CN210435806U

CN210435806U - Robot arm clamp for automatic feeding and discharging

Info

Publication number: CN210435806U
Application number: CN201921441317.3U
Authority: CN
Inventors: 李波; 但雅波; 向华
Original assignee: Xiangyang Huake Equipment Manufacturing Engineering Research Institute Co ltd; XY-HUST ADVANCED MANUFACTURING ENGINEERING RESEARCH INSTITUTE
Current assignee: Xiangyang Huake Equipment Manufacturing Engineering Research Institute Co ltd; XY-HUST ADVANCED MANUFACTURING ENGINEERING RESEARCH INSTITUTE
Priority date: 2019-08-31
Filing date: 2019-08-31
Publication date: 2020-05-01
Anticipated expiration: 2029-08-31

Abstract

The utility model provides a robot arm anchor clamps for unloading in automation, including the main junction plate, the main junction plate intermediate position is equipped with the connecting portion that are used for connecting robotic arm, it gets the subassembly to be equipped with the clamp on the main junction plate, press from both sides to get the subassembly and press from both sides and get cylinder, main drive chuck, driven chuck including pressing from both sides, press from both sides and get on the cylinder is fixed in the main junction plate, the main drive chuck is connected to press from both sides and is got the cylinder and with main junction plate sliding fit, driven chuck sets up in main drive chuck one side, and driven chuck passes through the lever subassembly. The arm clamp is simple in structure, can realize firm clamping and accurate positioning of workpieces, and is suitable for automatic feeding and discharging robots in part processing production lines.

Description

Robot arm clamp for automatic feeding and discharging

Technical Field

The utility model relates to a relevant technical field of robot specifically is a robot arm anchor clamps for unloading in automation.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. In the industrial field, the mechanical arm can replace manual work to complete a plurality of heavy and dangerous works, such as welding, grinding, polishing and the like. In the automatic production line field, robotic arm is used for unloading more, and wherein robotic arm's anchor clamps need the size of cooperation work piece, robotic arm's specification, the rotational speed of conveyer belt, therefore robotic arm's anchor clamps design is very important. For example, in a batch processing line of engine main bearing caps, the main bearing caps are generally first cast into semi-finished products, and then the workpieces are conveyed to a machine tool through corresponding automatic line bodies for fine processing. The mechanical arm is adopted to realize feeding and discharging of the workpiece, so that the processing production efficiency can be effectively improved. In the prior art, a mechanical arm is difficult to firmly clamp and accurately position the complete main bearing cover, the feeding and discharging efficiency of a single-arm structure is low, and the use requirement in a high-efficiency production line is difficult to meet.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art, the utility model discloses combine prior art, from practical application, provide a robot arm anchor clamps for unloading in automation, this arm anchor clamps simple structure can realize firm centre gripping and the accurate location of work piece, is applicable to automatic unloading robot use of going up in the spare part machining production line.

The technical scheme of the utility model as follows:

a robot arm clamp for automatic feeding and discharging comprises a main connecting plate, a connecting part for connecting a robot arm is arranged in the middle of the main connecting plate, the main connecting plate is provided with a clamping assembly, the clamping assembly comprises a clamping cylinder, a main driving chuck and a driven chuck, the clamping cylinder is fixed on the main connecting plate, the main driving chuck is connected with the clamping cylinder and is in sliding fit with the main connecting plate, the driven chuck is arranged on one side of the main driving chuck, the driven chuck is connected with the main driving chuck through a lever assembly, the main driving chuck can be driven to move relative to the driven chuck when the clamping cylinder acts, when the main driving chuck acts, the driven chuck can be driven to move relative to the direction of the main driving chuck through the lever assembly, and then the workpiece can be clamped and loosened through the matching of the main driving chuck and the driven chuck.

Furthermore, the main driving chuck and the lever assembly are respectively arranged on two sides of the main connecting plate, a sliding groove is formed in the main connecting plate, and the bottom of the main driving chuck penetrates through the sliding groove to be matched with the lever assembly.

