe spare position gesture is not on the true position, press, can adjust its position gesture among the adsorption process and correct, firstly, according to L type copper pipe spare's coordinate data, the robot axle can move to its position directly over, can not produce too big skew, secondly, if L type copper pipe spare produces the skew of rotating around the z axle in preceding process or transportation, can be corrected by the rotation of robot axle, on this basis, this scheme only needs the condition that adjustment L type copper pipe spare central plane and assembly line conveyer belt plane are not parallel, adopt the L shape recess surface that the presettings is good in advance can guide, accomplish the adjustment of copper pipe spare gesture and correct.

As a preferable scheme of the present invention, the linear sliding base is a hollow pipe, one end of the linear sliding rod is disposed in an inner cavity of the linear sliding base and is tightly attached to the inner cavity, an upper limiting block and a lower limiting block are disposed in the inner cavity of the linear sliding base, and one end of the linear sliding rod, which is located in the inner cavity of the linear sliding base, slides linearly between the upper limiting block and the lower limiting block. This scheme adopts the structure of similar cylinder or directly adopts the cylinder transformation, and sharp sliding bottom is equivalent to the cylinder, and sharp slide bar is equivalent to the telescopic link, and sharp slide bar stretches out forward under the compression spring effect, and the extended position receives the restriction of spacing piece down, runs into the resistance and back and contract, and the position that contracts returns is received the restriction of spacing piece on.

As a preferable scheme of the invention, the head of the linear sliding rod is provided with a switching block, the bottom side surface of the switching block is tightly attached and fixed with the lower follow-up plate, the top side surface of the switching block is provided with two symmetrical guide rods, the linear sliding base is provided with two guide holes, and the guide rods are in matched sliding connection with the guide holes. This scheme restricts the removal of sharp slide bar, guarantees that sharp slide bar is the rectilinear movement at the removal in-process, and lower follower plate can keep unlikely emergence of levelness to deflect and bring the adjustment error on the contrary.

As a preferable scheme of the present invention, the suction cup mounting seat and the first hoop are respectively disposed at two ends of the linear sliding base, and a fixing bolt is disposed between the suction cup mounting seat and the first hoop.

According to a preferable scheme of the invention, the lower follow-up plate is provided with two through holes through which vacuum chucks can pass without contact, the bottom end of the lower follow-up plate is provided with two straight baffles and an L-shaped baffle, the two straight baffles and the L-shaped baffle enclose an L-shaped groove capable of accommodating an L-shaped copper pipe fitting, and the top ends of the side surfaces, close to the L-shaped groove, of the two straight baffles and the L-shaped baffle are provided with oblique adjusting surfaces. The oblique adjusting surface can guide the deviated L-shaped copper pipe fitting to return to the correct posture.

According to the preferable scheme of the invention, the middle part of the sucker mounting seat is provided with a through hole, the upper end surface of the sucker mounting seat is provided with vacuum blind holes corresponding to the two vacuum safety valves, the lower end surface of the sucker mounting seat is provided with sucker blind holes corresponding to the two sucker rods, two side surfaces of the sucker mounting seat are respectively provided with a connecting blind hole for communicating the vacuum blind hole with the sucker blind hole, and an orifice of the connecting blind hole is provided with a threaded plug. According to the scheme, the relative distance of the sucker is short, the sucker is positioned below the linear sliding base to facilitate workpiece adsorption, the vacuum safety valve is positioned outside the linear sliding base to facilitate connection with a vacuum device, the sucker and the vacuum safety valve are communicated with each other through the sucker mounting seat, and the threaded plug is used for blocking a machining process hole; the vacuum safety valve is connected with the vacuum generating device, and after the vacuum generating device is opened, the workpiece is subjected to vacuum adsorption through the vacuum blind hole, the connecting blind hole, the sucker rod and the vacuum sucker.

As a preferred scheme of the invention, the first hoop comprises a base plate and a hoop block, the base plate is provided with a linear sliding base fixing hole and a sucker mounting seat fixing screw hole, the hoop block is provided with a hoop fixing hole, the bottom of the second hoop is tightly attached to the surface of the first hoop base plate, and the second hoop is provided with a fixing through hole matched with the hoop fixing hole. The first hoop is fixed with the tail of the linear sliding base, the second hoop is a movable block, and the robot shaft is clamped and fixed in a robot clamping hole between the first hoop and the second hoop.

