CN215511094U

CN215511094U - Robot end effector for bearing blade

Info

Publication number: CN215511094U
Application number: CN202121926883.0U
Authority: CN
Inventors: 李传军; 庞党锋; 孟祥懿; 刘彦磊; 韩晓方
Original assignee: Tianjin Sino German University of Applied Sciences
Current assignee: Tianjin Sino German University of Applied Sciences
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2022-01-14
Anticipated expiration: 2031-08-17

Abstract

The utility model relates to a robot end effector for bearing blades, which comprises a flange plate connected with the end of a robot, a frame fixedly connected with the flange plate, a first clamping jaw, a second clamping jaw and a second clamping jaw, wherein the first clamping jaw is close to the flange plate and is hinged with one end of the frame; the tail end of the first clamping jaw is provided with a first bearing part, and the tail end of the second clamping jaw is provided with a second bearing part; the robot end effector further comprises a driving device arranged on the rack, and the driving device is used for driving the first clamping jaw to rotate towards a first direction and the second clamping jaw to rotate towards a second direction so that the first bearing part is contacted with the first end of the blade, and the second bearing part is contacted with the second end of the blade; the first direction is opposite to the second direction, and the first end of the blade is opposite to the second end of the blade. Adopt robot end effector, combine the robot work, can make the efficiency of carrying processing back blade effectively promote.

Description

Robot end effector for bearing blade

Technical Field

The utility model relates to the field of robot end effectors, in particular to a robot end effector for bearing a blade.

Background

In the field of processing of blades of aircraft engines and blades of steam turbines, the processed blades are often manually moved in a link of moving the processed blades out of a milling machine due to the special shapes of the blades, and the carrying efficiency is low. And the robot end effector for the transport of other regular machined parts often adopts to press from both sides and gets, and to the blade, especially B spline curved surface blade, the mode of adopting to press from both sides to get is difficult to carry out the stable clamp to the blade and gets.

SUMMERY OF THE UTILITY MODEL

In order to overcome at least one of the above-mentioned problems, the present invention provides a robot end effector for supporting a blade, which is capable of carrying the blade out of a milling machine by a claw operation after the blade is inserted from below. The robot end effector comprises a flange plate connected with the end of a robot, a frame fixedly connected with the flange plate, a first clamping jaw, a second clamping jaw and a blade supporting mechanism, wherein the first clamping jaw is close to the flange plate and is hinged with one end of the frame; the tail end of the first clamping jaw is provided with a first bearing part, and the tail end of the second clamping jaw is provided with a second bearing part; the robot end effector further comprises a driving device arranged on the rack, and the driving device is used for driving the first clamping jaw to rotate towards a first direction and the second clamping jaw to rotate towards a second direction so that the first bearing part is contacted with the first end of the blade, and the second bearing part is contacted with the second end of the blade; the first direction is opposite to the second direction, and the first end of the blade is opposite to the second end of the blade.

Further, a plurality of first lugs arranged along the first clamping jaw in an extending mode are arranged on the first bearing part; the second bearing part is provided with a plurality of second lugs extending along the second clamping jaws.

Further, the first lug comprises a first vertical surface perpendicular to the extending direction of the first claw and a first wedge-shaped surface opposite to the first vertical surface; the second lug comprises a second vertical surface perpendicular to the extending direction of the second claw and a second wedge-shaped surface opposite to the second vertical surface.

Furthermore, the driving device comprises a sliding rail fixedly connected with the rack, a sliding block capable of sliding relative to the sliding rail, a first connecting rod with one end hinged with the sliding block and the other end hinged with the first clamping jaw, and a second connecting rod with one end hinged with the sliding block and the other end hinged with the second clamping jaw; the sliding rail is arranged between the first clamping jaw and the second clamping jaw, the hinge point of the first connecting rod and the first clamping jaw is located on the outer side of the connecting line of the hinge point between the first bearing part and the first clamping jaw as well as the rack, and the hinge point of the second connecting rod and the second clamping jaw is located on the inner side of the connecting line of the hinge point between the second bearing part and the second clamping jaw as well as the rack.

Furthermore, the driving device also comprises a driving cylinder or a linear motor which is arranged on the frame and connected with the sliding block.

Furthermore, the robot end effector also comprises a plurality of bearing cylinder assemblies arranged on the rack, each cylinder assembly comprises a cylinder body and a cylinder rod which can be driven to slide relative to the cylinder body, and the tail end of each cylinder rod is provided with a bearing bowl used for contacting with the bottom of each blade.

Further, the second jaw may be driven by the drive means to a position parallel to the frame.

