CN116214565A

CN116214565A - Multi-station fixture and industrial robot

Info

Publication number: CN116214565A
Application number: CN202211675983.XA
Authority: CN
Inventors: 陈养团; 林颖琼; 马双; 庞伍德
Original assignee: Beijing Watman Intelligent Technology Co ltd
Current assignee: Beijing Watman Intelligent Technology Co ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-06-06

Abstract

The invention discloses a multi-working-condition clamp and an industrial robot, wherein the multi-working-condition clamp comprises a connector, a first clamping component and a second clamping component, the connector is used for being connected with an external robot, the size of the first clamping component is larger than that of the second clamping component, the connector and the second clamping component are respectively connected to two opposite sides of the first clamping component, and the multi-working-condition clamp and the industrial robot can save the process of replacing the clamp when clamping workpieces with different sizes and positions, so that the working efficiency is improved.

Description

Multi-station fixture and industrial robot

Technical Field

The invention relates to the technical field of robot clamps, in particular to a multi-station clamp and an industrial robot.

Background

Along with the rise of intelligent manufacturing tide, the mode that the robot replaces the manual work to carry out repetitive labor is more and more common, through installing the anchor clamps on the robot to programming the setting is carried out to the robot, can make the robot drive the work piece that anchor clamps centre gripping set to carry out orderly operation at the time of setting for, saves the manpower and materials of enterprise on the one hand, on the other hand can also improve the operating efficiency. In the operation field of the robot, a plurality of working procedures are often carried out by arranging one robot, at this time, different clamps are designed according to the characteristics of workpieces in different working procedures, the clamps are intensively placed on a tool table, so that the robot can replace the corresponding clamps from the tool table when carrying out the working procedures of different working procedures, for example, in the hot repair operation of a ladle, the robot is required to carry out the working procedures of opening a ladle door, burning a ladle, replacing a sliding plate, replacing a drain opening and the like, the robot is required to replace the corresponding clamps in the working procedures of different working procedures, for example, the robot is required to clamp an oil cylinder onto a ladle mechanism in the opening process of the ladle door, then the positioning bolt inserted on the ladle door is required to be pulled out, a large clamp with larger clamping force is required to ensure the stability when clamping the oil cylinder, and a small and flexible clamp is required to be adopted when clamping the positioning bolt so as to carry out the clamping operation in a small space.

Disclosure of Invention

The invention provides a multi-station fixture and an industrial robot, which aims to solve the problems that the fixture is time-consuming and the operation efficiency is affected when the robot is used for replacing the fixture.

The invention provides a multi-working condition clamp, which comprises a connector, a first clamping component and a second clamping component, wherein the connector is used for being connected with an external robot, the size of the first clamping component is larger than that of the second clamping component, and the connector and the second clamping component are respectively connected to two opposite sides of the first clamping component.

In an embodiment of the present invention, the clamping direction of the first clamping component is perpendicular to the connection direction of the connector, and the clamping direction of the second clamping component is opposite to the connection direction of the connector.

In an embodiment of the invention, the first clamping assembly is a pneumatic clamping jaw and comprises a first clamping base and two first clamping jaws, wherein the two first clamping jaws are symmetrically arranged at two ends of the same side of the first clamping base, and the two first clamping jaws are in sliding connection with the first clamping base to perform clamping action; or the second clamping assembly is a pneumatic clamping jaw and comprises a second clamping base and two second clamping jaws, the second clamping base is fixed on the first clamping base, the two second clamping jaws are symmetrically arranged at two ends of the same side of the second clamping base, and the two second clamping jaws are in sliding connection with the second clamping base to conduct clamping action.

In an embodiment of the present invention, the multi-working condition fixture further includes a first floating joint, one end of the first floating joint is connected to the first clamping base, and the other end of the first floating joint is connected to the connector, so that the first clamping assembly floats under the connection of the first floating joint.