Furthermore, the lever assembly comprises a lever arm and a supporting seat, the supporting seat is fixed on the main connecting plate, the lever arm is hinged to the supporting seat through a pin shaft, the driven chuck is fixed at one end of the lever arm, and the other end of the lever arm is matched with an inclined plane arranged at the bottom of the main driving chuck.

Furthermore, a roller is arranged at the matching position of the lever arm and the inclined plane at the bottom of the main driving chuck, and the roller is attached to the inclined plane at the bottom of the main driving chuck.

Furthermore, a spring which applies force to the lever arm towards the outer side is arranged between the lever arm and the main connecting plate, and the spring is arranged between the driven chuck and the supporting seat.

Furthermore, the one side of main drive chuck towards driven chuck is V type structure, the one side of driven chuck towards main drive chuck is the arc structure.

Furthermore, a sliding rail assembly is arranged between the main driving chuck and the main connecting plate.

Furthermore, reinforcing rib plates are arranged on the main connecting plate and symmetrically arranged on two sides of the connecting part.

Furthermore, the clamping assemblies are two groups, the two groups of clamping assemblies are respectively arranged on two sides of the main connecting plate, and when the main connecting plate rotates 180 degrees by taking the connecting part as a center, the positions of the two groups of clamping assemblies are exchanged.

Furthermore, the workpiece is an engine main bearing cap, when the clamping assembly clamps the main bearing cap, the main driving chuck acts on the outer side of the main bearing cap, and the driven chuck acts on the inner side of the semicircular opening of the main bearing cap.

The utility model has the advantages that:

1. the utility model discloses a robot arm anchor clamps, simple structure adopts the lever principle, and the anchor clamps of unilateral only need a cylinder can stabilize firm realization work piece promptly snatch and accurate positioning, are applicable to the automation mechanized operation of robot material loading and unloading in the processing lines.

2. The utility model discloses a robot arm anchor clamps structural layout is reasonable, compact, and the motion is nimble reliable.

3. The utility model discloses a robot arm anchor clamps adopt reverse symmetrical formula structure, can realize material loading and unloading respectively through the anchor clamps of both sides, and is efficient, and degree of automation is high, uses in being particularly useful for engine main bearing cap processing lines.

Drawings

Fig. 1 is a schematic view of an automated line layout according to an embodiment of the present invention;

fig. 2 is a schematic view of an arrangement of robots in an embodiment of the present invention;

fig. 3 is a schematic structural view of a robot according to an embodiment of the present invention;

FIG. 4 is a first perspective view of an arm clamp according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of an arm clamp according to an embodiment of the present invention;

fig. 6 is a third schematic perspective view of an arm clamp according to an embodiment of the present invention;

fig. 7 is a schematic perspective view of an arm clamp according to an embodiment of the present invention;

fig. 8 is a schematic view of a partial structure of the partially automated wire of the present invention;

fig. 9 is a schematic perspective view of the stopper structure of the present invention;

FIG. 10 is a schematic side view of the stopper structure of the present invention;

fig. 11 is a first perspective view of the front and back side detection three-dimensional turntable of the present invention;

fig. 12 is a schematic perspective view of the front and back side detection three-dimensional turntable of the present invention;

fig. 13 is a schematic side view of the front and back side detection three-dimensional turntable of the present invention;

FIG. 14 is a schematic structural diagram of a front side of a main bearing cap according to an embodiment of the present invention;

FIG. 15 is a schematic view of the reverse structure of the main bearing cap in the embodiment of the present invention.

Reference numerals shown in the drawings:

1. a robot; 2. detecting a three-dimensional turntable on the front side and the back side; 3. a stopper; 4. a workpiece; 5. a sheet metal part; 6. a blocking cylinder; 7. a hook seat; 8. hooking claws; 9. a hook seat connecting piece; 10. a cylinder connecting piece; 11. a frame body; 12. a rotating backing plate; 13. a push-pull cylinder; 14. a guide rail backing plate; 15. a clamping cylinder; 16. a clamping jaw; 17. an electrode probe; 18. a rotary cylinder; 19. an arm clamp; 20. a main connection plate; 21. a clamping cylinder; 22. a chute; 23. a main drive chuck; 24. a driven chuck; 25. a lever; 26. a supporting seat; 27. a roller; 28. a spring; 29. a rib plate; 30. a bevel; 31. and (4) protruding.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope defined in the present application.

