CN216543365U

CN216543365U - Robot double-end anchor clamps and automatic grasping system

Info

Publication number: CN216543365U
Application number: CN202123244722.6U
Authority: CN
Inventors: 周通; 张楠; 黄晓强; 刘明灯; 徐宗立; 高杰; 张华伟
Original assignee: Jiangsu Jinheng Information Technology Co Ltd
Current assignee: Jiangsu Jinheng Information Technology Co Ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-05-17
Anticipated expiration: 2031-12-22

Abstract

The utility model discloses a robot double-head clamp and an automatic grabbing system, which comprise a mounting flange, an electromagnet chuck, a pneumatic clamping jaw and a connecting plate, wherein the mounting flange is used for connecting an external robot body, one side of the connecting plate is connected with the mounting flange, the other side of the connecting plate is connected with the electromagnet chuck and the pneumatic clamping jaw, and the electromagnet chuck and the pneumatic clamping jaw are arranged at intervals. The utility model has the advantages that: the grabbing and feeding of samples with different thicknesses and different weights can be performed, and the application range is wide. Meanwhile, a double positioning structure of sample placing groove pre-positioning and visual positioning device accurate positioning is adopted, so that the positioning efficiency is improved, and the positioning accuracy is also improved.

Description

Robot double-end anchor clamps and automatic grasping system

Technical Field

The utility model relates to a robot double-end clamp and an automatic grabbing system, in particular to a robot double-end clamp and an automatic grabbing system which can adapt to feeding of samples with different thicknesses, and belongs to the technical field of robot systems.

Background

At present, steel plate samples of a steel mill detection center mainly comprise an impact sample, a tensile sample, a bending sample, a metallographic sample and the like, and after rectangular detection rough samples are cut on a production site, the steel plate samples are uniformly sent to a sample processing workshop to prepare sample intermediate parts. The processing of sample generally adopts high-speed circular sawing machine to saw cut the processing respectively to the different planes of sample, because thickness, the size diverse of different grade type sample, the processing material loading of sample if adopt artifical material loading, intensity of labour is big, and danger coefficient is high, and adopts the robot material loading, then faces the difficult problem how to compromise various thickness sample material loading, otherwise adaptability is low, is not conform to the production demand.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: aiming at the problems, the utility model aims to provide a robot double-head clamp which can adapt to automatic feeding of samples with different thicknesses and sizes.

The technical scheme is as follows: the utility model provides a double-end anchor clamps of robot, includes mounting flange, electro-magnet sucking disc, pneumatic clamping jaw, connecting plate, mounting flange is used for connecting outside robot, connecting plate one side is connected mounting flange, opposite side are connected electro-magnet sucking disc and pneumatic clamping jaw, electro-magnet sucking disc, pneumatic clamping jaw interval set up.

The principle of the utility model is as follows: adopt the double-end structure of electro-magnet sucking disc and pneumatic clamping jaw, when carrying out snatching of thinner, lighter sample, adopt the electro-magnet sucking disc to carry out, when carrying out snatching of thicker, heavier sample, adopt pneumatic clamping jaw to carry out to when carrying out snatching of different thickness, different weight samples, adopt the structure execution of snatching more stably to snatch the action, when the stability is snatched in the improvement, applicable sample scope is also more extensive.

Further, the connecting plate is the L type, including long arm and forearm, long arm one side is connected mounting flange, opposite side are connected pneumatic clamping jaw, the electro-magnet sucking disc is fixed on the forearm, pneumatic clamping jaw, electro-magnet sucking disc pass through the forearm is separated, just the electro-magnet sucking disc inhale the material direction with the clamp material direction of pneumatic clamping jaw is mutually perpendicular. In this structure, adopt when separating the structure, with the material clamping direction holding of pneumatic clamping jaw, electro-magnet sucking disc perpendicular, guarantee can not take place to interfere between pneumatic clamping jaw and the electro-magnet sucking disc.

Further, still including fixing first displacement sensor, the second displacement sensor on the connecting plate, first displacement sensor with electromagnet chuck is adjacent to be set up, and the detection direction with electromagnet chuck's the material direction of inhaling is the same, the second displacement sensor with pneumatic clamping jaw is adjacent to be set up, and the detection direction with pneumatic clamping jaw's the material direction of pressing from both sides is the same. In this structure, detect the electromagnet sucking disc respectively through first displacement sensor, second displacement sensor and wait to get the position relation between the sample, pneumatic clamping jaw and wait to get the sample between to early warning in advance avoids the collision.