In an embodiment of the present invention, the multi-working condition fixture further includes a second floating joint, one end of the second floating joint is connected to the first clamping base, and the other end of the second floating joint is connected to the second clamping base, so that the second clamping assembly floats under the connection of the second floating joint.

In an embodiment of the invention, the multi-working condition clamp further comprises a connecting bracket, wherein the connecting bracket comprises a first connecting plate and a second connecting plate which are perpendicular to each other, the first connecting plate is fixedly connected with the end face, far away from the first clamping jaw, of the first clamping base, and the second connecting base is connected with the first clamping base through the second connecting plate.

In an embodiment of the present invention, the multi-working condition fixture further includes a machine vision device, the first connection plate is provided with a mounting hole for mounting the machine vision device, the machine vision device is fixed on the first connection plate through the mounting hole, and an identification direction of the machine vision device is the same as a clamping direction of the second clamping component.

In an embodiment of the invention, the machine vision device comprises a shell, a laser radar and an industrial camera, wherein the laser radar and the industrial camera are installed in the shell, the shell is connected with the first connecting plate, the laser radar obtains position information and angle information of an external object through a laser beam, and the industrial camera obtains image information of the external object through a photosensitive element.

In the embodiment of the invention, the connector is a force sensor, connecting holes distributed in the circumferential direction are formed in the end surfaces of two sides of the force sensor, and the first floating joint and the external robot are connected with the force sensor through the connecting holes; or the connector is a quick-change disc, the quick-change disc comprises a quick-change male disc and a quick-change female disc which can be fixedly connected, the quick-change male disc is fixedly connected to the robot, and the quick-change female disc is fixedly connected to the first floating connector.

The invention aims to solve the technical problems and also provides an industrial robot which is characterized by comprising a robot body and the multiplexing Kuang Gaju, wherein the multi-working-condition clamp is connected to the robot body.

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

through above-mentioned technical scheme, be connected with the robot through the connector to set up first clamping assembly on the connector, set up the second clamping assembly on first clamping assembly, thereby can make the robot drive first clamping assembly and second clamping assembly simultaneously and remove, and use first clamping assembly or second clamping assembly to carry out the centre gripping action according to the size and the position adjustment robot of part, thereby save the process that needs to change different anchor clamps because of the difference of part size and position, the robot can directly select first clamping assembly or second clamping assembly to carry out the centre gripping according to the part of difference, improve the operating efficiency of robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments 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, without limitation to the embodiments, wherein:

FIG. 1 is a schematic perspective view of a multi-station fixture according to an embodiment of the present invention applied to a hot repair site for a ladle;

fig. 2 is an enlarged view at a in fig. 1;

FIG. 3 is an enlarged view at B in FIG. 1;

FIG. 4 is a schematic perspective view of a multi-working-condition fixture according to an embodiment of the present invention;

fig. 5 is an exploded view of a multi-working-condition clamp according to an embodiment of the present invention.

Description of the reference numerals

11. A ladle mechanism; 12. cabin door fixing seats; 13. a ladle cabin door; 122. a hinge ear; 131. a hinge shaft; 14. an oil cylinder base; 15. a connecting rod; 16. an oil cylinder; 17. positioning a bolt; 2. multiplexing Kuang Gaju; 21. a connector; 22. a first clamping assembly; 23. a second clamping assembly; 24. a first floating joint; 25. a second floating joint; 26. a connecting bracket; 27. a machine vision device; 221. a first jaw; 222. a first clamping base; 231. a second jaw; 232. a second clamping base; 261. a first connection plate; 262. a second connecting plate; 271. a housing; 272. a laser radar; 273. an industrial camera; 3. and (3) a robot.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

The embodiment of the invention provides a multi-working-condition clamp which can be connected to a robot to enable the robot to drive the multi-working-condition clamp to clamp different types of workpieces for operation, for example, in ladle hot repair operation, the multi-working-condition clamp Kuang Gaju can clamp a large-size oil cylinder to clamp the oil cylinder to a ladle mechanism and can clamp a small-size positioning bolt to remove the positioning bolt inserted on a ladle door.

