CN214238284U

CN214238284U - Clamping jaw and industrial robot

Info

Publication number: CN214238284U
Application number: CN202023256633.9U
Authority: CN
Inventors: 周宏建; 孙稳
Original assignee: Shanghai Jiaocheng Ultrasonic Technology Co ltd
Current assignee: Shanghai Jiaocheng Ultrasonic Technology Co ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-09-21
Anticipated expiration: 2030-12-29

Abstract

The utility model relates to an automatic technical field specifically discloses a clamping jaw and industrial robot. The clamping jaw is used for clamping a workpiece, and a transmitting unit for storing workpiece information is arranged on the workpiece and comprises a clamping module and a connecting module fixedly connected with at least one clamping module; the clamping module comprises a clamping jaw bottom plate, a pressing assembly and a detection assembly, the pressing assembly comprises a telescopic rod, a pressure head piece, a movable rod, a cylinder and a fixed rod, the cylinder and the fixed rod are fixedly connected onto the clamping jaw bottom plate, one end of the telescopic rod is fixedly connected with a piston rod of the cylinder, the other end of the telescopic rod is rotatably connected with one end of the pressure head piece, the other end of the pressure head piece is a pressure head for crimping a workpiece, two ends of the movable rod are respectively rotatably connected with the middle of the pressure head piece and the fixed rod, and the detection assembly comprises a signal receiving unit for processing workpiece information and a cylinder detection unit for detecting the working condition of the cylinder. The cantilever of the industrial robot is fixedly connected with the clamping jaw. By means of the arrangement, the clamping and detecting operation of the workpiece can be efficiently and accurately finished.

Description

Clamping jaw and industrial robot

Technical Field

The utility model relates to an automatic technical field especially relates to a clamping jaw and industrial robot.

Background

In prior art, along with human cost's improvement and manpower resources's reduction, the manufacturing equipment trade has proposed higher requirement to the automation level of producing the line, adopt automatic unloading of industrial robot more and more, the location, assembly and transport, especially in some power equipment trades, the part is mostly the casting part, the product appearance is complicated and the precision is lower, the automatic positioning and the assembly degree of difficulty of part are high, the clamping jaw is the centre gripping of part and the first execution apparatus of location, the adaptability and the intelligent level of direct influence automation line.

The existing clamping jaw has high manufacturing cost, long manufacturing period, high maintenance cost and high requirement on the proficiency of operation of operators. During clamping operation, a certain pressure needs to be applied to the workpiece through the pressing assembly, so that the workpiece is prevented from falling off. The compressing assembly commonly used at present generally compresses tightly the work piece with the vertically mode, and the compressing assembly under this kind of form has the structure complicacy, and the space that occupies is great, moves shortcoming such as various when controlling, when compressing tightly the subassembly and taking place the false action, the clamping jaw is difficult to the appearance of quick detection problem, causes the damage to clamping jaw and work piece easily. Meanwhile, the existing clamping jaws are difficult to confirm the information of the workpiece, and the information of the clamped workpiece cannot be confirmed in real time.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a clamping jaw and industrial robot to solve the loaded down with trivial details and the problem that detects the difficulty of clamping jaw centre gripping action.

To achieve the purpose, the utility model adopts the following technical proposal:

a clamping jaw is used for clamping a workpiece, a transmitting unit is arranged on the workpiece and used for storing workpiece information, and the clamping jaw comprises a clamping module and a connecting module; the clamping module comprises a clamping jaw bottom plate, a pressing assembly and a detection assembly, the pressing assembly comprises a telescopic rod, a pressure head piece, a movable rod, a cylinder and a fixed rod, the cylinder and the fixed rod are fixedly connected to the clamping jaw bottom plate, one end of the telescopic rod is fixedly connected with a piston rod of the cylinder, the other end of the telescopic rod is rotatably connected with one end of the pressure head piece, the other end of the pressure head piece is a pressure head used for pressing and connecting the workpiece, two ends of the movable rod are respectively rotatably connected with the middle of the pressure head piece and the fixed rod, and the detection assembly comprises a receiving unit used for processing the workpiece information and a cylinder detection unit used for detecting the working condition of the cylinder; the connecting module is fixedly connected with at least one clamping module.