Further, still include position compensator, the connecting plate passes through position compensator connects the mounting flange. In the robot system, after the clamp grabs the sample, there will be actual space size deviation when carrying to each position, if do not use position compensator can have sample collision hidden danger. The position compensator is selected to compensate the actual precision size deviation, so that the consistency of the movement position at each time is ensured, and the track deviation is avoided.

The utility model also relates to an automatic grabbing system which comprises a robot body, a feeding mechanism and a double-head clamp, wherein the double-head clamp is fixed at the movable end of the robot body, the movable range of the double-head clamp covers the feeding mechanism, the feeding mechanism comprises a workbench, a high-position platform, a low-position platform, a high-position platform propelling component and a low-position platform propelling component, the high-position platform propelling component is connected with the high-position platform and the workbench, the low-position platform propelling component is connected with the low-position platform and the workbench, the high-position platform and the low-position platform respectively horizontally move under the driving of the high-position platform propelling component and the low-position platform propelling component, and the low-position platform can penetrate through the lower part of the high-position platform. In this structure, high-order platform, low level platform all can be used to put the sample to reach double-end anchor clamps department in turn, snatch the sample of putting in high-order platform, the low level platform through double-end anchor clamps. Meanwhile, the high-order platform and the low-order platform adopt an alternate feeding structure, namely when the high-order platform is positioned at the position of the double-end clamp, the low-order platform is positioned at the other side of the workbench and can be used for manual feeding, so that the feeding efficiency is improved, and the feeding beat is saved. In addition, the low platform passes through the high platform below and removes, can save installation space.

Further, still include vision positioner, vision positioner includes support, mounting panel, light source, industry camera, the support is located feed mechanism one side, and extend to the feed mechanism top, the mounting panel is fixed on the support, light source, industry camera are fixed on the mounting panel, and the orientation feed mechanism. In this structure, carry out the collection that the sample put the image on the feed mechanism through the industry camera to obtain the position information that the sample put on feed mechanism, thereby make things convenient for the accurate execution of double-end anchor clamps to snatch the action.

Further, the visual positioning device further comprises a vertical propelling assembly, the vertical propelling assembly comprises a bottom plate, a vertical guide rail and a vertical cylinder, the bottom plate is fixed on the support, the vertical guide rail is connected with the mounting plate and the bottom plate, and the vertical cylinder drives the mounting plate to move along the vertical guide rail. This structure is through advancing the distance between subassembly regulation industry camera and the sample to enlarge the depth of field of camera, thereby better adaptation does not use the sample position of thickness to shoot.

Furthermore, the visual positioning device further comprises a hydraulic buffer and a positioning baffle, wherein the hydraulic buffer is fixed on the bottom plate, and the positioning baffle is fixed on the mounting plate and is arranged in an alignment mode with the hydraulic buffer to form limiting protection.

Further, feed mechanism still includes the quick change plummer, the quick change plummer set up respectively in on high-order platform, the low level platform, and the upper surface set up the equipartition put a kind groove, every put a kind inslot and place single sample respectively. In this structure, the quick change plummer can realize the quick replacement to the sample of different shapes and size, and simultaneously, the equipartition put the appearance groove and also can tentatively fix a position the sample position, improves vision positioner's location efficiency.

Has the advantages that: compared with the prior art, the utility model has the advantages that: the grabbing and feeding of samples with different thicknesses and weights can be performed, and the application range is wide. Meanwhile, a double positioning structure of sample placing groove pre-positioning and visual positioning device accurate positioning is adopted, so that the positioning efficiency is improved, and the positioning accuracy is also improved.

Drawings

FIG. 1 is a schematic perspective view of a connection relationship of a robot dual-head clamp according to the present invention;

FIG. 2 is an enlarged schematic view of position A of FIG. 1;

FIG. 3 is a schematic perspective view of an automatic grasping system according to the present invention;

FIG. 4 is a schematic structural diagram of a feeding mechanism;

fig. 5 is an enlarged schematic view of the position B in fig. 3.

Detailed Description

The utility model will be further elucidated with reference to the drawings and specific examples, which are intended to illustrate the utility model and are not intended to limit the scope of the utility model.

The embodiment firstly relates to a robot double-head clamp, as shown in fig. 1, which is installed at a movable end of a robot body, as shown in fig. 2, and specifically includes a mounting flange 11, an electromagnet chuck 12, a pneumatic clamping jaw 13, a connecting plate 14, a first displacement sensor 15, a second displacement sensor 16, and a position compensator 17.

