CN211867252U

CN211867252U - Multi-posture clamp for robot of machining production line

Info

Publication number: CN211867252U
Application number: CN202020161943.3U
Authority: CN
Inventors: 石亚博; 王禾; 李佳玉; 刘伟; 刘秋宏
Original assignee: Chongqing Dexin Robot Detection Center Co ltd
Current assignee: Chongqing Kairui Robot Technology Co ltd
Priority date: 2020-01-22
Filing date: 2020-01-22
Publication date: 2020-11-06
Anticipated expiration: 2030-01-22

Abstract

The utility model relates to a robot clamp field provides a many gestures anchor clamps of machining production line robot, including cylinder mount pad and pneumatic clamping jaw, the pneumatic clamping jaw is including pressing from both sides the finger and drive clamp finger tight clamping jaw cylinder, clamping jaw cylinder and cylinder mount pad fixed connection, be equipped with laser detection sensor and air-blast nozzle on the cylinder mount pad, be equipped with the passageway of intercommunication air pressure nozzle and air supply in the cylinder mount pad. The utility model provides a this kind of multi-attitude anchor clamps disposes laser detection sensor, whether have winding smear metal on the discernment part, and clear air-blowing nozzle is assisted in the cooperation, can prevent effectively that there is winding smear metal to cause the damage to the part surface on the part.

Description

Multi-posture clamp for robot of machining production line

Technical Field

The utility model relates to a robot clamp field especially relates to a many gestures anchor clamps of machining production line robot.

Background

With the progress of science and technology, robots gradually replace many manual operations, such as factory operations of transportation, stacking and the like. The pneumatic clamping jaw is one of the existing robot clamps, can be generally divided into a Y-shaped clamping finger and a flat clamping finger according to the style, has the cylinder diameter of 16mm, 20mm, 25mm, 32mm and 40mm, uses compressed air as power, is used for clamping or grabbing workpieces, and is widely used by domestic automation enterprises. The production efficiency and the working safety can be effectively improved. The SMC pneumatic finger series is one of the most commonly used pneumatic jaw devices in the industry.

During the machining process of the part, cutting is generated and often wound on the part, and when a robot grabs and a machine tool clamps, chips and the surface of the part generate friction, so that the surface of the machined part is damaged.

SUMMERY OF THE UTILITY MODEL

The to-be-solved problem of the utility model is to provide a solve the smear metal winding and cause the robot clamp of damage to processing part surface on the part to the above-mentioned not enough that exists among the prior art.

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

the utility model provides a many attitudes of machine tooling production line robot anchor clamps, includes cylinder mount pad and pneumatic clamping jaw, and the pneumatic clamping jaw is including pressing from both sides the finger and drive clamp finger tight clamping jaw cylinder, clamping jaw cylinder and cylinder mount pad fixed connection are equipped with laser detection sensor and air-blowing nozzle on the cylinder mount pad, are equipped with the passageway of intercommunication air-blowing nozzle and air supply in the cylinder mount pad. Laser detects sensor discernment and whether has winding smear metal on the part, and the cooperation is assisted clear air-blowing nozzle, has winding smear metal to cause the damage to the part surface effectively to prevent to have on the part.

Furthermore, the clamping fingers comprise hard fingers and soft fingers, and the soft fingers are fixedly connected to the inner sides of the hard fingers. The soft finger has lower hardness and can not damage the surface of the product.

Furthermore, the inner side of the soft finger is provided with anti-skid lines. The friction force of the anti-skid lines is large, the product is clamped stably and reliably, and the repeatability precision is high.

Furthermore, the clamping jaw cylinder is also connected with the channel, the connection mode is simple, and the clamping jaw cylinder is a gas-off holding cylinder. When the air blowing nozzle is used, air pressure can be reduced, the grabbing force of the clamping jaw can be relatively reduced, and the air-break maintaining type air cylinder is adopted, so that the clamping jaw can be guaranteed to achieve the necessary minimum grabbing force even if the pressure is small.

Furthermore, two pneumatic clamping jaws are arranged on the cylinder mounting seat. Finished product blanking and blank feeding operations can be completed through one-time action of the robot.

Further, the pneumatic clamping jaw is a translational pneumatic clamping jaw. Compact and light in weight, and minimizes profile disturbances during operation.