Compared with the prior art, the invention has the beneficial effects that:

the posture of the L-shaped copper pipe fitting is automatically adjusted and corrected, the structure is simple, and the use is reliable.

Drawings

Fig. 1 is a schematic view of an overall structure of the present invention.

FIG. 2 is a cross-sectional structural view of the present invention.

Fig. 3 is a schematic side view of the present invention.

Fig. 4 is a schematic view showing a structure of a lower follower plate of the present invention.

Fig. 5 is a schematic structural view of the upper end surface of the sucker mounting base of the present invention.

Fig. 6 is a schematic structural view of the lower end surface of the sucker mounting base of the present invention.

Fig. 7 is a schematic structural view of the first and second anchor ears of the present invention.

In the figure: 1. l-shaped copper pipe fitting 2, robot connecting piece 3 and negative pressure adsorption device

4. Posture adjusting device 21, first hoop 22 and second hoop

23. Robot clamping hole 31, sucker mounting seat 32 and vacuum safety valve

33. Suction cup rod 34, vacuum suction cup 35, through hole 36 and vacuum blind hole

37. Suction cup blind hole 38, connecting blind hole 39 and threaded plug

41. Linear sliding base 42, linear sliding rod 43, compression spring

44. A lower follow-up plate 45, an L-shaped groove 46 and an upper limit block

47. Lower limit block 48, switching block 49, guide rod 211 and base plate

212. Clamp block 213 and linear sliding base fixing hole

214. Fixing screw hole 215 of sucker mounting seat, hoop fixing hole 216 and fixing through hole

441. Through hole 442, straight baffle 443, L-shaped baffle

444. And (5) an oblique adjusting surface.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Referring to fig. 1-7, the present invention provides a technical solution:

a flexible adsorption clamping jaw for copper pipe detection clamps and transfers an L-shaped copper pipe fitting 1, and comprises a robot connecting piece 2, a negative pressure adsorption device 3 and an attitude adjusting device 4; the posture adjusting device 4 comprises a linear sliding base 41, a linear sliding rod 42, a compression spring 43 and a lower follow-up plate 44, wherein the linear sliding rod 42 is movably connected with the linear sliding base 41, one end of the compression spring 43 is fixedly connected with the linear sliding base 41, the other end of the compression spring 43 is fixedly connected with the tail part of the linear sliding rod 42, the upper end surface of the lower follow-up plate 44 is fixedly connected with the head part of the linear sliding rod 42, and the lower end surface of the lower follow-up plate 44 is provided with an L-shaped groove 45 matched with the L-shaped copper pipe fitting 1 in shape; the negative pressure adsorption device 3 comprises a suction cup mounting seat 31 and two groups of vacuum adsorption pieces, each group of vacuum adsorption pieces comprises a vacuum safety valve 32, a suction cup rod 33 and a vacuum suction cup 34, the suction cup mounting seat 31 is fixedly connected with the linear sliding base 41, the vacuum safety valve 32 and the suction cup rod 33 of each group of vacuum adsorption pieces are respectively fixed with the suction cup mounting seat 31 and are mutually communicated, the vacuum suction cups 34 are fixed with and are communicated with the suction cup rods 33, the vacuum suction cups 34 or the suction cup rods 33 pass through the lower follow-up plate 44 in a non-contact manner, and the two groups of vacuum suction cups 34 are respectively arranged at two ends of an L-shaped groove 45 of the lower follow-up plate 44; the robot connecting piece 2 comprises a first hoop 21 and a second hoop 22, the first hoop 21 is fixed at the tail end of the linear sliding base 41, the second hoop 22 is fixedly connected with the first hoop 21, and a robot clamping hole 23 is arranged between the first hoop 21 and the second hoop 22.

