CN216731848U

CN216731848U - Light-duty centre gripping formula end effector of robot

Info

Publication number: CN216731848U
Application number: CN202123446052.6U
Authority: CN
Inventors: 陈为民; 郭仁勇; 鲍忠俊
Original assignee: Umi China Electric Inc
Current assignee: Umi China Electric Inc
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-06-14
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a light-weight clamping type end effector of a robot, which comprises a mechanical arm connecting block, a parallel opening and closing type air claw, two free fine-tuning clamping claws and two micro proximity switches. The clamp has a simple structure and light overall weight, and the freely fine-tuning clamping jaw overcomes the problems of parallel opening and closing type gas jaw clearance and product surface parallel difference by the free fine-tuning function of the vertical surface of the clamp and the free fine-tuning function of the horizontal rotation angle of the parallel fine-tuning plate, so that the clamping contact surface of the clamp can be in close contact with the surface of a product, and the clamping firmness is ensured.

Description

Light-duty centre gripping formula end effector of robot

Technical Field

The utility model relates to the field of robots, in particular to a light clamping type end effector of a robot.

Background

The end effector has applications in many fields, and is mainly used in an automated production line in a stamping production process. The automatic sheet metal grabbing device is arranged at the tail end of an automatic mechanical arm, and is driven by the automatic mechanical arm to grab a stamped sheet metal and a workpiece by using a vacuum chuck, an electromagnetic chuck or a clamp instead of manpower (the automatic sheet metal grabbing device can also be used in the working procedures of a welding machine, stacking, sequence changing and the like).

The punching robot end effector has various types, such as a vacuum chuck type, an electric suction type and a clamping type. The product is of a clamping type. And clamping the product by the previous procedure on a production line, and putting the product into the die of the front punching machine for punching. And the robot in the next procedure clamps the processed product and transfers the product into the die of the stamping machine tool for processing. And the continuous work of multiple stamping processes of the stamping part is completed by replacing manpower under the transmission and operation of multiple robots.

The existing clamping type end pick-up has the following defects: 1. the jaws have only a simple two parallel faces or a specific fixed face. When the product surface is not vertical or parallel, the problem of infirm clamping can occur. 2. The clamping jaw lacks buffering, anti-skidding function, and damages difficult the change, and is with big costs. 3. The clamping jaw opening and closing is supported by a parallel opening and closing type pneumatic jaw, and the clamping jaw is usually installed on the pneumatic jaw with a gap and is unparallel and slightly splayed, so that a grabbed product is not firm. 4. The end effector and the mechanical arm connecting body are heavy and increase the weight.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a light clamping type end effector of a robot, which has the advantages of simple structure, light overall weight and stable and firm clamping products.

The technical scheme of the utility model is as follows:

a light clamping end effector of a robot comprises a mechanical arm connecting block, parallel opening and closing type air claws, two free fine adjustment clamping claws and two micro proximity switches, wherein the parallel opening and closing type air claws are fixedly connected to the mechanical arm connecting block, the inner ends of the two free fine adjustment clamping claws are fixedly connected to the two air claws of the parallel opening and closing type air claws respectively, the two micro proximity switches are fixedly connected to the outer ends of the two free fine adjustment clamping claws respectively, and sensing probes of the two micro proximity switches are horizontally opposite;

the two freely fine-tuning clamping jaws comprise clamping jaw main arms, parallel fine-tuning plates and clamps, positioning lugs are arranged on the rear end faces of the parallel fine-tuning plates, arc-shaped grooves extending horizontally are arranged on the front end faces of the parallel fine-tuning plates, positioning grooves are formed in clamping faces of outer end portions of the clamping jaw main arms, the positioning lugs of the parallel fine-tuning plates are embedded into the positioning grooves of the clamping jaw main arms and are connected with the clamping grooves in a rotating mode through vertical hinge pins, horizontal fine-tuning rotating gaps are reserved between the positioning lugs and the bottoms of the positioning grooves, arc-shaped positioning protruding strips extending horizontally are arranged on the rear end faces of the clamps, the front end faces of the clamps are clamping contact faces, the arc-shaped positioning protruding strips of the clamps are inserted into the arc-shaped grooves at the front ends of the parallel fine-tuning plates horizontally, and vertical fine-tuning rotating gaps are reserved between the rear end faces of the clamps and the front end faces of the parallel fine-tuning plates.