Furthermore, the cylinder mounting seat is roughly triangular, the two pneumatic clamping jaws are respectively fixed on two side edges of the cylinder mounting seat, and the laser detection sensor is positioned at the vertex between the two pneumatic clamping jaws on the cylinder mounting seat. The pneumatic clamping jaws can not block the laser detection sensor when clamping a product, so that the interference of the two pneumatic clamping jaws on the laser detection sensor is avoided, and the detection is convenient.

Furthermore, the third edge of cylinder mount pad is equipped with the flange of connecting the robot for be connected with the robot, conflict takes place with the robot arm when avoiding the tongs to carry out operations such as centre gripping product.

Furthermore, a switch for automatic stop alarm is arranged in the gas path of the multi-posture clamp of the robot. When the air pressure of the air source is unstable and the air pressure fluctuation range exceeds the set range, the robot stops and gives an alarm.

To sum up, compare in prior art, the beneficial effects of the utility model reside in that: the robot multi-posture clamp can reduce appearance interference to the maximum extent, clamps products stably and reliably, can identify whether parts have wound cuttings or not by arranging a laser detection sensor on the robot clamp, and prevents the parts from being damaged by the wound cuttings due to the cooperation of an auxiliary clean air blowing nozzle.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic view of an end grip configuration;

fig. 2 is a schematic view of a two-finger translational gripper quick-change positioning pin sleeve.

Wherein: the pneumatic clamping jaw device comprises a cylinder mounting seat 1, a pneumatic clamping jaw 2, a clamping finger 3, a clamping jaw cylinder 4, a laser detection sensor 5, an air blowing nozzle 6, a flange 7, a base jaw 8, a positioning bush 9, a hard finger 31 and a soft finger 32.

Detailed Description

In order to make the utility model realize that technical means, creation characteristics, achievement purpose and effect are clearer and easily understand, it is right to combine below the figure and the detailed implementation mode the utility model discloses do further explanation:

as shown in fig. 1, the utility model provides a many attitudes anchor clamps of machine tooling production line robot, including cylinder mount pad 1 and pneumatic clamping jaw 2, pneumatic clamping jaw 2 indicates 3 and the drive clamp finger 3 tight clamping jaw cylinder 4 including pressing from both sides, clamping

jaw cylinder

4 and 1 fixed connection of cylinder mount pad, are equipped with laser detection sensor 5 and air-blowing nozzle 6 on the cylinder mount pad 1, are equipped with the passageway of intercommunication air-blowing nozzle 6 and air supply in the cylinder mount pad 1. Laser detection sensor 5 combines the robot motion trajectory can follow the contour scanning motion of machined product surface, carries out the contour scanning to the profile after the part machining, and whether discernment has winding smear metal on the part, when not detecting the smear metal, clamping jaw cylinder 4 drive pneumatic clamping jaw 2 press from both sides and indicate 3 direct centre gripping products, when detecting there is the smear metal, and the air-blowing nozzle 6 is handled earlier, and supplementary smear metal of cleaing away on anchor clamps clamping face, locating surface, the part. The clamping fingers 3 comprise hard fingers 31 and soft fingers 32, and the soft fingers 32 are fixedly connected to the inner sides of the hard fingers 31, so that the surfaces of processed products can be effectively protected; the inner side of the soft finger 32 is provided with anti-skid threads, so that the friction force is large, and the product is stable and reliable when being clamped. The clamping jaw cylinder 4 is also connected with the channel, the connection mode is simple, and the clamping jaw cylinder 4 is a gas-off keeping cylinder. When the air blowing nozzle 6 is used, air pressure can be reduced, the grabbing force of the clamping jaw can be relatively reduced, and the air-break maintaining type air cylinder is adopted, so that the clamping jaw can be guaranteed to achieve the necessary minimum grabbing force even if the pressure is small. The air cylinder mounting seat 1 is provided with two pneumatic clamping jaws 2, when a robot needs to complete finished product blanking and blank feeding operations, one pneumatic clamping jaw 2 clamps a blank, the other pneumatic clamping jaw 2 clamps a finished product in a storage bin, and finished product blanking and blank feeding operations can be completed through one-time action. Because the two-finger translation type pneumatic clamping jaw is adopted, the clamping jaw has a compact structure and lighter weight, and can reduce the interference of the appearance to the maximum extent during operation. The cylinder mounting base 1 is roughly triangular, the two pneumatic clamping jaws 2 are respectively fixed on two side edges of the cylinder mounting base 1, and the laser detection sensor 5 is located at the vertex between the two pneumatic clamping jaws 2 on the cylinder mounting base 1. The pneumatic clamping jaw 2 can not block the laser detection sensor 5 when clamping a product, so that the interference of the two pneumatic clamping jaws 2 on the laser detection sensor 5 is avoided, and the detection is convenient. And a flange 7 connected with a robot is arranged on the third edge of the cylinder mounting seat 1 and is used for being connected with the robot. The collision between the gripper and the robot arm when the gripper clamps products and the like is avoided. The air circuit control of the robot clamp is controlled by adopting an independent pressure reducing valve, and the clamping force of the air circuit air pressure adjusting clamp of the robot clamp can be controlled independently. In addition, a pressure switch is arranged in the air path of the robot clamp, when the air pressure of an air source is unstable, and the air pressure fluctuation range exceeds a set range, the robot clamp is shut down to alarm and is manually intervened to process, so that the surfaces of machined parts are prevented from being damaged by robot grabbing and machine tool clamping when winding chips exist on the parts.

