CN221159526U - Large bearing roller four-station gripping apparatus with flexible floating - Google Patents

Abstract

The utility model discloses a four-station gripping apparatus with a flexible floating large bearing roller, which comprises two-station gripping claws, a double-vacuum sucker and a flexible floating mechanism, wherein the gripping claws of the two stations are arranged on respective guide rails through sliding blocks on the bottom surfaces, the gripping claws are arranged on respective screw rods, one end of each screw rod is driven by a servo motor through a synchronous pulley, the gripping claws of the two stations are connected through a connecting plate, and the flexible floating mechanism is arranged on the outer side of the connecting plate; the flexible floating mechanism comprises a floating mounting plate, a floating spring assembly and a floating guide rod, wherein the floating mounting plate is arranged on the floating guide rod, and the floating spring assembly is arranged on the upper side and the lower side of the floating mounting plate. The visual scanner is disposed on the opposite side of the flexible float mechanism. The vision scanner is combined with the clamping jaw, so that the functions of locating, identifying, positioning and the like can be improved; the clamp for taking and placing is provided with a floating mechanism, no additional mechanism is needed for matching and positioning, the clamp is suitable for workpieces with various or multiple sizes in a range, and the problem of model changing is solved.

Description

Large bearing roller four-station gripping apparatus with flexible floating

Technical Field

The utility model relates to a four-station gripper, in particular to a large bearing roller four-station gripper with flexible floating.

Background

The size of the bearing roller is different, and the specification size variation range is extremely large. The rollers are too many in size and specification, various in shape, and the robot is required to position the workpiece through the centering mechanism, the distance measuring mechanism or other auxiliary mechanisms before accurately picking and placing the workpiece, so that the robot is complex in structure, high in cost, long in action time and low in efficiency.

The clamp for taking and placing is single-station, and has simple structure but low efficiency, and the robot is required to do more actions, so that the speed of the whole automatic production line is influenced.

The picking and placing clamp does not have a floating mechanism, and an additional mechanism is needed for matching and positioning. The common clamp can only clamp cylindrical rollers, but cannot clamp conical and circular arc rollers, and can only adapt to workpieces with one or a range of sizes, and different requirements are solved through model changing.

Disclosure of Invention

In order to solve the problem of clamp mold changing, the utility model provides a four-station gripping apparatus with a flexible floating large bearing roller.

The utility model provides the following technical scheme:

The utility model provides a take flexible big bearing roller quadruplex position gripping apparatus that floats, includes clamping jaw, double vacuum chuck and the flexible mechanism that floats of two stations, and the clamping jaw of two stations passes through the slider setting of bottom surface on respective guide rail, the clamping jaw is installed on respective lead screw, lead screw one end is driven by servo motor through synchronous pulley, connects through the connecting plate between the clamping jaw of two stations, flexible mechanism that floats is installed in the outside of connecting plate.

Further, the flexible floating mechanism comprises a floating mounting plate, a floating spring assembly and a floating guide rod, wherein the floating mounting plate is mounted on the floating guide rod, and the upper side and the lower side of the floating mounting plate are respectively provided with the floating spring assembly.

Further, the floating spring assembly comprises a bottom post arranged on the inner side of the floating mounting plate, a floating spring and a long rod arranged on the outer side of the connecting plate, the long rod is sleeved with the floating spring, the end part of the long rod is inserted into the bottom post to form a hollow space, a step is formed at the hollow opening of the bottom post, and the floating spring is propped against the step.

Further, a vision scanner is disposed on the opposite side of the flexible float mechanism.

Further, a clamping buffer pad is arranged on the inner side of the clamping jaw.

Further, the double vacuum chucks are two floating chucks or two sponge chucks, and the double vacuum chucks are connected with the air path.