The tank bottom department of constant head tank be provided with two interior spring location blind holes, the rear end face of location lug is provided with two outer spring location blind holes, when the location lug is embedded into the constant head tank, two interior spring location blind holes and two outer spring location blind hole one-to-ones form two sets of spring location holes, two sets of spring location holes are located the both sides of vertical round pin axle respectively, all be provided with corresponding counter-force supporting spring in every set spring location hole, the tip sets up in the interior spring location blind hole that corresponds promptly, the outer tip of every counter-force supporting spring sets up in the interior spring location blind hole that corresponds, the middle part of every counter-force supporting spring is located horizontal fine setting rotating gap.

The centre gripping contact surface of clamp on set up two rubber stick draw-in grooves that link up from top to bottom, two rubber stick draw-in grooves are adjacent to the both ends of clamp respectively, the groove face of every rubber stick draw-in groove is the arc curved surface that the central angle is greater than 180 degrees, all block in every rubber stick draw-in groove and put two rubber sticks of overlapping from top to bottom, leave the space between two rubber sticks, and two rubber stick equal parts stretch out outside the rubber stick draw-in groove.

The arm connecting block be the integration aluminum alloy component of compriseing aluminum alloy rectangle connecting plate and four aluminum alloy spliced poles, four aluminum alloy spliced poles are perpendicular positioning respectively in four corners of aluminum alloy rectangle connecting plate, when parallel switching type gas claw is connected with the arm connecting block, the cylinder and the aluminum alloy rectangle connecting plate in close contact with of parallel switching type gas claw, four aluminum alloy spliced poles block the cylinder of parallel switching type gas claw and pass through the cylinder fixed connection of bolt and parallel switching type gas claw.

The inner end part of the clamping jaw main arm is provided with a gas claw positioning groove, a gas claw of the parallel opening and closing type gas claw extends into the gas claw positioning groove, and the gas claw positioning groove are fixedly connected through a bolt.

The outer end of the clamping jaw main arm is fixedly connected with a switch connecting plate, and the miniature proximity switch is connected onto the switch connecting plate through a bolt.

The utility model has the advantages that:

(1) the utility model adopts the parallel open-close type air claw, the whole structure is a flat structure, the air claw can conveniently enter a die to grab or place products, and the air claw type die is suitable for the condition that the die sinking height space of a small-tonnage punch is limited.

(2) The free fine-tuning clamping jaw has the advantages that the problems of parallel opening and closing type air jaw gaps and product surface parallel difference are solved through the free fine-tuning function of the vertical surface of the clamp and the free fine-tuning function of the horizontal rotation angle of the parallel fine-tuning plate, so that the clamping contact surface of the clamp can be in close contact with the surface of a product, and the clamping firmness is ensured.

(3) The rubber rod is arranged on the clamping contact surface of the clamp, and the rubber rod is used as a clamping contact of the clamp, so that the functions of buffering, skid resistance and stable clamping are achieved.

(4) The mechanical arm connecting block is made of aluminum alloy materials, adopts a hollow structure consisting of the aluminum alloy rectangular connecting plate and the four aluminum alloy connecting columns, achieves lightweight design while guaranteeing connecting strength, is simple in connecting structure with the parallel opening and closing type gas claws, facilitates replacement of the parallel opening and closing type gas claws of different specifications according to clamping requirements, and clamps products of different widths and sizes.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural diagram of the mechanical arm connecting block of the utility model.

Fig. 3 is an exploded view of a free vernier jaw of the present invention.

Figure 4 is a schematic diagram of the construction of the jaw main arm of the present invention.

FIG. 5 is a schematic view of the structure of the parallel fine tuning plate of the present invention.

Figure 6 is an exploded view of the clamp of the present invention.

FIG. 7 is a schematic view of the combination of the parallel fine adjustment plate and the clamp of the present invention.

Reference numerals: 1-mechanical arm connecting block, 2-parallel opening and closing type gas claw, 3-free fine adjustment clamping claw, 4-miniature proximity switch, 11-aluminum alloy rectangular connecting plate, 12-aluminum alloy connecting column, 31-clamping claw main arm, 311-positioning groove, 312-inner spring positioning blind hole, 32-parallel fine adjustment plate, 321-positioning convex block, 322-arc groove, 323-outer spring positioning blind hole, 33-clamp, 331-arc positioning convex strip, 332-rubber rod clamping groove, 333-rubber rod, 34-gas claw positioning groove, 35-switch connecting plate, 36-vertical pin shaft and 37-counter force supporting spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1, a light-duty clamping type end effector of a robot comprises a mechanical arm connecting block 1, parallel opening and closing type gas claws 2, two free fine-tuning clamping claws 3 and two miniature proximity switches 4, wherein the parallel opening and closing type gas claws 2 are fixedly connected to the mechanical arm connecting block 1, the inner ends of the two free fine-tuning clamping claws 3 are respectively and fixedly connected to the two gas claws of the parallel opening and closing type gas claws 2, the two miniature proximity switches 4 are respectively and fixedly connected to the outer ends of the two free fine-tuning clamping claws 3, and the induction probes of the two miniature proximity switches 4 are horizontally opposite;