The utility model provides a pair of a robot arm anchor clamps for unloading in automation, the clamp of work piece is got in the mainly used realization automatic processing production line. In this embodiment, the present invention will be described in detail by taking an engine main bearing cap of model number 5309323 (shown in fig. 14 and 15) as an example of the specific workpiece 4.

Referring to fig. 3, 4, 5, 6, and 7 (fig. 7 is a state after the workpiece is grabbed), the arm clamp 19 provided by the present invention has the following structure: including main connecting plate 20, the circular port is used for connecting 1 arm of robot in the middle of main connecting plate 20, in order to realize the last unloading operation of work piece 4, the utility model discloses an optimal selection scheme is for being equipped with two sets of clamps that are reverse symmetrical arrangement on main connecting plate 20 and get the subassembly, two sets of clamps are got the subassembly and are set up respectively in main connecting plate both sides, when main connecting plate 20 uses the circular port in the middle of it to rotate 180 as the center, two sets of clamps are got the subassembly position and are exchanged, so when using, when the manipulator removes the position of main bearing cap, the clamp of left part is got the subassembly and is accomplished to press from both sides and get the task, transfer work piece 4 to the digit control machine tool and accomplish the material loading task, then the rotatory 180 degrees of manipulator, the clamp of right part is got.

The utility model discloses in, press from both sides and get subassembly concrete structure as follows: the clamping device comprises a clamping cylinder 21, a main driving chuck 23 and a driven chuck 24, wherein the clamping cylinder 21 is fixed on a main connecting plate 20, the main driving chuck 23 is connected with the clamping cylinder 21 and is in sliding fit with the main connecting plate 20 through a sliding rail assembly, the driven chuck 24 is arranged on one side of the main driving chuck 23, the driven chuck 24 is connected with the main driving chuck 23 through a lever assembly, when the clamping cylinder 21 acts, the main driving chuck 23 can be driven to move relative to the direction of the driven chuck 24, when the main driving chuck 23 acts, the driven chuck 24 can be driven to move relative to the direction of the main driving chuck 23 through the lever assembly, and then the clamping and the loosening of a workpiece 4 can be realized through the cooperation of the.

In the utility model, the main driving chuck 23 and the lever assembly are respectively arranged at the front and back sides of the main connecting plate 20, the main connecting plate 20 is provided with the chute 22, and the bottom of the main driving chuck 23 passes through the chute 23 to be matched with the lever assembly; the lever assembly comprises a lever arm 25 and a supporting seat 26, the supporting seat 26 is fixed on the main connecting plate 20, the lever arm 25 is hinged with the supporting seat 26 through a pin shaft (a lever fulcrum is formed at the position), the driven chuck 24 is fixed at one end of the lever arm 25, the other end of the lever arm 25 is provided with a roller 27, and the roller 27 is attached to an inclined surface 30 at the bottom of the main driving chuck 23; a spring 28 for urging the lever arm 25 outward is provided between the lever arm 25 and the main link plate 20, and the spring 28 is provided between the follower collet 24 and the support base 26. In order to ensure that the workpiece can be stably grabbed, in the embodiment, the driven chuck 24 is configured to be in a circular arc structure to be matched with the semicircular groove of the workpiece 4, and the main driving chuck 23 is configured to be in a V-shaped structure to be matched with the outer side of the workpiece 4.

The utility model discloses in, arm anchor clamps 19 concrete principle as follows: when the robot 1 receives a signal to grab the workpiece 4, the arm clamp 19 moves to the position of the workpiece 4, at the moment, the workpiece 4 is located between the main driving chuck 23 and the driven chuck 24, the arc of the driven chuck 24 is in contact with the arc of the workpiece 4 but not in close contact with the arc, friction force does not exist between the two, the PLC controls the clamping cylinder 21 to extend out, the clamping cylinder 21 drives the main driving chuck 23 to move, the main driving chuck 23 is matched with the roller 27 through the inclined surface 30 at the bottom of the main driving chuck 23, the lever arm 25 is driven to move, the spring 28 is compressed at the moment, the lever arm 25 drives the driven chuck 24 to press the inner side of the workpiece 4 according to a lever principle, and as the inner side of the workpiece 4 is pressed by the driven chuck 24 at the moment, the outer side is pressed by the main. When the workpiece 4 needs to be released, the clamping cylinder 21 retracts, the main driving chuck 23 resets, and the driven chuck 24 resets under the action of the spring 28 and is not contacted with the workpiece any more, so that the workpiece is released.