The cylinder detection unit comprises a cylinder detection support and a cylinder detection sensor, the cylinder detection support is fixedly connected to the clamping jaw bottom plate, and the cylinder detection sensor is arranged right opposite to the piston rod.

Preferably, the clamping module further comprises a positioning assembly, the positioning assembly comprises a positioning pin fixedly connected to the clamping jaw bottom plate, and the workpiece can be positioned by the positioning pin.

Preferably, the detection assembly further comprises a workpiece positioning detection unit, a calibration unit and a workpiece in-position detection unit.

Preferably, the workpiece positioning detection unit comprises a workpiece positioning detection support and a workpiece positioning detection sensor, the workpiece positioning detection support is fixedly connected to the clamping jaw bottom plate, and the workpiece positioning detection sensor can detect whether the workpiece reaches a preset position.

Preferably, the workpiece in-place detection unit comprises a first workpiece in-place detection bracket, a workpiece in-place detection emitter, a second workpiece in-place detection bracket and a workpiece in-place detection sensor; first work piece detection support and second work piece that targets in place detect the support link firmly respectively in on the clamping jaw bottom plate, the work piece targets in place detect the transmitter install in on the first work piece detection support that targets in place, the work piece targets in place detect the sensor install in on the second work piece detection support that targets in place, work as when the signal that the work piece detected the transmitter transmission that targets in place is sheltered from, the work piece targets in place detect the sensor and can not receive the signal.

Preferably, the calibration unit comprises a rack calibration piece and a clamping jaw calibration piece arranged on the positioning pin, the rack calibration piece is fixedly connected to the calibration table, the position of the clamping jaw calibration piece relative to the rack calibration piece is adjusted, and the position of the clamping jaw can be calibrated.

Further, the receiving unit is mounted on the calibration table.

Preferably, the connecting module comprises a fixing frame and a connecting flange detachably connected to the fixing frame, and the clamping jaw bottom plate can be detachably connected with the fixing frame.

The utility model provides an industrial robot, includes industrial robot main part, still includes foretell clamping jaw, flange demountable installation in on the cantilever of industrial robot main part.

The utility model has the advantages that:

by means of the arrangement of the movable rod, redundant restraint is provided for the pressing assembly, the piston rod is guaranteed not to be blocked due to lateral force in the pressing process, the linear motion is kept smooth, the accuracy and the efficiency of pressing operation of the pressing assembly are improved, the risk of clamping errors is reduced, and the damage of a clamping jaw and a workpiece is avoided; whether the air cylinder normally operates can be quickly confirmed by using the air cylinder detection unit; by arranging the receiving unit, the information accuracy of the clamped workpiece can be ensured.

Drawings

Fig. 1 is a schematic structural view of a first viewing angle of a clamping jaw provided by an embodiment of the present invention;

fig. 2 is a schematic structural view of a second viewing angle of the clamping jaw provided by the embodiment of the invention;

fig. 3 is a schematic structural diagram of an industrial robot provided by an embodiment of the present invention.

In the figure:

100. a jaw plate; 111. a cylinder; 112. fixing the rod; 113. a telescopic rod; 114. a pressure head piece; 115. a movable rod; 120. a receiving unit; 130. a cylinder detection unit; 131. a cylinder detection bracket; 132. a cylinder detection sensor; 140. a workpiece positioning detection unit; 141. a workpiece positioning detection bracket; 142. a workpiece positioning detection sensor; 151. a jaw index; 152. a frame calibration piece; 153. a calibration table; 161. a first workpiece in-place detection bracket; 162. a workpiece in-place detection emitter; 163. a second workpiece in-place detection bracket; 164. a workpiece in-place detection sensor; 170. positioning pins; 171. positioning the tip; 180. positioning blocks;