Compared with the prior art, the utility model has the beneficial effects that: the four-station gripping apparatus composed of the clamping jaw with two stations and the double vacuum chuck can be used independently or combined together to form a whole for use, and the efficiency can be obviously improved; the vision scanner and the clamping jaw are combined together, so that the functions of locating, identifying, positioning and the like can be improved, and the working efficiency of the whole structure is greatly improved; the clamp for taking and placing is provided with a floating mechanism, no additional mechanism is needed for matching and positioning, the clamp is suitable for workpieces with various or multiple sizes in a range, and the problem of model changing is solved.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a side view of fig. 1.

Fig. 3 is a side cross-sectional view of fig. 1.

Fig. 4 is a top view of fig. 2.

In the figure: 1. a clamping jaw; 2. a slide block; 3. a guide rail; 4. a screw rod; 5. a synchronous pulley; 6. a servo motor; 7. a connecting plate; 8. a floating mounting plate; 9. a floating spring assembly 91, a bottom post 910, steps 92, a floating spring 93 and a long rod; 10. a floating guide bar; 11. a vision scanner, 12, holding a bumper pad; 13. a double vacuum chuck; 14. the device comprises an air circuit, 15 fine adjustment tensioning mechanisms, 16 and a servo motor.

Description of the embodiments

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the four-station gripper with the flexible floating large bearing roller comprises two-station clamping jaws 1, a double vacuum chuck and a flexible floating mechanism.

The clamping jaw 1 is formed by processing high-strength aluminum alloy, has high strength, small deformation and light weight, can effectively reduce the load of the robot, and improves the action efficiency and the flexibility of the robot.

The clamping jaw 1 of two stations is arranged on the respective guide rail 3 through the sliding block 2 on the bottom surface, the clamping jaw 1 is arranged on the respective screw rod 4, one end of the screw rod 4 is driven by the servo motor 6 through the synchronous pulley 5, the clamping jaws of the two stations are connected through the connecting plate 7, and the flexible floating mechanism is arranged on the outer side of the connecting plate 7.

The clamping jaw 1 with two stations is formed by combining two independent clamping jaw mechanisms through a connecting plate 7, and can be used separately or in combination.

The flexible floating mechanism comprises a floating mounting plate 8, a floating spring assembly 9 and a floating guide rod 10, wherein the floating mounting plate 8 is arranged on the floating guide rod 10, and the floating spring assembly 9 is arranged on the upper side and the lower side of the floating mounting plate 8. The floating guide bar 10 can ensure the position accuracy of the whole clamp.

The floating spring assembly 9 comprises a bottom post 91 arranged on the inner side of the floating mounting plate 8, a floating spring 92 and a long rod 93 arranged on the outer side of the connecting plate 7, the long rod 93 is sleeved with the floating spring 92, the end part of the long rod 93 is inserted into the bottom post 91 to form a hollow, a step 910 is formed at the hollow opening of the bottom post 91, and the floating spring 92 is propped against the step 910.

The flexible floating mechanism has the advantages of low cost, simple structure and convenient operation, and the core is the calculation and selection of the springs, the springs can provide enough activity rigidity, the action precision of the machine is ensured, and meanwhile, enough floating quantity can be provided during hard contact, so that the machine alarm is avoided.

The visual scanner 11 is provided on the opposite side of the flexible float mechanism. The vision scanner 11 is combined with the clamping jaw, so that the functions of locating, identifying, positioning and the like can be improved, the working efficiency of the whole structure is greatly improved, and the cost is greatly reduced.

The clamping buffer pad 12 is arranged on the inner side of the clamping jaw 1. The clamping buffer pad 12 is arranged at the contact part of the clamping jaw and the workpiece, and is made of special composite materials, so that the clamping buffer pad has certain deformation buffer capability, and meanwhile, enough rigidity is provided for ensuring clamping of the workpiece, and enough friction force is provided for avoiding the workpiece from sliding off.

The double vacuum suction cups 13 are two floating suction cups or two sponge suction cups, and can be compatible with any plane object. The double vacuum chuck is connected with the air path 14.