The utility model discloses in, in order to guarantee arm anchor clamps 19's intensity, be provided with gusset 29 on the main junction plate 20, base plate 29 makes this structure more reliable and more stable.

Based on the utility model provides an arm anchor clamps, it is further right the utility model discloses explain, the embodiment of the utility model provides a corresponding automatic line body structure is still provided, and this automatic line body is used for the material transport and the automatic unloading of main bearing cap processing.

As shown in fig. 1 and 2, in this embodiment, the automated line body mainly includes three station conveying lines arranged in parallel, the station conveying line in the middle is an automatic feeding and discharging conveying line for the manipulator, the two station conveying lines in the outer side are an automatic feeding and discharging conveying line for the manipulator, a robot station for installing the robot 1 is arranged on the automatic feeding and discharging conveying line for the manipulator, and the robot 1 is mainly used for clamping the workpiece 4 and realizing feeding and discharging operations of the workpiece. All be equipped with the manual operation station on two artifical unloading transfer chain of going up, the unloading transfer chain of going up realizes going up of work piece through the manual work in the manual work.

Correspond the automatic unloading transfer chain of going up of manipulator and correspond two artifical unloading transfer chains in this system robot position one side and two manual operation station one sides and all be provided with positive and negative detection three-dimensional revolving stage 2, positive and negative detection three-dimensional revolving stage 2 is used for snatching and detects 4 positive and negative directions of work pieces on corresponding the transfer chain, and when detecting the work piece for the front, send back work piece 4 to the transfer chain, when detecting work piece 4 for the back, turn to work piece 4. Specifically, when a front and back detection three-dimensional turntable 2 arranged on an automatic feeding and discharging conveying line of a manipulator detects that a workpiece 4 is on the back, the workpiece is turned by 180 degrees and waits for the automatic feeding and discharging robot 1 to grab the workpiece, and when the workpiece 4 is detected to be on the front, the workpiece 4 is returned to the conveying line and waits for the robot to grab the workpiece; when the front and back side detection three-dimensional rotary table 2 arranged corresponding to the manual feeding and discharging conveying line detects that the workpiece 4 is the back side, the workpiece 4 is turned outwards for 90 degrees and then manually grabbed, and when the workpiece 4 is the front side, the workpiece 4 is returned to the conveying line and then manually grabbed. The front and back surfaces of the workpiece 4 can be detected and adjusted by the front and back surface detection three-dimensional rotary table 2, so that the front surface faces the direction of the robot 1 or an operator, and the workpiece 4 can be rapidly grabbed and accurately loaded and unloaded.

The stopper 3 is arranged on one side of the three station conveying lines corresponding to the front and back side detection three-dimensional rotary table 2, and the stopper 3 is used for detecting and correcting the position of a workpiece 4 to be detected on the conveying lines, so that the front and back side detection three-dimensional rotary table 2 provides a workpiece 4 in-place signal, and the front and back side detection three-dimensional rotary table 2 is convenient for grabbing and detecting the workpiece 4 after the position of the workpiece 4 is adjusted.

On the transfer chain of this embodiment, all can save a plurality of work pieces 4, every transfer chain includes the semi-manufactured goods transfer chain of front end and the finished product transfer chain of rear end, is used for carrying the finished product after treating the semi-manufactured goods of processing and processing respectively. The conveying line is driven by a motor to realize automatic conveying of the workpiece 4, the supporting strips are arranged in the middle of the chain plate conveying belts corresponding to the conveying line and are used for being matched with the circular arc at the bottom of the workpiece 4 to perform rough positioning on the workpiece 4, when the workpiece 4 is inclined and overturned in the conveying process, the overturning limitation can be guaranteed, meanwhile, the workpiece 4 is easily righted by utilizing friction force, and the workpiece 4 is prevented from being inclined to a large extent.

