CN108500956B - Robot grabbing device, grabbing system and grabbing method - Google Patents

Abstract

The invention discloses a robot grabbing device, a grabbing system and a grabbing method. The robot grabbing device includes an arm connecting part, a jaw connecting part, a first driving mechanism and a second driving mechanism, and the arm connecting part is provided with The locking mechanism and the first communication module, the locking mechanism is respectively connected to the first driving mechanism and the first communication module, the locking mechanism has a first docking part; the jaw connecting part is provided with a jaw and a second communication module, the jaw The second drive mechanism and the second communication module are respectively connected, and a second docking portion matched with the first docking portion is provided on the jaw connecting portion. The invention can replace manual operation, realize automatic and intelligent loading and unloading of workpieces, improve production efficiency and product quality, and reduce production costs.

Description

Robot grabbing device, grabbing system and grabbing method

technical field

The invention relates to the field of automatic production equipment, in particular to a robot grabbing device, a grabbing system and a grabbing method.

Background technique

Today, the competition in the mold industry is becoming more and more fierce, and the automation and intelligence of mold manufacturing has become the core competitiveness of mold companies.

However, in traditional mold manufacturing, the loading and unloading of workpieces (such as electrodes) is still mostly done manually, which is highly dependent on people, which brings many disadvantages: low production efficiency, high labor costs; manual correction It is easy to make mistakes, which reduces the yield rate; when changing the mold, the processing equipment is in a shutdown state, which reduces the utilization rate of the equipment; for the processing of some special material workpieces, working in such an environment for a long time will directly affect the health of the workers.

Contents of the invention

The purpose of the present invention is to provide a robot grabbing device, grabbing system and grabbing method, which can replace manual operation, realize automatic and intelligent loading and unloading of workpieces, improve production efficiency and product quality, and reduce production costs .

Its technical scheme is as follows:

The robot grabbing device includes an arm connection part, a gripper connection part, a first drive mechanism and a second drive mechanism, the arm connection part is provided with a locking mechanism and a first communication module, and the locking mechanism is respectively connected to the The first driving mechanism and the first communication module, the locking mechanism has a first docking part; the jaw connecting part is provided with a jaw and a second communication module, and the jaws are respectively connected to the second drive mechanism and the second communication module, the connecting portion of the jaw is provided with a second docking portion that matches the first docking portion.

The first driving mechanism includes a first cylinder, and the first cylinder communicates with the locking mechanism; the second driving mechanism includes a second cylinder, and the locking mechanism is provided with a first pneumatic channel module, so A second pneumatic channel module is provided on the connecting part of the jaw, the first pneumatic channel module is matched with the second pneumatic channel module, the second cylinder communicates with the first pneumatic channel module, and the clip The claw communicates with the first pneumatic channel module through the second pneumatic channel module.

The locking mechanism also has a housing, a piston, a connecting block, a driving pin and a locking pin, the first docking part is arranged on the housing, and the piston, the connecting block, the driving pin and the locking pin form a For being arranged in the housing, the housing is provided with an air source interface, and an air channel is opened in the housing, the first cylinder communicates with the air channel through the air source interface, and the piston communicating with the air source interface through the air passage;

The connecting block is installed on the piston, the driving pin is passed through the connecting block, the locking pin is slidably connected to both sides of the first docking part, and the locking pin has a The notch matched with the drive pin, the notch has a guide part and a drive part, the guide part is arranged vertically, the drive part is arranged obliquely, and the drive pin is slidably connected in the drive part through the guide part; The locking pin has a locking portion, and the second abutting portion has a first stopper, a second stopper and a locking portion, and the first stopping portion is connected to the second locking portion through the locking portion. The two stoppers are connected, and the locking portion is matched with the locking portion.

A spring is provided in the housing, one end of the spring is connected to the piston, and the other end is connected to the housing; a magnetic switch is provided in the housing, a magnetic ring is embedded on the piston, and the magnetic switch is close to the Magnet set.

The connecting part of the jaws includes a connecting plate, the second butting part is arranged on the connecting plate, and the connecting plate is provided with positioning pins on both sides of the second butting part, and the first butting part includes A docking chamber and a docking ring, the locking pins are located on both sides of the docking chamber, the docking ring is arranged at the opening of the docking chamber on the housing, and the housing is on the side of the docking ring Positioning holes matched with the positioning pins are provided on both sides.