The mounting flange 11 is used for connecting an external robot body, and the connecting plate 14 is connected with the mounting flange 11 through a position compensator 17. In this embodiment, the connecting plate 14 specifically is the L type, including long arm 14a and short arm 14b, mounting flange 11 is connected to long arm 14a one side, pneumatic clamping jaw 13 is connected to the opposite side, and electromagnet suction cup 12 is fixed on short arm 14b, and pneumatic clamping jaw 13, electromagnet suction cup 12 separate through short arm 14b to realize electromagnet suction cup 12, pneumatic clamping jaw 13's interval setting, electromagnet suction cup 12 inhale the material direction and pneumatic clamping jaw 13's clamp material direction mutually perpendicular. The first displacement sensor 15 and the second displacement sensor 16 are fixed on the connecting plate 14, the first displacement sensor 15 is arranged adjacent to the electromagnet sucker 12, the detection direction of the first displacement sensor is the same as the material suction direction of the electromagnet sucker 12, the second displacement sensor 16 is arranged adjacent to the pneumatic clamping jaw 13, and the detection direction of the second displacement sensor is the same as the material clamping direction of the pneumatic clamping jaw 13.

As shown in fig. 3, the present embodiment further relates to an automatic gripping system, which includes a robot body 2, a feeding mechanism 3, a visual positioning device 4, and the above-mentioned double-head fixture 1.

The double-end clamp 1 is fixed at the movable end of the robot body 2, and the movable range of the double-end clamp covers the feeding mechanism 3.

The feeding mechanism 3 is shown in fig. 4 and includes a work bench 31, a high platform 32, a low platform 33, a high platform propelling assembly 34, a low platform propelling assembly 35, and a quick-change bearing platform 36. The high-position platform propulsion assembly 34 is connected with the high-position platform 32 and the workbench 31, the low-position platform propulsion assembly 35 is connected with the low-position platform 33 and the workbench 31, the high-position platform 32 and the low-position platform 33 respectively move horizontally under the driving of the high-position platform propulsion assembly 34 and the low-position platform propulsion assembly 35, and the low-position platform 33 can pass below the high-position platform 32. The quick-change bearing platform 36 is respectively arranged on the high-position platform 32 and the low-position platform 33, the upper surface of the quick-change bearing platform is provided with sample placing grooves 36a which are uniformly distributed, and a single sample is respectively placed in each sample placing groove 36 a.

The visual positioning device 4 is shown in fig. 5 and comprises a bracket 41, a mounting plate 42, a light source 43, an industrial camera 44, a vertical propelling assembly 45, a hydraulic buffer 46 and a positioning baffle 47. The bracket 41 is located on one side of the feeding mechanism 3 and extends above the feeding mechanism 3, the mounting plate 42 is fixed on the bracket 41, and the light source 43 and the industrial camera 44 are fixed on the mounting plate 42 and face the feeding mechanism 3. In this embodiment, the vertical pushing assembly 45 specifically includes a bottom plate 45a, a vertical guide rail 45b, and a vertical cylinder 45c, the bottom plate 45a is fixed on the bracket 41, the vertical guide rail 45b is connected to the mounting plate 42 and the bottom plate 45a, and the vertical cylinder 45c drives the mounting plate 42 to move along the vertical guide rail 45 b. The hydraulic buffer 46 is fixed on the bottom plate 45a, and the positioning baffle 47 is fixed on the mounting plate 42 and is aligned with the hydraulic buffer 46 to form a limit protection.

When the robot double-end anchor clamps and the automatic grasping system of this embodiment use, at first through the feed mechanism material loading, feed mechanism adopts the design of material loading in turn, high-order platform is in the double-end anchor clamps position, low-order platform is located the opposite side of workstation, can be used to artifical material loading, artifical material loading is accomplished the back, low-order platform passes from high-order platform below, move to double-end anchor clamps position, high-order platform then moves to artifical material loading department, thereby realize the material loading in turn of high-order platform and low-order platform, promote the material loading efficiency, save the material loading beat. After the material loading is accomplished, carry out the collection of sample image through industry camera, confirm the sample and put the concrete position of appearance inslot, finally, double-end anchor clamps carry out the accuracy of sample and snatch according to the sample positional information who gathers.

Simultaneously, in this embodiment, to the sample of different thickness, double-end anchor clamps and industry camera have two kinds of operating condition, when carrying out the snatching of thick, heavier sample, the double-end anchor clamps of robot adjust to pneumatic clamping jaw and snatch, and vision positioner's industry camera promotes high-order operating condition through vertical cylinder to the shooting of thick sample is convenient for. When carrying out the snatching of thinner, lighter sample, robot double-end anchor clamps adjust to the electro-magnet sucking disc snatchs, and vision positioner's industry camera drops to low level operating condition through vertical cylinder to the shooting of thinner sample is convenient for.