The required position of transfer chain of this embodiment all is equipped with corresponding sensor for whether the work piece targets in place and the work piece is paved conveyer belt etc.. The utility model discloses a concrete operation flow of transfer chain as follows:

automatic unloading transfer chain of going up of manipulator: placing the semi-finished workpiece 4 after preorder processing on an automatic conveying chain (manual discharging) -detecting in place, stopping the conveying line, positioning a stopper 3, detecting the front and back surfaces of the workpiece 4 by the action of a three-dimensional rotary table 2 to realize front and back surface detection of the workpiece 4, turning the workpiece in a preset posture or returning the workpiece to the conveying line, grabbing the workpiece 4 by a robot 1, unloading the processed workpiece of a machine tool by the robot 1, rotating the workpiece to be processed by 180 degrees, placing the processed workpiece into a subsequent finished product conveying belt, completing a certain working cycle, and continuing the next cycle.

Manual feeding and discharging conveying line: placing the semi-finished workpiece 4 after preorder processing on an automatic conveying chain (manual discharging) -detecting in place, stopping the conveying line, positioning a stopper 3, detecting the front and back sides of the three-dimensional turntable 2 to realize front and back side detection of the workpiece 4, turning the preset posture or returning the workpiece to the conveying line, manually grabbing the workpiece 4, manually unloading the processed workpiece of a machine tool and loading the workpiece to be processed, placing the processed workpiece into a subsequent finished product conveying belt, completing a certain working cycle, and continuing the next cycle.

In this embodiment, the stoppers 3 are respectively arranged on the three corresponding conveying lines, and the stoppers 3 are mainly used for detecting whether the workpiece 4 reaches the gripping point or not and correcting the workpiece 4, so that the robot manipulator and the front-back detection three-dimensional turntable 2 can smoothly complete clamping work.

The utility model provides a pair of in an embodiment, stopper 3 concrete structure refers to figure 8, 9, 10, include sheet metal component 5, photoelectric switch, collude claw 8, block cylinder 6, collude seat 7, collude seat connecting piece 9, cylinder connecting piece 10, sheet metal component 5 is fixed in the transfer chain top, and the side is close to work piece 4 and stops a position trompil on 5 sides of sheet metal component and about and. The upper side is perforated for reducing the overall weight of the stopper 3, and the left and right sides are perforated for photoelectric switch mounting detection. Collude a connecting piece 9, cylinder connecting piece 10 and fix both ends around sheet metal component 5 respectively, collude claw 8 and collude seat 7 fixed connection, collude seat 7 and collude a connecting piece 9 articulated connection, block that 6 rear ends of cylinder are articulated with cylinder connecting piece 10 and be connected, block that the piston rod of cylinder 6 and collude articulated connection between the seat 7, above compound mode forms the connecting rod structure, when blocking that cylinder 6 is flexible, colludes claw 8 through colluding the drive of seat 7 and realize the turnover motion. The shape of the hook claw 8 is similar to that of the workpiece 4, and the workpiece positions are kept consistent through the blocking effect of the hook claw 8 during work.

The damper 3 of the present embodiment operates as follows: work piece 4 moves along with the line body, when photoelectric switch in stopper 3 detected work piece 4, control center send instruction, stop 6 piston rods of cylinder and stretch out the motion, drive stopper 3 collude seat 7 around colluding a seat connecting piece 9 anticlockwise rotation (for the connecting rod structure), drive and collude 8 anticlockwise motions of claw (collude the shape of claw 8 and need better cooperation work piece, photoelectric switch position to work piece 4 snatch the department and have certain distance still, work piece 4 continues to move forward, until work piece 4 with collude claw 8 and contact). Due to the blocking effect of the hook claw 8, the position and the posture of the workpiece 4 are corrected, the control center stops the line body to stop moving, the piston rod of the blocking cylinder 6 retracts, and the hook claw 8 is driven to turn over and reset clockwise. At the moment, the position and the posture of the workpiece 4 are corrected, and the front and back detection three-dimensional rotary table 2 can be used for grabbing and detecting.