210. a fixed mount; 220. a connecting flange; 300. an industrial robot body.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1 and fig. 2, the present embodiment provides a clamping jaw for clamping a workpiece, wherein a signal sending unit is arranged on the workpiece, and the signal sending unit is used for storing information of the workpiece, and comprises a clamping module and a connecting module; the clamping module comprises a clamping jaw bottom plate 100, a pressing component and a detection component, wherein the pressing component comprises an expansion link 113, a pressure head piece 114, a movable rod 115, a cylinder 111 and a fixed rod 112 which are fixedly connected to the clamping jaw bottom plate 100, one end of the expansion link 113 is fixedly connected with a piston rod of the cylinder 111, the other end of the expansion link is rotatably connected with one end of the pressure head piece 114, the other end of the pressure head piece 114 is a pressure head for pressing and connecting a workpiece, two ends of the movable rod 115 are respectively rotatably connected with the middle part of the pressure head piece 114 and the fixed rod 112, and the detection component comprises a receiving unit 120 for processing workpiece information and a cylinder detection unit 130 for detecting the working condition of the cylinder 111; the connecting module is fixedly connected with at least one clamping module. By means of the arrangement of the movable rod 115, redundant constraint is provided for the pressing assembly, the piston rod is guaranteed not to be blocked due to lateral force in the pressing process, the linear motion is kept smooth, the accuracy and the efficiency of pressing operation of the pressing assembly are improved, the risk of clamping errors is reduced, and the damage of a clamping jaw and a workpiece is avoided; whether the cylinder 111 is normally operated can be quickly confirmed by the cylinder detection unit 130; by providing the receiving unit 120, it is possible to ensure that information on the clamped workpiece is accurate. Specifically, the connecting module is fixedly connected with two clamping modules, and the clamping modules can respectively execute different workpiece positioning and clamping actions; the cylinder 111 is fixedly arranged on the edge of the upper surface of the clamping jaw bottom plate 100, and a piston rod penetrates through the clamping jaw bottom plate 100; when the length of the ram member 114 and the movable rod 115 is changed, the pressing force of the ram can be adjusted.

Preferably, the clamping jaw further comprises a control component, the control component is respectively connected with the signal receiving unit 120 and the air cylinder detection unit 130 in a communication mode, an operator can input preset information to the control component, and the control component can feed back the clamped workpiece condition of the clamping jaw by comparing the preset information with the workpiece information transmitted by the signal receiving unit 120. Specifically, the transmitting unit is a coding piece arranged on the surface of the workpiece.

In this embodiment, the cylinder detection unit 130 includes a cylinder detection support 131 and a cylinder detection sensor 132, the cylinder detection support 131 is fixedly connected to the clamping jaw base plate 100, and the cylinder detection sensor 132 is disposed opposite to the piston rod. Specifically, cylinder detection sensor 132 and control assembly communication connection can feed back the behavior of cylinder 111 to control assembly, prevent to lead to the clamping jaw to take place the production accident because of piston rod extended position error or cylinder 111 damage, have guaranteed the security of clamping jaw centre gripping operation.

In this embodiment, the clamping module further comprises a positioning assembly comprising a positioning pin 170 attached to the jaw base plate 100, the positioning pin 170 being capable of positioning a workpiece. The positioning pin 170 avoids the risk of clamping a workpiece by mistake, reduces the probability of damage to the clamping jaw and the workpiece, and ensures the safety of clamping operation. Specifically, the positioning pin 170 is disposed opposite to the positioning hole on the workpiece.

Preferably, the positioning pin 170 can be further provided with a positioning tip 171, and the fool-proof design of the clamping jaw can be realized by the positioning tip 171, so that the safety of the clamping operation is further improved.

Preferably, the lower surface of the jaw bottom plate 100 is provided with at least one positioning block 180, the positioning block 180 is in contact with a workpiece during clamping operation, and the positioning block 180 is preferably made of rubber and plastic, so that scratches and indentations on the surface of the workpiece can be avoided. Specifically, an adjusting plate is further disposed between the positioning block 180 and the jaw base plate 100, and the relative position of the positioning block 180 and the jaw base plate 100 can be changed by adjusting the adjusting plate.