When the robot end effector works initially, the second clamping jaw is in a position parallel to the rack and is inserted below the blade from the bottom of the blade, and the driving device drives the first clamping jaw and the second clamping jaw to rotate, so that the first bearing part and the second bearing part are in contact with the blade to bear the blade, and the degree of freedom of the blade can be limited. The second jack catch is parallel with the frame during initial work, and the end effector of being convenient for passes through from the blade below, avoids being blockked by the blade. Adopt robot end effector, combine the robot work, can make the efficiency of carrying processing back blade effectively promote.

Drawings

The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the utility model in any way, and in which:

FIG. 1 is a schematic view of the overall configuration of a robotic end effector for holding a blade according to some embodiments of the present invention (in an initial operation);

FIG. 2 is a schematic overall view (in initial operation) of another perspective of a robotic end effector for holding a blade according to some embodiments of the present invention;

FIG. 3 is a schematic view of a blade configuration for a robotic end effector for holding the blade according to some embodiments of the present invention;

FIG. 4 is a partial schematic view of a robotic end effector for holding a blade according to some embodiments of the present invention;

FIG. 5 is a partial schematic view of a robotic end effector for holding a blade according to some embodiments of the utility model;

FIG. 6 is a partial schematic view of a robotic end effector for holding a blade according to some embodiments of the present invention;

FIG. 7 is a schematic illustration of a robot end effector holding state for holding a blade according to some embodiments of the present invention;

fig. 8 is a schematic diagram of cylinder rod operation in a blade holding state of a robot end effector for holding a blade according to some embodiments of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

As shown in fig. 1 to 8, an embodiment of the present invention provides a robot end effector 100 for supporting a blade 200, which includes a flange 110 connected to a robot end, a frame 120 fixedly connected to the flange 110, a first jaw 130 hinged to one end of the frame 120 near the flange 110, and a second jaw 140 hinged to the other end of the frame 120 far from the flange 110; the first jaw 130 is provided with a first receiving part 131 at the end, and the second jaw 140 is provided with a second receiving part 141 at the end; the robot end effector 100 further comprises a driving device 150 disposed on the frame, wherein the driving device 150 is configured to drive the first jaw 130 to rotate in a first direction and the second jaw 140 to rotate in a second direction, so that the first receiving portion 131 is in contact with the first end 210 of the blade, and the second receiving portion 141 is in contact with the second end 220 of the blade; wherein the first direction is opposite the second direction and the first end 210 of the vane is disposed opposite the second end 220 of the vane.

When machining, the milling machine fixture or the machining center fixture fixes the left end 230 and the right end 240 of the blade 200, after machining is completed, the blade 200 needs to be taken out from a machining station, the robot executes the tail end 100 to work, when initial work is performed, the second jaw 140 is parallel to the frame 120, the six-axis robot works to cause the tail end to move, the robot end effector 100 is driven to penetrate through the bottom of the blade, the second jaw 140 moves to the outer side of the second end 220 of the blade, the driving device 150 drives the first jaw 130 and the second jaw 140 to rotate, the first bearing portion 131 and the second bearing portion 141 are in contact with the blade 200, and bearing limitation is performed on the blade 200. In some embodiments, the first receiving portion 131 is provided with a plurality of first protrusions 132 extending along the first jaw 130; the second receiving portion 141 is provided with a plurality of second protrusions 142 extending along the second jaw 140. The first projection 132 and the second projection 142 can clamp the end surface of the blade 200.

In some embodiments, the first protrusion 132 includes a first vertical surface 1321 perpendicular to the extending direction of the first jaw 130 and a first wedge surface 1322 opposite to the first vertical surface 1321; the second protrusion 142 includes a second vertical surface 1421 perpendicular to the extending direction of the second jaw 140 and a second wedge surface 1422 opposite to the second vertical surface 1421. The first vertical surface 1321 and the second vertical surface 1421 can reliably receive the end of a page, and meanwhile, the first wedge-shaped surface 1322 and the second wedge-shaped surface 1422 facilitate the first claw 130 and the second claw 140 to be separated from each other by the blade, and in the receiving process, the contact angle is large, and the damage to the page is small.

In some embodiments, the driving device 150 may be driven by a motor, and the rotation of the motor is transmitted to the first jaw 130 and the second jaw 140 through a chain or a synchronous belt, so as to achieve synchronous movement. In some embodiments, in order to provide a larger bearing force and reduce the volume and weight of the transmission member, the driving device 150 includes a slide rail 151 fixedly connected to the frame 120, a slide block 152 slidable relative to the slide rail 151, a first link 153 having one end hinged to the slide block 152 and the other end hinged to the first jaw 130, and a second link 154 having one end hinged to the slide block 152 and the other end hinged to the second jaw 140; the slide rail 151 is disposed between the first jaw 130 and the second jaw 140, a hinge point of the first link 153 and the first jaw 130 is located outside a connection line of the first receiving portion 131 and the hinge point 133 between the first jaw 130 and the frame 120, and a hinge point of the second link 154 and the second jaw 140 is located inside a connection line of the second receiving portion 141 and the hinge point 143 between the second jaw 140 and the frame 120. When the sliding block 152 slides in one direction, the first jaw 130 and the second jaw 140 rotate towards the middle of the frame at the same time, or move away from the frame outwards at the same time. In some embodiments, the driving device 150 further includes a driving cylinder or a linear motor disposed on the frame 120 and connected to the sliding block 152. The piston rod of the driving cylinder drives the sliding block 152 to move linearly, or the output end of the linear motor drives the sliding block 152 to move linearly.