As shown in fig. 1-3, the existing steel ladle door 13 is connected to the steel ladle mechanism 11 through the door fixing seat 12, specifically, the door fixing seat 12 is fixedly connected with the steel ladle mechanism 11, a sliding rail for the steel ladle door 13 to longitudinally slide is arranged on the surface of the door fixing seat 12, a hinge lug 122 is arranged on the side surface of the door fixing seat 12, a hinge shaft 131 is arranged on the side surface of the steel ladle door 13, when the steel ladle door 13 slides downwards along the sliding rail, the hinge shaft 131 can be inserted into the hinge lug 122, and at the moment, the steel ladle door 13 can rotate along the hinge position of the steel ladle door 13 and the door fixing seat 12 by pulling the steel ladle door 13, so that the steel ladle door 13 is opened.

When the steel ladle cabin door 13 slides to the upper limit position of the cabin door fixing seat 12 along the sliding rail, the steel ladle cabin door 13 is in a locking state, the hinge lug 122 is separated from the hinge shaft 131, at the moment, the steel ladle cabin door 13 cannot rotate relative to the cabin door fixing seat 12, when the steel plate cabin door slides to the lower limit position of the cabin door fixing seat 12 along the sliding rail, the hinge shaft 131 is inserted into the hinge lug 122, the steel ladle cabin door 13 and the cabin door fixing seat 12 form hinge, and at the moment, the steel ladle cabin door 13 can rotate relative to the cabin door fixing seat 12 by pulling the steel ladle cabin door 13, and the operation of opening the steel ladle cabin door 13 is completed.

The oil cylinder 16 is used as a driving piece for driving the ladle door 13 to slide along the slide rail, the oil cylinder base 14 for plugging and fixing the oil cylinder 16 is arranged on the door fixing seat 12, so that the telescopic rod of the oil cylinder 16 is plugged with the connecting rod 15 on the ladle door 13 after the oil cylinder 16 is arranged on the oil cylinder base 14, the oil cylinder 16 can drive the ladle door 13 to slide up and down, the positioning bolt 17 is a positioning piece for locking the ladle door 13 to an upper limit position, and the positioning bolt 17 penetrates through the connecting rod 15 connected with the positioning bolt and is plugged on the oil cylinder base 14 so as to fix the ladle door 13 to the upper limit position. When the ladle door 13 needs to be opened, the robot 3 arranged on the site is controlled to replace the oil cylinder 16 clamp, clamp the oil cylinder 16 through the oil cylinder 16 clamp and plug and fix the oil cylinder 16 on the oil cylinder base 14, plug and fix the oil cylinder 16 with the connecting rod 15, then the robot 3 is controlled to place the oil cylinder 16 clamp on the tool table, and replace the bolt clamp on the tool table for connection, so that the positioning bolt 17 on the oil cylinder base 14 is clamped and pulled out through the bolt clamp, and the ladle door 13 can slide along the door fixing base 12 under the driving of the oil cylinder 16.

Because the size difference between the oil cylinder 16 and the positioning bolt 17 is large, and the distance between the position of the positioning bolt 17 and the ladle door 13 is relatively short, the robot 3 cannot control the oil cylinder 16 clamp to approach and clamp the positioning bolt 17, and cannot control the bolt clamp to clamp the oil cylinder 16, and only different clamps can be designed according to the oil cylinder 16 and the positioning bolt 17 for the robot 3 to connect, so that the clamping of the positioning bolt 17 and the oil cylinder 16 is realized, but the process of replacing the clamp by the robot 3 is relatively troublesome, and a certain time is required to be consumed, so that the efficiency of opening the ladle door 13 is affected.

As shown in fig. 4 to 5, in an embodiment of the present invention, a multi-working tool 2 includes a connector 21, a first clamping assembly 22, and a second clamping assembly 23, wherein the connector 21 is used for connecting with an external robot 3, the first clamping assembly 22 has a larger size than the second clamping assembly 23, and the connector 21 and the second clamping assembly 23 are respectively connected to opposite sides of the first clamping assembly 22.