In the present embodiment, the detecting assembly further includes a workpiece positioning detecting unit 140, a calibration unit and a workpiece in-position detecting unit. Specifically, the workpiece positioning detection unit 140, the calibration unit and the workpiece in-place detection unit are respectively in communication connection with the control assembly, when the workpiece reaches a preset position, the workpiece positioning detection unit 140 sends positioning information to the control assembly, and the control assembly controls the cylinder 111 to start working, so that the clamping module performs clamping operation; the control assembly can judge whether the clamping module is close to the workpiece according to in-place information or non-in-place information transmitted by the workpiece in-place detection unit, and further judge whether the clamping jaw performs subsequent operation steps; by means of the calibration unit, the position of the clamping jaw can be calibrated, and system errors caused by abrasion of the clamping module are made up, so that the clamping jaw is accurately and reliably positioned.

Preferably, the workpiece positioning detection unit 140 includes a workpiece positioning detection bracket 141 and a workpiece positioning detection sensor 142, the workpiece positioning detection bracket 141 is fixedly connected to the jaw base plate 100, and the workpiece positioning detection sensor 142 can detect whether the workpiece reaches a predetermined position. The workpiece positioning detection bracket 141 and the workpiece positioning detection sensor 142 are simple in structure and convenient to detach, and the position of the workpiece positioning detection sensor 142 is convenient to adjust. Specifically, the workpiece position detection sensor 142 is disposed toward a predetermined position of the workpiece, and is in communication with the control assembly.

Preferably, the workpiece-in-position detecting unit includes a first workpiece-in-position detecting support 161, a workpiece-in-position detecting transmitter 162, a second workpiece-in-position detecting support 163, and a workpiece-in-position detecting sensor 164; the first workpiece in-place detection support 161 and the second workpiece in-place detection support 163 are fixedly connected to the jaw base plate 100, the workpiece in-place detection emitter 162 is mounted on the first workpiece in-place detection support 161, the workpiece in-place detection sensor 164 is mounted on the second workpiece in-place detection support 163, and when a signal emitted by the workpiece in-place detection emitter 162 is blocked, the signal cannot be received by the workpiece in-place detection sensor 164. The arrangement structure is simple, the disassembly is convenient, and the positions of the workpiece in-place detection emitter 162 and the workpiece in-place detection sensor 164 are convenient to adjust.

Specifically, the workpiece in-place detection sensor 164 is in communication connection with the control component, and when the workpiece in-place detection sensor 164 does not receive a signal, the workpiece in-place detection sensor 164 sends in-place information to the control component; when the workpiece-in-position detection sensor 164 receives the signal, the workpiece-in-position detection sensor 164 sends out not-in-position information to the control component.

As shown in fig. 3, the calibration unit includes a frame calibration member 152 and a jaw calibration member 151 disposed on the positioning pin 170, the frame calibration member 152 is attached to the calibration table 153, and the position of the jaw calibration member 151 relative to the frame calibration member 152 is adjusted to calibrate the position of the jaw. The frame calibration piece 152 and the clamping jaw calibration piece 151 are selected as clamping jaw calibration structures, so that the occupied space is small and the adjustment is convenient; the jaw index 151 is provided on the positioning pin 170 which is easy to disassemble and assemble, so that the efficiency of calibrating the position of the jaw after the workpiece to be clamped is changed is improved.

Preferably, the receiving unit 120 is mounted on the calibration stage 153. This arrangement reduces the number of components mounted on the jaw base plate 100, reducing the space occupied.

With continued reference to fig. 1 and 2, the connection module includes a holder 210 and a connection flange 220 detachably connected to the holder 210, and the jaw plate 100 is detachably connected to the holder 210. The connecting flange 220 facilitates the connection of the clamping jaws with external members, and the fixing frame 210 enables a plurality of clamping modules to simultaneously perform different workpiece positioning and clamping actions.

As shown in fig. 3, the present embodiment provides an industrial robot using the above-described jaws, further comprising an industrial robot main body 300, and the connecting flange 220 is detachably mounted on a cantilever of the industrial robot main body 300. This industrial robot can reduce the route of turning back in the operation process with the help of the setting of above-mentioned clamping jaw, improves the efficiency of its work.

Specifically, flange 220 is worn to establish by the cable that industrial robot main part 300 and clamping jaw are connected, has reduced the risk of cable damage, has reduced the number of times of maintenance, has improved industrial robot's life.

The present embodiment also provides a workpiece holding method of an industrial robot, including the steps of:

step one, the industrial robot body 300 drives the clamping jaw module to move towards a workpiece placing position.