The linear sliding base 41 is a hollow pipe body, one end of the linear sliding rod 42 is arranged in the inner cavity of the linear sliding base 41 and is tightly attached to the inner cavity, the inner cavity of the linear sliding base 41 is provided with an upper limiting block 46 and a lower limiting block 47, and one end of the linear sliding rod 42, which is positioned in the inner cavity of the linear sliding base 41, slides linearly between the upper limiting block 46 and the lower limiting block 47.

The head of the linear sliding rod 42 is provided with a switching block 48, the bottom side surface of the switching block 48 is closely fixed with the lower follow-up plate 44, the top side surface of the switching block 48 is provided with two symmetrical guide rods 49, the linear sliding base 41 is provided with two guide holes, and the guide rods 49 are in matched sliding connection with the guide holes.

The suction cup mounting seat 31 and the first hoop 21 are respectively arranged at two ends of the linear sliding base 41, and a fixing bolt is arranged between the suction cup mounting seat 31 and the first hoop 21.

The lower follow-up plate 44 is provided with two through holes 441 through which the vacuum suction cups 34 can pass without contact, the bottom end of the lower follow-up plate 44 is provided with two straight baffles 442 and an L-shaped baffle 443, the two straight baffles 442 and the L-shaped baffle 443 enclose an L-shaped groove 45 capable of accommodating the L-shaped copper pipe fitting 1, and the top ends of the side surfaces of the two straight baffles 442 and the L-shaped baffle 443, which are close to the L-shaped groove 45, are provided with oblique adjusting surfaces 444.

The middle of the suction cup mounting seat 31 is provided with a through hole 35, the upper end face of the suction cup mounting seat 31 is provided with a vacuum blind hole 36 corresponding to the two vacuum safety valves 32, the lower end face of the suction cup mounting seat 31 is provided with a suction cup blind hole 37 corresponding to the two suction cup rods 33, two side faces of the suction cup mounting seat 31 are respectively provided with a connecting blind hole 38 communicating the vacuum blind hole 36 and the suction cup blind hole 37, and the hole opening of the connecting blind hole 38 is provided with a threaded plug 39.

The first hoop 21 comprises a base plate 211 and a hoop block 212, a linear sliding base fixing hole 213 and a suction cup mounting seat fixing screw hole 214 are formed in the base plate 211, a hoop fixing hole 215 is formed in the hoop block 212, the bottom of the second hoop 22 is attached to the surface of the base plate 211 of the first hoop 21 tightly, and a fixing through hole 216 matched with the hoop fixing hole 215 is formed in the second hoop 22.

The working process of the invention is as follows: when the L-shaped copper pipe fitting 1 is on the assembly line, the central plane of the L-shaped copper pipe fitting is parallel to the assembly line conveying belt to form a normal posture;

according to the scheme, the flexible adsorption clamping jaw is clamped and fixed with a robot shaft, after an industrial camera obtains coordinate data of an L-shaped copper pipe fitting 1, the robot shaft moves to the position above the L-shaped copper pipe fitting 1 and presses downwards, a lower follow plate 44 firstly touches the L-shaped copper pipe fitting 1, an L-shaped groove 45 below the lower follow plate 44 is in surface contact with the L-shaped copper pipe fitting 1, a normal contact surface with the L-shaped copper pipe fitting 1 in a normal posture is preset on the surface of the L-shaped groove 45, a compression spring 43 provides downward pressure for the lower follow plate 44 to press the L-shaped copper pipe fitting 1, the surface of the L-shaped groove 45 can provide position guidance for the L-shaped copper pipe fitting, a vacuum safety valve 32 is opened, and then a vacuum sucker 34 contacts with a material and carries out vacuum adsorption on the material; if the position posture of the L-shaped copper pipe fitting 1 is not at the correct position, the position posture of the L-shaped copper pipe fitting is adjusted and corrected in the pressing and adsorbing processes; after the L-shaped copper pipe fitting 1 is adsorbed, the robot moves to transfer the L-shaped copper pipe fitting 1 to the next station, such as a detection station, the vacuum safety valve 32 is closed, and the L-shaped copper pipe fitting 1 is put down and then the next workpiece is continuously grabbed.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. The utility model provides a flexible absorption clamping jaw for copper pipe detects presss from both sides tightly and shifts L type copper pipe spare, its characterized in that: comprises a robot connecting piece, a negative pressure adsorption device and a posture adjusting device;