Through being connected first clamping component 22 with connector 21, be connected second clamping component 23 with first clamping component 22 to after being connected connector 21 with outside robot 3, accessible robot 3 drives first clamping component 22 and second clamping component 23 and removes together, and then carries out the centre gripping action through control first clamping component 22, second clamping component 23 and can snatch corresponding work piece, and makes the work piece remove to the settlement position under the drive of robot 3, thereby realizes that robot 3 replaces the manual work and carries out the effect of handling operation.

The multi-working-condition clamp 2 is connected with the robot 3 through the connector 21, the first clamping component 22 is arranged on the connector 21, the second clamping component 23 is arranged on the first clamping component 22, so that the robot 3 can drive the first clamping component 22 and the second clamping component 23 to move simultaneously, and the robot 3 can adjust the clamping action of the first clamping component 22 or the second clamping component 23 according to the size and the position of a part.

In one example, the manner in which the robot 3 selects the first clamping assembly 22 or the second clamping assembly 23 to clamp according to different parts may also be combined with machine vision automatic identification, that is, identifying the position and angle information of the parts through the machine vision device 27, enabling the robot 3 to move according to the position and angle information of the parts identified by the machine vision device 27, and controlling the first clamping assembly 22 or the second clamping assembly 23 to clamp according to the position and angle information of the parts identified by the machine vision device 27.

In other examples, the manner in which the robot 3 selects the first clamping assembly 22 or the second clamping assembly 23 to clamp according to different parts may be programmed, that is, the programming of the clamping actions of the first clamping assembly 22 and the second clamping assembly 23 is added in the programming for controlling the movement of the robot 3, so that when the robot 3 moves to a programmed position, the clamping actions of the first clamping assembly 22 or the second clamping assembly 23 are programmed by the clamping actions to clamp the parts, and when the robot 3 clamps the parts to the next programmed position, the clamping actions of the first clamping assembly 22 or the second clamping assembly 23 are programmed by the clamping actions to release the clamping actions of the parts.

Since the size of the first clamping component 22 is larger than that of the second clamping component 23, when the ladle door 13 is opened, the robot 3 can be enabled to move and adjust the position and angle of the first clamping component 22, the first clamping component 22 clamps the oil cylinder 16 with larger volume and drives the oil cylinder 16 to move onto the ladle mechanism 11, and then the second clamping component 23 clamps the positioning bolt 17 with smaller volume and pulls the positioning bolt 17 out of the ladle door 13 by controlling the robot 3 to move and adjust the position and angle of the second clamping component 23, so that the oil cylinder 16 can push the ladle door 13 to move.

In the embodiment of the invention, the robot 3 is a joint robot 3, including a four-axis robot 3, a five-axis robot 3 and a six-axis robot 3, and the multi-working-condition clamp 2 is connected to the tail end of the robot 3 under the action of the connector 21, so that the multi-working-condition clamp 2 is driven to move when the robot 3 moves around each joint, and the clamping and carrying operation of the first clamping assembly 22 on the oil cylinder 16 and the second clamping assembly 23 on the positioning bolt 17 are realized by controlling the first clamping assembly 22 and the second clamping assembly 23.

In the embodiment of the present invention, the clamping direction of the first clamping assembly 22 is perpendicular to the connection direction of the connector 21, and the clamping direction of the second clamping assembly 23 is opposite to the connection direction of the connector 21.