In the present invention, since the workpiece 4, i.e. the main bearing cap, has a protrusion 31 on its front side and no protrusion on its back side, according to this feature, refer to fig. 11, 12 and 13 (fig. 11 is for having a workpiece state, fig. 12 is for having no workpiece state), the present invention provides an embodiment in which the front side and the back side of the three-dimensional turntable 2 are detected as follows: the front-back detection three-dimensional rotary table 2 comprises a support body 11, a rotation assembly, a push-pull assembly, a clamping assembly and a current probe detection assembly, wherein the rotation assembly is arranged on the support body 11 and used for achieving the rotation of a workpiece 4, the push-pull assembly is arranged on the rotation assembly and used for achieving the push-pull of the workpiece, the clamping assembly is arranged on the push-pull assembly and used for achieving the clamping of the workpiece 4, and the current probe detection assembly is arranged on the push-pull assembly and used.

Specifically, in this embodiment, the gyration subassembly includes gyration cylinder 18, gyration backing plate 12, gyration cylinder 18 is installed in 11 bottoms of support body, gyration backing plate 12 sets up in 11 tops of support body and is connected with gyration cylinder 18, the junction sets up the bearing, when gyration cylinder 18 rotates, can drive gyration backing plate 12 and carry out the rotation of corresponding angle, thereby realize the switching-over of work piece 4, specifically, on corresponding automatic unloading conveying line of going up of manipulator, gyration cylinder 18 sets up turned angle and is 180, on the artifical unloading conveying line of going up, gyration cylinder 18 sets up turned angle and is 90 degrees. The push-pull assembly comprises a push-pull air cylinder 13, a linear guide rail and a guide rail backing plate 14, wherein the push-pull air cylinder 13 and the linear guide rail are fixed above the rotary backing plate 12, the guide rail backing plate 14 can be slidably arranged above the linear guide rail, the guide rail backing plate 14 is connected with the push-pull air cylinder 13, and when the push-pull air cylinder 13 stretches out and draws back, the guide rail backing plate 14 can be driven to perform reciprocating linear motion. The clamping assembly comprises a clamping cylinder 15 and two clamping jaws 16, the clamping cylinder 15 is fixed on the guide rail base plate 14, piston rods are arranged at two ends of the clamping cylinder 15, the two clamping jaws 16 are connected to the two piston rods respectively, the two clamping jaws 16 can move relatively under the action of the clamping cylinder 15 to clamp and loosen the workpiece 4, and the position, used for clamping the workpiece 4, on the clamping jaw 16 is arranged to be of a V-shaped structure in order to guarantee the clamping effect.

In this embodiment, current probe detection subassembly includes two electrode probe 17 that set up side by side, and two electrode probe 17 are connected with the power and are used for detecting the current detection module that has or not electric current, and electrode probe 17 fixes in the probe cover, and probe cover, thimble cutting ferrule fix on the gesture detects the support, and the gesture detects the support and fixes on guide rail backing plate 14, and electrode probe 17 length has the designing requirement: when the clamping jaw 16 holds the workpiece 4 tightly, if the front surface (with a convex part) of the workpiece 4 is a contact surface, the electrode probe 17 needs to be contacted with the contact surface, and at the moment, the current is conducted; if the reverse surface (no projection) of the workpiece is a contact surface, the electrode probe 17 cannot contact it, and the current is not conducted. In order to ensure the detection effect of the electrode probes 17, in this embodiment, a spring is further disposed in the probe envelope, and the two electrode probes 17 can both realize floating (about 0.2mm) within a certain range through the spring, so that the contact rigidity is ensured, and the erroneous touch is avoided.