the posture adjusting device comprises a linear sliding base, a linear sliding rod, a compression spring and a lower follow-up plate, wherein the linear sliding rod is movably connected with the linear sliding base, one end of the compression spring is fixedly connected with the linear sliding base, the other end of the compression spring is fixedly connected with the tail of the linear sliding rod, the upper end surface of the lower follow-up plate is fixedly connected with the head of the linear sliding rod, and the lower end surface of the lower follow-up plate is provided with an L-shaped groove matched with the L-shaped copper pipe fitting in shape;

the negative pressure adsorption device comprises a sucker mounting seat and two groups of vacuum adsorption pieces, each group of vacuum adsorption pieces comprises a vacuum safety valve, a sucker rod and a vacuum sucker, the sucker mounting seat is fixedly connected with the linear sliding base, the vacuum safety valve and the sucker rod of each group of vacuum adsorption pieces are respectively fixed with the sucker mounting seat and are mutually communicated, the vacuum suckers are fixed with and are communicated with the sucker rods, the vacuum suckers or the sucker rods pass through the lower follow-up plate in a non-contact manner, and the two groups of vacuum suckers are respectively arranged at two ends of the L-shaped groove of the lower follow-up plate;

the robot connecting piece comprises a first hoop and a second hoop, the first hoop is fixed at the tail end of the linear sliding base, the second hoop is fixedly connected with the first hoop, and a robot clamping hole is formed between the first hoop and the second hoop.

2. A flexible suction jaw for copper tube inspection as claimed in claim 1 wherein: the linear sliding base be the cavity body, linear sliding rod one end locate linear sliding base inner chamber and paste closely with the inner chamber, linear sliding base's inner chamber be equipped with upper limit piece, lower limit piece, linear sliding rod be located the one end of linear sliding base inner chamber and slide between upper limit piece, lower limit piece.

3. A flexible suction jaw for copper tube inspection according to claim 1 or 2, characterized in that: the head of the linear sliding rod is provided with a switching block, the bottom side surface of the switching block is tightly attached and fixed with the lower follow-up plate, the top side surface of the switching block is provided with two symmetrical guide rods, the linear sliding base is provided with two guide holes, and the guide rods are in sliding connection with the guide holes in a matched mode.

4. A flexible suction jaw for copper tube inspection as claimed in claim 1 wherein: the sucking disc mount pad, first staple bolt locate sharp sliding bottom seat both ends respectively, sucking disc mount pad, first staple bolt between be equipped with fixing bolt.

5. A flexible suction jaw for copper tube inspection as claimed in claim 1 wherein: the lower follow-up plate is provided with two through holes through which vacuum suckers can pass in a non-contact manner, the bottom end of the lower follow-up plate is provided with two straight baffles and an L-shaped baffle, the two straight baffles and the L-shaped baffle enclose an L-shaped groove capable of accommodating an L-shaped copper pipe fitting, and the top ends of the two straight baffles and the L-shaped baffle, which are close to the side surface of the L-shaped groove, are provided with oblique adjusting surfaces.

6. A flexible suction jaw for copper pipe inspection according to claim 1 wherein: the sucking disc mount pad middle part be equipped with the through-hole, sucking disc mount pad up end be equipped with the vacuum blind hole that corresponds with two vacuum relief valves, sucking disc mount pad under the terminal surface be equipped with the sucking disc blind hole that corresponds with two sucking disc poles, two sides of sucking disc mount pad be equipped with the connection blind hole of a vacuum blind hole of intercommunication and a sucking disc blind hole respectively, the connection blind hole drill way be equipped with the screw plug.

7. A flexible suction jaw for copper tube inspection as claimed in claim 1 wherein: first staple bolt include bed plate, staple bolt piece, the bed plate on be equipped with the fixed screw of linear sliding base fixed orifices, sucking disc mount pad, the staple bolt piece on be equipped with the staple bolt fixed orifices, second staple bolt bottom paste tightly with first staple bolt bed plate surface, the second staple bolt on be equipped with staple bolt fixed orifices complex fixed through hole.

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