referring to fig. 2, the mechanical arm connecting block 1 is an integrated aluminum alloy member composed of an aluminum alloy rectangular connecting plate 11 and four aluminum alloy connecting columns 12, the four aluminum alloy connecting columns 12 are respectively and vertically positioned at four corners of the aluminum alloy rectangular connecting plate 11, when the parallel opening and closing type gas claw 2 is connected with the mechanical arm connecting block 1, a cylinder of the parallel opening and closing type gas claw 2 is tightly contacted with the aluminum alloy rectangular connecting plate 11, and the four aluminum alloy connecting columns 12 clamp the cylinder of the parallel opening and closing type gas claw 2 and are fixedly connected with the cylinder of the parallel opening and closing type gas claw 2 through bolts;

referring to fig. 3, each of the two free fine tuning clamping jaws 3 comprises a clamping jaw main arm 31, a parallel fine tuning plate 32 and a clamp 33, wherein an air jaw positioning groove 34 is formed in the inner end of the clamping jaw main arm 31, an air jaw of the parallel opening and closing type air jaw 2 extends into the air jaw positioning groove 34 and is fixedly connected with the air jaw positioning groove 34 through a bolt, a switch connecting plate 35 is fixedly connected to the outer end of the clamping jaw main arm 31, and a micro proximity switch 4 is connected to the switch connecting plate 35 through a bolt;

referring to fig. 4-7, the rear end face of the parallel fine adjustment plate 32 is provided with a positioning protrusion 321, the front end face of the parallel fine adjustment plate 32 is provided with an arc-shaped groove 322 extending horizontally, the clamping face of the outer end of the main jaw arm 31 is provided with a positioning groove 311, two inner spring positioning blind holes 312 are arranged at the groove bottom of the positioning groove 311, the rear end face of the positioning protrusion 321 is provided with two outer spring positioning blind holes 323, the positioning protrusion 321 of the parallel fine adjustment plate is embedded into the positioning groove 311 of the main jaw arm and is rotatably connected with the positioning groove 311 through a vertical pin shaft 36, a horizontal fine adjustment rotating gap is left between the positioning protrusion 321 and the groove bottom of the positioning groove 311, the two inner spring positioning blind holes 312 and the two outer spring positioning blind holes 323 correspond to form two sets of spring positioning holes, the two sets of spring positioning holes are respectively located at two sides of the vertical pin shaft 36, and a corresponding counter-force supporting spring 37 is arranged in each set of spring positioning holes, that is, the inner end of each reaction force supporting spring 37 is disposed in the corresponding inner spring positioning blind hole 312, the outer end of each reaction force supporting spring 37 is disposed in the corresponding inner spring positioning blind hole 323, and the middle of each reaction force supporting spring 37 is located in the horizontal fine adjustment rotating gap; the rear end face of the clamp 33 is provided with an arc positioning protruding strip 331 extending horizontally, the arc positioning protruding strip 331 of the clamp is inserted into the arc groove 322 at the front end of the parallel fine adjustment plate 32 horizontally, a vertical fine adjustment rotating gap is reserved between the rear end face of the clamp 33 and the front end face of the parallel fine adjustment plate 32, the front end face of the clamp 33 is a clamping contact face, two rubber rod clamping grooves 332 penetrating up and down are formed in the clamping contact face of the clamp 33, the two rubber rod clamping grooves 332 are respectively adjacent to two ends of the clamp 33, the groove face of each rubber rod clamping groove 332 is an arc curved face with a central angle larger than 180 degrees, two rubber rods 333 overlapped up and down are clamped in each rubber rod clamping groove 332, a gap is reserved between the two rubber rods 333, and part of the two rubber rods 333 extend out of the rubber rod clamping grooves 332.

The mechanical arm connecting block 1 is connected with a flange at the tail end of a mechanical arm, the electromagnetic valve of the robot controls the parallel opening and closing type gas claw 2 to be closed or opened, two free fine-tuning clamping jaws 3 which are installed on the parallel opening and closing type gas claw 2 carry out clamping or opening operation, two miniature proximity switches 4 detect whether products are clamped or not and feed back the products to the robot control system, and the robot control system of the system carries out continuous or pause follow-up actions.