The clamping jaw 1 of the two stations is also provided with a fine adjustment tensioning mechanism 15.

The working process comprises the following steps:

S1) visual scanning

S11, adjusting the visual scanner to a working position;

S12, the vision scanner can automatically rotate the target position point, and can identify any position point or container with clear boundary;

S13, completing accurate positioning by following the size of the workpiece, outputting coordinate points, and guiding the gripping apparatus to complete positioning of the workpiece picking position or the workpiece placing position.

S2) taking out the workpiece

S21, after scanning by a visual scanner, determining a picking position and a clamp type;

s22, selecting clamping jaws or suckers as required clamps;

s23, the clamp finishes workpiece taking action (the floating mechanism can tolerate a trace of identification error and clamp action error).

S3) workpiece discharging

S31, after scanning by a visual scanner, determining the position for placing the workpiece;

S32, under the guidance of a visual scanner, placing the workpiece at a specified position;

S33, the visual scanner can scan again to confirm the placement accuracy so as to timely carry out remedial operation;

S34, the floating mechanism can tolerate a trace of identification errors and clamp action errors.

The clamping jaw of each station is provided with double servo motor drives (the servo motor 6 and the servo motor 16), so that the clamping stroke of the clamping jaw can be controlled according to the size of a workpiece, and meanwhile, a torsion control mode can be adopted to avoid over clamping or non-clamping and prevent the workpiece from falling off in the process; the four-station gripping apparatus composed of the clamping jaw 1 with two stations and the double vacuum suction cups can be used independently or combined together to form a whole for use, and can assist in sucking packaging boxes and baffle auxiliary tools, so that the efficiency can be remarkably improved; the visual scanner can be firstly identified and then placed, so that the working efficiency can be greatly improved, the visual scanner can be suitable for multiple working scenes, positioning is not needed, and visual automatic searching and positioning and placing can be realized.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 (6)

1. A take flexible floating big bearing roller quadruplex position gripping apparatus which characterized in that: including clamping jaw (1), double vacuum chuck and the flexible floating mechanism of two stations, clamping jaw (1) of two stations are through slider (2) setting up on respective guide rail (3) of bottom surface, clamping jaw (1) are installed on respective lead screw (4), lead screw (4) one end is driven by servo motor (6) through synchronous pulley (5), connects through connecting plate (7) between the clamping jaw of two stations, flexible floating mechanism is installed in the outside of connecting plate (7).

2. A flexible floating large bearing roller quadruple position gripper according to claim 1, wherein: the flexible floating mechanism comprises a floating mounting plate (8), a floating spring assembly (9) and a floating guide rod (10), wherein the floating mounting plate (8) is mounted on the floating guide rod (10), and the floating spring assembly (9) is arranged on the upper side and the lower side of the floating mounting plate (8).

3. A flexible floating large bearing roller quadruple position gripper according to claim 2, wherein: the floating spring assembly (9) comprises a bottom post (91) arranged on the inner side of the floating mounting plate (8), a floating spring (92) and a long rod (93) arranged on the outer side of the connecting plate (7), the long rod (93) is sleeved with the floating spring (92), the end part of the long rod (93) is inserted into the bottom post (91) to form a hollow space, a step (910) is formed at the hollow space of the bottom post (91), and the floating spring (92) is propped against the step (910).

4. A flexible floating large bearing roller quadruple position gripper according to claim 1, wherein: a vision scanner (11) is arranged on the opposite side of the flexible floating mechanism.

5. A flexible floating large bearing roller quadruple position gripper according to claim 1, wherein: the inner side of the clamping jaw (1) is provided with a clamping buffer pad (12).

6. A flexible floating large bearing roller quadruple position gripper according to claim 1, wherein: the double vacuum chucks (13) are two floating chucks or two sponge chucks, and the double vacuum chucks are connected with the air passage (14).