The housing is provided with a wireless RFID reader-writer and a photoelectric sensor, and the wireless RFID reader-writer and the photoelectric sensor are respectively electrically connected to the first communication module; the jaws are provided with a proximity sensor, and the proximity sensor Electrically connect the second communication module.

The first communication module includes a first communication connector and a first signal module, the second communication module includes a second communication connector and a second signal module, and the first communication connectors are electrically connected to each other through the first signal module In the wireless RFID reader and photoelectric sensor, the first signal module is matched with the second signal module, and the second communication connector is electrically connected to the proximity sensor through the second signal module.

The jaws include fingers and a base jaw, and the fingers are detachably connected to the base jaw.

The robot grabbing system includes a manipulator, a control system and any one of the aforementioned robot grabbing devices, the control system is electrically connected to the manipulator, the arm connection part is installed on the manipulator, and the first drive The mechanism, the first communication module, the second driving mechanism and the second communication module are finally connected with the control system.

The capture method includes the following steps:

The control system controls the action of the manipulator. The manipulator drives the locking mechanism to approach the second docking part. The first docking part is docked with the second docking part. The first driving mechanism operates, and the first driving mechanism drives the locking mechanism to lock the second docking part;

After locking in place, the first communication module transmits the signal of locking in place to the control system, the control system controls the action of the manipulator, and the manipulator drives the jaws to move to the place where the material is placed. When the jaws approach the workpiece, the second communication module will The signal is transmitted to the control system, the control system controls the action of the second drive mechanism, and the second drive mechanism drives the jaws to grab the workpiece;

After the workpiece is grasped, the second communication module transmits the signal of the workpiece being grasped to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper to transport the workpiece to the machine tool for loading and processing;

After the workpiece is processed, the control system controls the action of the manipulator, and the manipulator drives the jaws to move to the machining position of the machine tool. When the jaws approach the workpiece, the second communication module transmits the approaching signal to the control system, and the control system controls the action of the second driving mechanism. , the second driving mechanism drives the jaws to grab the workpiece;

After the workpiece is grasped, the second communication module transmits the signal that the workpiece is grasped to the control system. The control system controls the action of the manipulator, and the manipulator drives the gripper to transport the workpiece to the material placement place for unloading.

It should be noted:

The aforementioned "first and second" do not represent a specific quantity and order, but are only used to distinguish names.

Advantages or principles of the present invention are described below:

1. The arm connection part is installed on the manipulator, the first communication module and the second communication module are used to realize the signal transmission with the control system; the first docking part is matched with the second docking part to realize the docking, and the first The driving mechanism drives the locking mechanism to lock or loosen the second docking part so as to connect or replace the jaws; the second driving mechanism provides power for the gripping action of the jaws;

The robot grabbing device can replace manual operation and is used for grabbing workpieces, realizing automatic and intelligent loading and unloading of workpieces, improving production efficiency and product quality, and reducing production costs.

2. When in use, when the first docking part and the second docking part are docked in place, the air pressure generated by the first cylinder drives the locking mechanism to lock the second docking part; While docking in place, the first pneumatic channel module has been connected with the second pneumatic channel module. When the gripper is close to the workpiece, the air pressure generated by the second cylinder enters the gripper through the first pneumatic channel module and the second pneumatic channel module. , air pressure drives the jaws to grab the workpiece; wherein, when the locking mechanism needs to loosen the second docking part, it is enough to change the direction of the airflow delivered by the first cylinder to the locking mechanism; when the jaws need to loosen the workpiece , just by changing the direction of the airflow delivered by the second cylinder to the jaws.

3. When the first docking part and the second docking part are docked in place, the air pressure generated by the first cylinder enters the casing through the air source interface and the air channel and drives the piston to move. The piston pushes the connecting block together with the driving pin to move along a straight line. Under the guidance of the guide part, the driving pin gradually enters the driving part. Since the driving part is inclined, when the driving pin slides along the driving part, a lateral force will be generated on the locking pin, which can drive the lock. The fastening pin slides laterally to the position of the first docking part until the locking part and the snap-in part are matched in place, and the setting of the first stop part and the second stop part makes the lock part firmly align with the snap-in part Clamp to prevent relative slippage between the locking part and the clamping part; when it is necessary to loosen the second docking part, it is only necessary to change the direction in which the first cylinder sends air to the piston; the locking mechanism uses " The principle of "slanted wedge mechanism" converts the linear motion of the piston into the lateral motion of the locking pin, so as to lock or loosen the second butt joint. The method is reliable and practical.