When the two free fine-adjustment clamping jaws 3 clamp a product, the arc-shaped positioning convex strip 33 of the clamp 33 rotates in a fine-adjustment mode along the arc-shaped groove 322, and meanwhile, the parallel fine-adjustment plate 32 can rotate horizontally and slightly relative to the vertical pin shaft 36, so that the three-dimensional angle of the clamping contact surface of the clamp 33 is adjusted to enable the clamping contact surface to be attached to the surface of the product; when the parallel trimming plate 32 rotates relative to the vertical pin 36, the two counter-force supporting springs 37 provide the parallel trimming plate 32 with a counter-acting supporting force, so as to further improve the tightness of clamping, and after the two free trimming clamping jaws 3 are opened and reset, the two counter-force supporting springs 37 enable the parallel trimming plate 32 to realize quick reset.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a light-duty centre gripping formula end effector of robot which characterized in that: the device comprises a mechanical arm connecting block, two parallel opening and closing type gas claws, two free fine-tuning clamping claws and two miniature proximity switches, wherein the parallel opening and closing type gas claws are fixedly connected to the mechanical arm connecting block, the inner ends of the two free fine-tuning clamping claws are respectively and fixedly connected to the two gas claws of the parallel opening and closing type gas claws, the two miniature proximity switches are respectively and fixedly connected to the outer ends of the two free fine-tuning clamping claws, and the induction probes of the two miniature proximity switches are horizontally opposite;

the two freely fine-tuning clamping jaws respectively comprise a clamping jaw main arm, a parallel fine-tuning plate and a clamp, wherein a positioning lug is arranged on the rear end face of the parallel fine-tuning plate, an arc-shaped groove horizontally extending is arranged on the front end face of the parallel fine-tuning plate, a positioning groove is formed in a clamping face at the outer end part of the clamping jaw main arm, the positioning lug of the parallel fine-tuning plate is embedded into the positioning groove of the clamping jaw main arm and is rotatably connected with the positioning groove through a vertical pin shaft, a horizontal fine-tuning rotating gap is reserved between the positioning lug and the groove bottom of the positioning groove, an arc-shaped positioning convex strip horizontally extending is arranged on the rear end face of the clamp, the front end face of the clamp is a clamping contact face, the arc-shaped positioning convex strip of the clamp is horizontally inserted into the arc-shaped groove at the front end of the parallel fine-tuning plate, and a vertical fine-tuning rotating gap is reserved between the rear end face of the clamp and the front end face of the parallel fine-tuning plate.

2. The lightweight robotic gripper end effector of claim 1, wherein: the tank bottom department of constant head tank be provided with two interior spring location blind holes, the rear end face of location lug is provided with two outer spring location blind holes, when the location lug was embedded into the constant head tank, two interior spring location blind holes and two outer spring location blind holes one-to-one formed two sets of spring locating holes, two sets of spring locating holes are located the both sides of vertical round pin axle respectively, all be provided with corresponding counter-force supporting spring in every group spring locating hole, the tip sets up in the interior spring location blind hole that corresponds promptly of every counter-force supporting spring, the outer tip of every counter-force supporting spring sets up in the interior spring location blind hole that corresponds, the middle part of every counter-force supporting spring is located horizontal fine setting rotating gap.

3. The lightweight robotic gripper end effector of claim 1, wherein: the centre gripping contact surface of clamp on set up two rubber stick draw-in grooves that link up from top to bottom, two rubber stick draw-in grooves are adjacent to the both ends of clamp respectively, the groove face of every rubber stick draw-in groove is the arc curved surface that the central angle is greater than 180 degrees, all block in every rubber stick draw-in groove and put two rubber sticks of overlapping from top to bottom, leave the space between two rubber sticks, and two rubber stick equal parts stretch out outside the rubber stick draw-in groove.

4. The lightweight gripper end effector of claim 1, wherein: arm connecting block be the integration aluminum alloy component of compriseing aluminum alloy rectangle connecting plate and four aluminum alloy spliced poles, four aluminum alloy spliced poles are perpendicular positioning respectively in four corners of aluminum alloy rectangle connecting plate, when parallel switching type gas claw is connected with the arm connecting block, the cylinder and the aluminum alloy rectangle connecting plate in close contact with of parallel switching type gas claw, four aluminum alloy spliced poles block the cylinder of parallel switching type gas claw and through the cylinder fixed connection of bolt and parallel switching type gas claw.

5. The lightweight gripper end effector of claim 1, wherein: the inner end part of the clamping jaw main arm is provided with a gas claw positioning groove, a gas claw of the parallel opening and closing type gas claw extends into the gas claw positioning groove, and the gas claw positioning groove are fixedly connected through a bolt.

6. The lightweight robotic gripper end effector of claim 1, wherein: the outer end of the clamping jaw main arm is fixedly connected with a switch connecting plate, and the miniature proximity switch is connected onto the switch connecting plate through a bolt.