The clamping direction of the first clamping component 22 is set to be perpendicular to the connecting direction of the connector 21, the clamping direction of the second clamping component 23 is opposite to the connecting direction of the connector 21, so that when the robot 3 drives the connector 21 to move, the first clamping component 22 clamps a workpiece in the direction perpendicular to the tail end of the robot 3, and the second clamping component 23 clamps a workpiece in the same direction as the tail end of the robot 3, wherein the clamping direction of the first clamping component 22 is the direction of the workpiece relative to the first clamping component 22 when the first clamping component 22 clamps the workpiece, and similarly, the clamping direction of the second clamping component 23 is the direction of the workpiece relative to the second clamping component 23 when the second clamping component 23 clamps the workpiece, and the size of the first clamping component 22 is larger than the size of the second clamping component 23, so that when the first clamping component 22 clamps the workpiece, the clamped workpiece is closer to one side of the robot 3, so that the tail end moment of the robot 3 is reduced when the first clamping component 22 clamps the workpiece, and the robot 3 is more favorable for clamping the workpiece 2 in multiple working conditions.

When the second clamping component 23 is used to clamp a workpiece, the rotating joint of the robot 3 can be used to adjust the direction of the first clamping component 22, so as to avoid the first clamping component 22 from influencing the movement path of the second clamping component 23, for example, in the example of opening the ladle hatch 13, due to the fact that the position of the positioning bolt 17 is close to the ladle hatch 13 (as shown in fig. 2), the first clamping component 22 cannot extend into the position of the positioning bolt 17, so that the first clamping component 22 cannot clamp the positioning bolt 17, and when the second clamping component 23 is used to clamp the positioning bolt 17, the rotating joint of the robot 3 is controlled to rotate the first clamping component 22 to the upper side (the specific orientation is shown in fig. 2), so as to avoid the influence on the movement path of the second clamping component 23 caused by the first clamping component 22, so that the second clamping component 23 can smoothly clamp the positioning bolt 17 and pull the positioning bolt 17 out of the ladle hatch 14 from the cylinder base 14, so that the ladle hatch 13 can slide along the fixed seat 12 under the driving of the cylinder 16.

In the embodiment of the invention, the first clamping assembly 22 is a pneumatic clamping jaw and includes a first clamping base 222 and two first clamping jaws 221, the two first clamping jaws 221 are symmetrically disposed at two ends of the same side of the first clamping base 222, and the two first clamping jaws 221 are slidably connected with the first clamping base 222 to perform a clamping operation.

With the orientation in fig. 4 as a reference, the left and right sides of the first clamping base 222 are respectively connected with the connector 21 and the second clamping assembly 23, and the two first clamping jaws 221 are disposed at the front and rear ends of the top of the first clamping base 222, so that the clamping functions of the first clamping assembly 22 are not affected after the first clamping base 222 is connected with the connector 21 and the first clamping assembly 22, and the two first clamping jaws 221 can slide relatively on the first clamping base 222 to perform the clamping operation.

Because the first clamping assembly 22 is a pneumatic clamping jaw, the first clamping base 222 further comprises a piston and a connecting rod connected with the first clamping jaw 221 through the piston, the side surface of the first clamping base 222 further comprises an air inlet valve and a pressure release valve, when pressure is applied to the piston from the air inlet valve, the piston moves and pulls the connecting rod to drive the two clamping jaw clamping parts, when pressure is applied to the piston from the pressure release valve, the piston returns to the initial position and drives the two clamping jaw releasing parts, and the first clamping assembly 22 is set to be a pneumatic clamping jaw, so that the first clamping assembly 22 is simpler in structure, smaller in size and lighter in weight, and the end moment of the robot 3 is reduced after the first clamping assembly 22 is connected to the robot 3.

In the embodiment of the invention, the second clamping assembly 23 is a pneumatic clamping jaw and includes a second clamping base 232 and two second clamping jaws 231, wherein the second clamping base 232 is fixed on the first clamping base 222, the two second clamping jaws 231 are symmetrically disposed at two ends of the same side of the second clamping base 232, and the two second clamping jaws 231 are slidably connected with the second clamping base 232 to perform a clamping action.

Since the size of the second clamping assembly 23 is smaller than that of the first clamping assembly 22, the second clamping base 232 can be fixed on the side surface of the first clamping base 222, and the two second clamping jaws 231 and one side of the second clamping base 232 away from the first clamping base 222 are slidably connected, at this time, the clamping direction of the second clamping assembly 23 is perpendicular to the clamping direction of the first clamping assembly 22, so that the first clamping assembly 22 and the second clamping assembly 23 respectively clamp workpieces in different directions without affecting each other.