The front and back side detection three-dimensional turntable 2 of the embodiment has the following working principle: after receiving the signal that the stopper 3 stops, the control center pushes the guide rail backing plate 14 to move forwards by the push-pull air cylinder 13; after the workpiece is moved in place, the clamping cylinder 15 drives the two clamping jaws 16 to tightly hold the workpiece 4, the push-pull cylinder 13 pulls the guide rail base plate 14 to move backwards, the workpiece 4 reaches the position of the rotary base plate 12 (a proximity switch is arranged at the position to judge whether the workpiece exists or not), if the proximity switch detects the workpiece, the electrode probe 17 is electrified and detected, if current exists, the contact surface is a front surface, the clamping cylinder 15 is loosened, the angle of the rotary base plate 12 is kept unchanged, and the push-pull cylinder 13 and the clamping cylinder 15 act to send the workpiece 4 back to the conveying line to wait for the robot to grab; if no current passes through the robot, the contact surface is the reverse surface, the rotary cylinder 18 drives the rotary base plate 12 to rotate 180 degrees (or 90 degrees), the clamping cylinder 15 is loosened, the robot is waited to grab the workpiece 4, and after the workpiece 4 is grabbed, the conveying line starts to operate again.

Claims

1. The utility model provides a robot arm anchor clamps for unloading in automation, includes the main junction board, the main junction board intermediate position is equipped with the connecting portion that are used for connecting robotic arm, it gets subassembly, its characterized in that to be equipped with the clamp on the main junction board: the clamping assembly comprises a clamping cylinder, a main driving chuck and a driven chuck, the clamping cylinder is fixed on a main connecting plate, the main driving chuck is connected with the clamping cylinder and is in sliding fit with the main connecting plate, the driven chuck is arranged on one side of the main driving chuck, the driven chuck is connected with the main driving chuck through a lever assembly, and when the clamping cylinder acts, the clamping cylinder can drive the main driving chuck to move relative to the direction of the driven chuck, and when the main driving chuck acts, the driven chuck can be driven to move relative to the direction of the main driving chuck through the lever assembly, so that clamping and loosening of a workpiece can be realized through the cooperation of the main driving chuck and the driven chuck.

2. A robotic arm gripper as claimed in claim 1 for automated loading and unloading, wherein: the main driving chuck and the lever assembly are respectively arranged on two sides of the main connecting plate, a sliding groove is formed in the main connecting plate, and the bottom of the main driving chuck penetrates through the sliding groove to be matched with the lever assembly.

3. A robotic arm gripper as claimed in claim 2 for automated loading and unloading, wherein: the lever assembly comprises a lever arm and a supporting seat, the supporting seat is fixed on the main connecting plate, the lever arm is hinged to the supporting seat through a pin shaft, the driven chuck is fixed at one end of the lever arm, and the other end of the lever arm is matched with an inclined plane arranged at the bottom of the main driving chuck.

4. A robotic arm gripper as claimed in claim 3 for automated loading and unloading, wherein: and the lever arm is provided with a roller at the position matched with the inclined plane at the bottom of the main driving chuck, and the roller is attached to the inclined plane at the bottom of the main driving chuck.

5. A robotic arm gripper as claimed in claim 3 for automated loading and unloading, wherein: and a spring which applies force to the lever arm towards the outside is arranged between the lever arm and the main connecting plate, and the spring is arranged between the driven chuck and the supporting seat.

6. A robotic arm gripper as claimed in claim 1 for automated loading and unloading, wherein: the one side of main drive chuck towards driven chuck is V type structure, the one side of driven chuck towards the main drive chuck is the arc structure.

7. A robotic arm gripper as claimed in claim 1 for automated loading and unloading, wherein: and a sliding rail assembly is arranged between the main driving chuck and the main connecting plate.

8. A robotic arm gripper as claimed in claim 1 for automated loading and unloading, wherein: and the main connecting plate is provided with reinforcing rib plates which are symmetrically arranged at two sides of the connecting part.

9. A robotic arm gripper as claimed in claim 1 for automated loading and unloading, wherein: the clamping assemblies are two groups, the two groups of clamping assemblies are arranged on two sides of the main connecting plate respectively, and when the main connecting plate rotates 180 degrees by taking the connecting part as a center, the positions of the two groups of clamping assemblies are exchanged.

10. A robot arm clamp for automatic loading and unloading as claimed in any one of claims 1 to 9, wherein: the workpiece is an engine main bearing cap, when the clamping assembly clamps the main bearing cap, the main driving chuck acts on the outer side of the main bearing cap, and the driven chuck acts on the inner side of a semicircular opening of the main bearing cap.