And step two, after the workpiece in-place detection unit on the clamping jaw detects the workpiece, adjusting the direction and the angle of the position of the clamping module to enable the positioning pin 170 to be inserted into the positioning hole on the workpiece, and enabling the workpiece to move towards the preset position.

And step three, when the workpiece reaches the preset position, the workpiece positioning detection unit 140 sends positioning information, the air cylinder 111 starts to work, and the workpiece is clamped.

And step four, the information of the workpieces is processed by the receiving unit 120, and the condition of the clamped workpieces is fed back.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a clamping jaw for the centre gripping work piece, be equipped with the unit of sending a signal on the work piece, send a signal unit and be used for saving work piece information, its characterized in that includes:

the clamping module comprises a clamping jaw bottom plate (100), a pressing component and a detection component, wherein the pressing component comprises an expansion link (113), a pressure head piece (114), a movable rod (115) and an air cylinder (111) and a fixed rod (112) which are fixedly connected to the clamping jaw bottom plate (100), one end of the expansion link (113) is fixedly connected with a piston rod of the air cylinder (111), the other end of the expansion link is rotatably connected with one end of the pressure head piece (114), the other end of the pressure head piece (114) is used for pressing and connecting a pressure head of a workpiece, two ends of the movable rod (115) are respectively rotatably connected with the middle of the pressure head piece (114) and the fixed rod (112), and the detection component comprises a receiving unit (120) used for processing the information of the workpiece and an air cylinder detection unit (130) used for detecting the working condition of the air cylinder (111);

and the connecting module is fixedly connected with at least one clamping module.

2. A clamping jaw according to claim 1, characterized in that the air cylinder detection unit (130) comprises an air cylinder detection bracket (131) and an air cylinder detection sensor (132), the air cylinder detection bracket (131) is fixedly connected to the clamping jaw base plate (100), and the air cylinder detection sensor (132) is arranged opposite to the piston rod.

3. A jaw as claimed in claim 1, characterized in that said gripping module further comprises a positioning assembly comprising a positioning pin (170) secured to said jaw base plate (100), said positioning pin (170) being capable of positioning said workpiece.

4. A jaw as claimed in claim 3, characterized in that said detection assembly further comprises a workpiece positioning detection unit (140), a calibration unit and a workpiece-in-position detection unit.

5. A jaw as claimed in claim 4, characterized in that said workpiece position detection unit (140) comprises a workpiece position detection support (141) and a workpiece position detection sensor (142), said workpiece position detection support (141) being attached to said jaw base plate (100), said workpiece position detection sensor (142) being capable of detecting whether said workpiece has reached a predetermined position.

6. A jaw as claimed in claim 4, characterized in that said workpiece-in-position detection unit comprises a first workpiece-in-position detection carriage (161), a workpiece-in-position detection emitter (162), a second workpiece-in-position detection carriage (163) and a workpiece-in-position detection sensor (164); first work piece detection support (161) that targets in place and second work piece detection support (163) that targets in place link firmly respectively on clamping jaw bottom plate (100), the work piece target in place detect emitter (162) install in on first work piece detection support (161) that targets in place, the work piece target in place detect sensor (164) install in on second work piece target in place detect support (163), work as when the signal that the work piece target in place detected emitter (162) transmission is sheltered from, the work piece target in place detect sensor (164) can not receive the signal.

7. A jaw according to claim 4, characterized in that the calibration unit comprises a frame calibration member (152) and a jaw calibration member (151) arranged on the positioning pin (170), the frame calibration member (152) is attached to a calibration table (153), and the position of the jaw calibration member (151) can be adjusted relative to the frame calibration member (152).

8. A jaw as claimed in claim 7, characterized in that said receiving unit (120) is mounted on said indexing table (153).

9. A jaw according to any of claims 1-8, characterized in that said connection module comprises a holder (210) and a connection flange (220) detachably connected to said holder (210), said jaw base plate (100) being detachably connectable to said holder (210).

10. An industrial robot comprising an industrial robot body (300), characterized in that it further comprises a jaw according to claim 9, said connecting flange (220) being detachably mounted on a boom of said industrial robot body (300).