In other embodiments, the first clamping assembly 22 may also be an electrically powered clamping jaw, a hydraulic clamping jaw, or the second clamping assembly 23 may also be an electrically powered clamping jaw, a hydraulic clamping jaw.

In the embodiment of the present invention, the multi-working clamp 2 further includes a first floating joint 24, one end of the first floating joint 24 is connected to the first clamping base 222, and the other end is connected to the connector 21, so that the first clamping assembly 22 floats under the connection of the first floating joint 24.

The first clamping base 222 is connected with the continuous machine through the first floating joint 24, so that when the first clamping assembly 22 is used for clamping, the first clamping assembly 22 generates transverse floating under the action of the first floating joint 24, errors when the first clamping assembly 22 clamps a workpiece, namely, the floating joint is in a flexible state when the floating joint is not ventilated, transverse floating can be provided for the first clamping assembly 22, transverse errors when the first clamping assembly 22 clamps the workpiece are reduced, after the first clamping assembly 22 clamps the workpiece, ventilation of the floating joint is controlled, and the floating joint is in a rigid state so that the first clamping assembly 22 clamps the workpiece for carrying operation.

In the embodiment of the invention, the connector 21 is a force sensor, the end surfaces on two sides of the force sensor are provided with connecting holes distributed in the circumferential direction, and the first floating joint 24 and the external robot 3 are connected with the force sensor through the connecting holes.

By adopting the force sensor as the connector 21, one end of the force sensor is connected with the robot 3, and the other end of the force sensor is connected with the first floating joint 24, so that when the first clamping component 22 clamps a workpiece, the force sensor detects the transverse stress of the first clamping component 22 to control whether the first floating joint 24 is ventilated, namely, when the force sensor detects that the transverse stress of the first clamping component 22 is uneven, the first floating joint 24 is not ventilated, at the moment, the first clamping component 22 can continuously transversely float under the action of the first floating joint 24, when the force sensor detects that the transverse stress of the first clamping component 22 is even, the position of the first clamping component 22 for clamping the workpiece is proved to be accurate, at the moment, the first floating joint 24 is ventilated, and the floating joint is in a rigid state, so that the first clamping component 22 clamps the workpiece for carrying operation, and the flexibility and the intelligence of the multi-working condition clamp 2 for clamping the workpiece are improved.

In the embodiment of the present invention, the connector 21 may also be a quick-change disc, where the quick-change disc includes a quick-change male disc and a quick-change female disc that can be fixedly connected, the quick-change male disc is fixedly connected to the robot 3, and the quick-change female disc is fixedly connected to the first floating joint 24.

Through on fixed and the robot 3 of quick change public dish, fix the quick change master disk on first floating joint 24 to when robot 3 needs to be connected with multiplex condition anchor clamps 2, make quick change public dish and quick change master disk be connected through the shift position, thereby connect multiplex condition anchor clamps 2 on robot 3, and then can supply robot 3 to drive multiplex condition anchor clamps 2 and carry out subsequent work piece transport operation, after the work piece transport operation is accomplished to robot 3, can make robot 3 put multiplex condition anchor clamps 2 back to normal position and control quick change public dish and quick change master disk and release the connection, thereby disassemble multiplex condition anchor clamps 2 from robot 3, so that the operation of other processes is carried out to robot 3.

In the embodiment of the present invention, the multi-working condition fixture 2 further includes a second floating joint 25, one end of the second floating joint 25 is connected to the first clamping base 222, and the other end is connected to the second clamping base 232, and the second clamping assembly 23 is provided with lateral floating by arranging the second floating joint 25 between the second clamping base 232 and the first clamping base 222, so as to reduce errors when the second clamping assembly 23 clamps a workpiece, which is the same principle as the first floating joint 24.