In addition, in the present embodiment, the first displacement sensor 15 and the second displacement sensor 16 are preferably laser displacement sensors, and the high platform propelling assembly 34 and the low platform propelling assembly 35 may be of a common air cylinder or electric cylinder driving structure. The high-level platform can be connected with the high-level platform propelling component through the supporting columns so as to realize an alternate feeding structure that the low-level platform 33 moves through the lower part of the high-level platform 32.

Claims

1. The utility model provides a double-end anchor clamps of robot which characterized in that: including mounting flange (11), electro-magnet sucking disc (12), pneumatic clamping jaw (13), connecting plate (14), mounting flange (11) are used for connecting outside robot, connecting plate (14) one side is connected mounting flange (11), opposite side are connected electro-magnet sucking disc (12) and pneumatic clamping jaw (13), electro-magnet sucking disc (12), pneumatic clamping jaw (13) interval sets up.

2. A robotic double-ended clamp according to claim 1, wherein: connecting plate (14) are the L type, including long arm (14 a) and short arm (14 b), long arm (14 a) one side is connected mounting flange (11), opposite side are connected pneumatic clamping jaw (13), electro-magnet sucking disc (12) are fixed on short arm (14 b), pneumatic clamping jaw (13), electro-magnet sucking disc (12) pass through short arm (14 b) are separated, just the material direction of inhaling of electro-magnet sucking disc (12) with the clamp material direction of pneumatic clamping jaw (13) is mutually perpendicular.

3. A robotic double-ended clamp according to claim 1, wherein: still including fixing first displacement sensor (15), second displacement sensor (16) on connecting plate (14), first displacement sensor (15) with electromagnet chuck (12) adjacent set up, and the detection direction with electromagnet chuck (12) inhale the material direction the same, second displacement sensor (16) with pneumatic clamping jaw (13) adjacent set up, and the detection direction with the clamp material direction of pneumatic clamping jaw (13) is the same.

4. A robotic double-ended clamp according to claim 1, wherein: the mounting flange structure further comprises a position compensator (17), and the connecting plate (14) is connected with the mounting flange (11) through the position compensator (17).

5. An automatic grasping system, characterized in that: the double-head clamp (1) comprises a robot body (2), a feeding mechanism (3) and the double-head clamp (1) as claimed in any one of claims 1 to 4, wherein the double-head clamp (1) is fixed at the movable end of the robot body (2), the movable range of the double-head clamp covers the feeding mechanism (3), the feeding mechanism (3) comprises a workbench (31), a high platform (32), a low platform (33), a high platform propelling component (34) and a low platform propelling component (35), the high platform propelling component (34) is connected with the high platform (32) and the workbench (31), the low platform propelling component (35) is connected with the low platform (33) and the workbench (31), the high platform (32) and the low platform (33) respectively horizontally move under the driving of the high platform propelling component (34) and the low platform propelling component (35), and the lower platform (33) can pass below the upper platform (32).

6. The automated grasping system according to claim 5, wherein: still include vision positioner (4), vision positioner (4) include support (41), mounting panel (42), light source (43), industry camera (44), support (41) are located feed mechanism (3) one side, and extend to feed mechanism (3) top, mounting panel (42) are fixed on support (41), light source (43), industry camera (44) are fixed on mounting panel (42), and the orientation feed mechanism (3).

7. The automated grasping system according to claim 6, wherein: visual positioning device (4) still includes vertical propulsion subassembly (45), vertical propulsion subassembly (45) include bottom plate (45 a), vertical guide rail (45 b), vertical cylinder (45 c), bottom plate (45 a) are fixed on support (41), vertical guide rail (45 b) are connected mounting panel (42), bottom plate (45 a), vertical cylinder (45 c) drive mounting panel (42) are followed vertical guide rail (45 b) remove.

8. The automated grasping system according to claim 7, wherein: the visual positioning device (4) further comprises a hydraulic buffer (46) and a positioning baffle (47), wherein the hydraulic buffer (46) is fixed on the bottom plate (45 a), and the positioning baffle (47) is fixed on the mounting plate (42) and is aligned with the hydraulic buffer (46) to form limiting protection.

9. The automated grasping system according to claim 6, wherein: the feeding mechanism (3) further comprises a quick-change bearing platform (36), wherein the quick-change bearing platform (36) is respectively arranged on the high-position platform (32) and the low-position platform (33), sample placing grooves (36 a) are uniformly formed in the upper surface of the quick-change bearing platform, and each sample placing groove (36 a) is internally provided with a single sample.