As shown in fig. 2, two base jaws 8 are embedded in the clamping jaw cylinder 4 and respectively located at two sides of the clamping jaw cylinder 4, and positioning bushings 9 are arranged on the base jaws 8 and the mounting surfaces of the hard fingers 31. Furthermore, when the production line is changed in type, only the corresponding clamping jaw finger assemblies, namely the hard finger 31 and the soft finger 32, need to be changed, and the positioning bushing 9 arranged on the installation surfaces of the hard finger 31 and the base jaw 8 enables the replacement to be carried out without the need of aligning and teaching again, so that the production line can be quickly changed in type.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims

1. The utility model provides a many attitudes anchor clamps of machining production line robot, includes cylinder mount pad (1) and pneumatic clamping jaw (2), and pneumatic clamping jaw (2) are including pressing from both sides to indicate (3) and drive clamp to indicate clamping jaw cylinder (4) that (3) press from both sides tightly, clamping jaw cylinder (4) and cylinder mount pad (1) fixed connection, its characterized in that: the air cylinder mounting seat is characterized in that a laser detection sensor (5) and an air blowing nozzle (6) are arranged on the air cylinder mounting seat (1), and a channel for communicating the air blowing nozzle (6) with an air source is arranged in the air cylinder mounting seat (1).

2. The multi-pose robot clamp for machining lines of claim 1, wherein: the clamping finger (3) comprises a hard finger (31) and a soft finger (32), and the soft finger (32) is fixedly connected to the inner side of the hard finger (31).

3. The multi-pose robot clamp for machining lines of claim 2, wherein: the inner side of the soft finger (32) is provided with anti-skid lines.

4. The multi-pose robot clamp for machining lines of claim 1, wherein: the clamping jaw cylinder (4) is also connected with the channel, and the clamping jaw cylinder (4) is an air-break maintaining cylinder.

5. The multi-pose robot clamp of machining line of claim 4, wherein: two pneumatic clamping jaws (2) are arranged on the cylinder mounting seat (1).

6. The multi-pose robot clamp of machining line of claim 5, wherein: the pneumatic clamping jaw (2) is a translational pneumatic clamping jaw.

7. The multi-pose robot clamp of machining line of claim 6, wherein: the air cylinder mounting seat (1) is roughly triangular, the two pneumatic clamping jaws (2) are respectively fixed on two side edges of the air cylinder mounting seat (1), and the laser detection sensor (5) is located at the top point between the two pneumatic clamping jaws (2) on the air cylinder mounting seat (1).

8. The multi-pose robot clamp of a machining line of claim 7, wherein: and a flange (7) connected with a robot is arranged on the third edge of the cylinder mounting seat (1).

9. The multi-pose robot clamp of a machining line of claim 8, wherein: and a switch for automatic stop alarm is arranged in the gas path of the robot multi-posture clamp.