In the embodiment of the present invention, the multi-working condition fixture 2 further includes a connection bracket 26, where the connection bracket 26 includes a first connection plate 261 and a second connection plate 262 perpendicular to each other, the first connection plate 261 is fixedly connected with an end surface of the first clamping base 222 far from the first clamping jaw 221, and the second connection base is connected with the first clamping base 222 through the second connection plate 262.

The first connecting plate 261 is connected with the first clamping base, so that the second clamping assembly 23 can be fixed on the second connecting plate 262 perpendicular to the first connecting plate 261, and a gap is formed between the second connecting plate 262 and the first clamping base 222, so that an external air inlet pipe and an external pressure relief pipe are connected with the first clamping base 222, and the situation that the connection of the air inlet pipe and the pressure relief pipe is affected by directly connecting the second clamping assembly 23 to the side surface of the first clamping assembly 22 is avoided.

In the embodiment of the present invention, the multi-working condition fixture 2 further includes a machine vision device 27, the first connection plate 261 is provided with a mounting hole for mounting the machine vision device 27, the machine vision device 27 is fixed on the first connection plate 261 through the mounting hole, and the identification direction of the machine vision device 27 is the same as the clamping direction of the second clamping assembly 23.

By fixing the machine vision device 27 on the first mounting plate, when the robot 3 drives the multi-working-condition clamp 2 to move, the specific position of the clamped workpiece can be detected by combining the machine vision device 27, and then the robot 3 drives the first clamping component 22 or the second clamping component 23 to clamp the workpiece according to the specific position of the workpiece detected by the machine vision device 27, for example, when the machine vision device 27 detects that the size of the clamped workpiece is larger than the maximum clamping range of the second clamping component 23 and smaller than the maximum clamping range of the first clamping component 22, the first clamping component 22 is called to clamp the workpiece, when the machine vision device 27 detects that the clamped workpiece is in a narrow space, and the first clamping component 22 cannot extend into the narrow space, the second clamping component 23 is called to clamp the workpiece, and as the identification direction of the machine vision device 27 is the same as the clamping direction of the second clamping component 23, the second clamping component 23 can clamp the workpiece in real time combining the workpiece position identified by the machine vision device 27, so that the accuracy of the workpiece clamped by the second clamping component 23 is improved.

In the embodiment of the present invention, the machine vision apparatus 27 includes a housing 271, and a laser radar 272 and an industrial camera 273 mounted in the housing 271, the housing 271 is connected with the first connection plate 261, the laser radar 272 acquires position information and angle information of an external object through a laser beam, and the industrial camera 273 acquires image information of the external object through a photosensitive element.

The laser radar 272 and the industrial camera 273 are fixed in the housing 271, the housing 271 is connected with the first connecting plate 261 through the connecting hole, so that the laser radar 272 and the industrial camera 273 can move along with the multi-working condition clamp 2 under the movement of the robot 3, and before clamping action is carried out, the laser beam is emitted by the laser radar 272, the laser beam irradiates an external object and returns to the laser radar 272, so that the laser radar 272 obtains the position information and the angle information of the external object, the photosensitive element of the industrial camera 273 obtains the light reflected by the external object, the industrial camera 273 obtains the image information of the external object, when the external object identified by the machine vision device 27 is a clamped workpiece, the robot 3 calls the first clamping component 22 or the second clamping component 23 to clamp the workpiece according to the feedback of the machine vision device 27, otherwise, the machine vision device 27 continues to search for and identify the clamped workpiece.

The invention also provides an industrial robot which comprises a robot body and the multiplexing Kuang Gaju, wherein the multiplexing clamp is connected to the robot body.