In some embodiments, the first link 153 is hinged to the first jaw 130 through a through slot 121 of the frame 120.

In order to support the blade 200 more reliably and reduce the pressure applied to the first jaw 130 and the second jaw 140, the robot end effector 100 further includes a plurality of receiving cylinder assemblies disposed on the frame 120, each cylinder assembly includes a cylinder body 161 and a cylinder rod 162 that can be driven to slide relative to the cylinder body 161, the end of the cylinder rod 162 is provided with a bearing bowl 1621 for contacting the bottom of the blade 200, after most of the first jaw 130 and the second jaw 140 receive the blade 200, each cylinder body 161 is driven to work independently, so that the cylinder rod 162 extends out until the bearing bowl 1621 contacts the bottom of the blade 200, thereby ensuring that partial pressure is applied to the first jaw 130 and the second jaw 140.

In some embodiments, the second jaw 140 may be driven by the driving device 150 to a position parallel to the frame 120. Facilitating insertion into the bottom of the blade 200.

It should be noted that, in the embodiment of the present invention, the number of the first jaw 130 and the second jaw 140 may be multiple, and when the number of the first jaw 130 and the second jaw is multiple, a fixed link connection is adopted, so that the multiple jaws move together, for example, two first jaws 130 are connected by a synchronizing rod 136, and a first link 153 is hinged to a hinge shaft 135, and the hinge shaft 135 is connected to two first jaws 130.

The length ratio between the first link 153 and the second link 154 in the present invention may be selected according to the range of motion between the first jaw 130 and the second jaw 140.

In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot end effector for bearing blades is characterized by comprising a flange plate connected with the end of a robot, a frame fixedly connected with the flange plate, a first clamping jaw close to the flange plate and hinged to one end of the frame, a second clamping jaw far away from the flange plate and hinged to the other end of the frame; the tail end of the first clamping jaw is provided with a first bearing part, and the tail end of the second clamping jaw is provided with a second bearing part; the robot end effector further comprises a driving device arranged on the rack, and the driving device is used for driving the first clamping jaw to rotate towards a first direction and the second clamping jaw to rotate towards a second direction so that the first bearing part is contacted with the first end of the blade, and the second bearing part is contacted with the second end of the blade; the first direction is opposite to the second direction, and the first end of the blade is opposite to the second end of the blade.

2. The blade bearing robotic end effector of claim 1, wherein the first bolster is provided with a plurality of first projections extending along the first jaw; the second bearing part is provided with a plurality of second lugs extending along the second clamping jaws.

3. The blade bearing robotic end effector of claim 2, wherein said first tab includes a first vertical plane perpendicular to a direction of extension of said first jaw and a first wedge surface opposite said first vertical plane; the second lug comprises a second vertical surface perpendicular to the extending direction of the second claw and a second wedge-shaped surface opposite to the second vertical surface.

4. The robot end effector for supporting the blades of any one of claims 1 to 3, wherein the driving device comprises a slide rail fixedly connected with the frame, a slide block capable of sliding relative to the slide rail, a first connecting rod with one end hinged to the slide block and the other end hinged to the first jaw, and a second connecting rod with one end hinged to the slide block and the other end hinged to the second jaw; the sliding rail is arranged between the first clamping jaw and the second clamping jaw, the hinge point of the first connecting rod and the first clamping jaw is located on the outer side of the connecting line of the hinge point between the first bearing part and the first clamping jaw as well as the rack, and the hinge point of the second connecting rod and the second clamping jaw is located on the inner side of the connecting line of the hinge point between the second bearing part and the second clamping jaw as well as the rack.

5. The blade bearing robotic end effector of claim 4, wherein the drive mechanism further comprises a drive cylinder or linear motor attached to the frame and coupled to the slide.

6. A robot end effector for supporting a blade according to any one of claims 1 to 3, further comprising a plurality of receiving cylinder assemblies disposed on the frame, wherein the cylinder assemblies include a cylinder block and a cylinder rod driven to slide relative to the cylinder block, and a receiving bowl for contacting the bottom of the blade is disposed at the end of the cylinder rod.

7. A robot end effector for supporting a blade according to any of claims 1 to 3 wherein the second jaw is drivable by the drive means to a position parallel to the frame.