The multi-working-condition clamp is connected to the robot body, so that the robot can directly select the multi-working-condition clamp for clamping operation according to different parts, the multi-working-condition clamp comprises a connector, a first clamping assembly and a second clamping assembly, the connector is connected with the robot body, the size of the first clamping assembly is larger than that of the second clamping assembly, the connector and the second clamping assembly are respectively connected to two opposite sides of the first clamping assembly, the robot body can drive the first clamping assembly and the second clamping assembly to move at the same time, and the first clamping assembly or the second clamping assembly is used for clamping operation according to the size and the position of the part, compared with the prior art, the industrial robot can omit the process of changing different clamps due to the difference of the size and the position of the part, and the robot body can directly select the first clamping assembly or the second clamping assembly for clamping according to different parts, so that the working efficiency of the robot is improved.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a plurality of simple variants of the technical proposal of the invention can be carried out, comprising that each specific technical feature is combined in any suitable way, and in order to avoid unnecessary repetition, the invention does not need to be additionally described for various possible combinations. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. The utility model provides a multi-working condition anchor clamps, its characterized in that, multi-working condition anchor clamps include connector, first clamping component and second clamping component, the connector is used for being connected with outside robot, first clamping component's size is greater than second clamping component's size, the connector with second clamping component connect respectively in first clamping component's relative both sides.

2. The multiplex Kuang Gaju of claim 1, wherein the first clamping assembly has a clamping direction perpendicular to the connector connection direction and the second clamping assembly has a clamping direction opposite to the connector connection direction.

3. The multiplexing Kuang Gaju according to claim 1, wherein the first clamping assembly is a pneumatic clamping jaw and comprises a first clamping base and two first clamping jaws, the two first clamping jaws are symmetrically arranged at two ends of the same side of the first clamping base, and the two first clamping jaws are slidably connected with the first clamping base to perform a clamping action; or alternatively

The second clamping assembly is a pneumatic clamping jaw and comprises a second clamping base and two second clamping jaws, the second clamping base is fixed on the first clamping base, the two second clamping jaws are symmetrically arranged at two ends of the same side of the second clamping base, and the two second clamping jaws are in sliding connection with the second clamping base to conduct clamping actions.

4. A multiplex Kuang Gaju as defined in claim 3 wherein the multiplex condition clamp further comprises a first floating connector having one end connected to the first clamp base and the other end connected to the connector to float the first clamp assembly under the connection of the first floating connector.

5. A multiplex Kuang Gaju as defined in claim 3 wherein the multiplex condition clamp further comprises a second floating connector having one end connected to the first clamp base and the other end connected to the second clamp base to float the second clamp assembly under the connection of the second floating connector.

6. A multiplex Kuang Gaju as defined in claim 3 wherein the multiplex condition clamp further comprises a connecting bracket comprising a first connecting plate and a second connecting plate perpendicular to each other, the first connecting plate being fixedly connected to the end face of the first clamping base remote from the first clamping jaw, the second connecting base being connected to the first clamping base by the second connecting plate.

7. The multiplex Kuang Gaju of claim 6, further comprising a machine vision device, wherein the first connector plate defines a mounting hole for mounting the machine vision device, wherein the machine vision device is secured to the first connector plate through the mounting hole, and wherein the machine vision device has a direction of identification that is the same as a direction of clamping of the second clamping assembly.

8. The multiplex Kuang Gaju according to claim 7, wherein the machine vision device comprises a housing, and a laser radar and an industrial camera mounted in the housing, the housing being connected to the first connection plate, the laser radar acquiring positional information and angular information of the external object via a laser beam, the industrial camera acquiring image information of the external object via a photosensitive element.

9. The multiplexing Kuang Gaju according to claim 4, wherein the connector is a force sensor, the end surfaces of the two sides of the force sensor are provided with connecting holes distributed circumferentially, and the first floating joint and the external robot are connected with the force sensor through the connecting holes; or alternatively

The connector is a quick-change disc, the quick-change disc comprises a quick-change male disc and a quick-change female disc which can be fixedly connected, the quick-change male disc is fixedly connected to the robot, and the quick-change female disc is fixedly connected to the first floating connector.

10. An industrial robot comprising a robot body and a multiplex Kuang Gaju as claimed in any one of claims 1 to 9, said multiplex gripper being connected to said robot body.