4. There is a spring inside the casing. When the second docking part is locked, the spring is pushed by the piston and compressed, so that the locking pin can maintain a good locking force and play the role of air cut-off protection; the magnetic switch passes through The stroke of the piston can be easily monitored by detecting the magnetic ring on the piston.

5. The setting of the positioning pin and the positioning hole enables the second docking part to quickly and accurately enter the docking cavity for docking. At the same time, when the driving pin drives the locking pin to slide sideways, the housing is prone to slight vibration , which affects the locking of the second docking part, and the arrangement of the positioning pin and the positioning hole can offset the slight vibration generated by the housing, so that the locking pin can be safely and smoothly locked on the second docking part.

6. The shell is equipped with a wireless RFID reader, which can identify different types of workpieces; when the jaws are feeding the machine tool, the photoelectric sensor can be used to confirm the opening and closing status of the machine door to prevent collisions machine phenomenon; when the jaws are close to the workpiece, the proximity sensor can be used to detect the displacement of the jaws conveniently and effectively, so as to ensure that the jaws can accurately reach the appropriate position from the workpiece for grasping action.

7. The first communication connector is finally connected to the control system. When the wireless RFID reader recognizes the type of workpiece, the wireless RFID reader transmits the generated signal to the control system through the first signal module and the first communication connector. , so as to control the subsequent grabbing work and prevent wrong workpieces from being grabbed; when the photoelectric sensor confirms the opening and closing state of the machine door, the photoelectric sensor will transmit the signal generated to the control system through the first signal module and the first communication connector In order to control the movement of the manipulator and prevent collisions; when the jaws approach the workpiece, the proximity sensor responds and transmits the generated signals to the control through the second signal module, the first signal module, and the first communication connector. In the system, the displacement of the jaws can be detected to ensure that the jaws can accurately reach the proper position from the workpiece for grasping action.

8. The fingers are detachably connected to the base jaw, and the type of fingers can be customized according to the specific workpiece type to improve the flexibility of the jaws, so that the jaws can adapt to the grasping work of different workpieces.

9. Before use, program the control system according to the specific production situation; when in use, the control system controls the action of the manipulator, and the manipulator drives the locking mechanism to approach the second docking part, and the first docking part and the second docking part are docked and docked in place Finally, the first communication module transmits the docking signal to the control system, the control system controls the action of the first driving mechanism, and the first driving mechanism drives the locking mechanism to lock the second docking part;

After locking in place, the first communication module transmits the signal of locking in place to the control system, the control system controls the action of the manipulator, and the manipulator drives the jaws to move to the place where the material is placed. When the jaws approach the workpiece, the second communication module will The signal is transmitted to the control system, the control system controls the action of the second drive mechanism, and the second drive mechanism drives the jaws to grab the workpiece;

After the workpiece is grasped, the second communication module transmits the signal of the workpiece being grasped to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper to transport the workpiece to the machine tool for loading and processing;

After the workpiece is processed, the control system controls the action of the manipulator, and the manipulator drives the jaws to move to the machining position of the machine tool. When the jaws approach the workpiece, the second communication module transmits the approaching signal to the control system, and the control system controls the action of the second driving mechanism. , the second driving mechanism drives the jaws to grab the workpiece;

After the workpiece is grasped, the second communication module transmits the signal that the workpiece is grasped to the control system. The control system controls the action of the manipulator, and the manipulator drives the gripper to transport the workpiece to the material placement place for unloading.

The robot grabbing system can replace manual operation, realize automatic and intelligent loading and unloading of workpieces, improve production efficiency and product quality, and reduce production costs.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of the part connected with the manipulator in the robot grabbing device of the embodiment of the present invention;

Fig. 2 is the front view of Fig. 1;

Fig. 3 is a three-dimensional structural schematic diagram of the part used to grab the workpiece in the first viewing angle of the robot grabbing device according to the embodiment of the present invention;

Fig. 4 is a schematic diagram of the three-dimensional structure of the part used to grab the workpiece in the second viewing angle of the robot grabbing device according to the embodiment of the present invention;

Fig. 5 is a three-dimensional schematic diagram of the internal structure of the locking mechanism of the embodiment of the present invention;

Fig. 6 is a schematic diagram of the working principle of the locking mechanism of the embodiment of the present invention;

Fig. 7 is a schematic diagram of the internal structure of the locking pin of the embodiment of the present invention;

Explanation of reference signs:

1. Arm connecting part, 2. Locking mechanism, 21. First docking part, 211. Butt ring, 22. Positioning hole, 23. Piston, 231. Magnetic ring, 24. Connecting block, 25. Driving pin, 26. Locking pin, 261, locking portion, 262, first guide section, 263, first action section, 264, second action section, 265, third action section, 266, fourth action section, 267, second guide Section, 27, housing, 28, magnetic switch, 29, spring, 3, first pneumatic channel module, 31, channel connector, 4, first communication module, 41, first communication connector, 42, first signal module, 421. Signal interface, 5. Second communication module, 51. Second communication connector, 52. Second signal module, 521. Signal connector, 6. Second pneumatic channel module, 61. Channel interface, 7. Gripper connection part , 71, connecting plate, 8, jaw, 81, base jaw, 82, finger, 9, second docking part, 91, first stop part, 92, second stop part, 93, clamping part, 10 , positioning pin, 11, proximity sensor, 12, wireless RFID reader, 13, photoelectric sensor, 14, air source interface, 141, first air inlet, 142, first air outlet, 141, second air inlet , 142, the second air outlet, 15, the air source connector.

Detailed ways

Embodiments of the present invention will be described in detail below.

The robot grabbing system includes a manipulator (not shown in the figure), a control system and a robot grabbing device. As shown in FIGS. A driving mechanism and a second driving mechanism, the arm connecting part 1 is provided with a locking mechanism 2 and a first communication module 4, and the locking mechanism 2 is respectively connected to the first driving mechanism and the first communication module 4, The locking mechanism 2 has a first docking portion 21; the jaw connection portion 7 is provided with a jaw 8 and a second communication module 5, and the jaw 8 is connected to the second drive mechanism, the second communication module, respectively. Module 5, the jaw connection portion 7 is also provided with a second docking portion 9 that matches the first docking portion 21;

The control system is electrically connected to the manipulator, the arm connection part 1 is installed on the manipulator, the first drive mechanism, the first communication module 4, the second drive mechanism, and the second communication module 5 are finally connected to the manipulator. The control system is connected; the first drive mechanism includes a first cylinder (not shown in the figure), the second drive mechanism includes a second cylinder (not shown in the figure), the first cylinder, the second cylinder Set on the manipulator, the control system is electrically connected to the first cylinder and the second cylinder respectively, and the first cylinder communicates with the locking mechanism 2;

The locking mechanism 2 is provided with a first pneumatic channel module 3, and the jaw connection part 7 is provided with a second pneumatic channel module 6, the first pneumatic channel module 3 has a channel joint 31, and the second The pneumatic channel module 6 has a channel interface 61 that is matched with the channel joint 31, and the first pneumatic channel module 3 is matched with the second pneumatic channel module 6 through the channel joint 31 and the channel interface 61. The jaws 8 communicate with the first pneumatic channel module 3 through the second pneumatic channel module 6, and the first pneumatic channel module 3 is provided with an air source joint 15, and the number of the air source joints 15 is two , the second cylinder communicates with the first pneumatic channel module 3 through the air source joint 15 .

As shown in Fig. 2, Fig. 5, Fig. 6 and Fig. 7, the locking mechanism 2 also has a housing 27, a piston 23, a U-shaped connecting block 24, a driving pin 25 and a locking pin 26, the first The docking part 21 is provided on the housing 27, and the piston 23, the connecting block 24, the driving pin 25 and the locking pin 26 are all arranged in pairs in the housing 27 and are symmetrical about the middle of the housing 27, The housing is provided with an air source interface 14, and an air channel (not shown in the figure) is opened in the housing 27, and the first cylinder communicates with the air channel through the air source interface 14, The piston 23 communicates with the air source interface 14 through the air channel. In this embodiment, the air source interface 14 includes a first air inlet 141 , a first air outlet 142 , and a second air inlet 143 , the second air outlet 144, the first air inlet 141 communicates with the rear end of the piston 23 through the air passage, the first air outlet 142 communicates with the front end of the piston 23 through the air passage, and the first air outlet 142 communicates with the front end of the piston 23 through the air passage. The second air inlet 143 communicates with the front end of the piston 23 through the air passage, and the air inlet 144 communicates with the rear end of the piston 23 through the air passage;

The connecting block 24 is mounted on the front end of the piston 23, the driving pin 25 is penetrated in the connecting block 24, the locking pin 26 is slidably connected to both sides of the first docking portion 21, the The locking pin 26 has a notch (not shown in the figure) matched with the driving pin 25, and the notch has a guide part (not shown in the figure) and a driving part (not shown in the figure), and the guide The driving part is arranged vertically, the driving part is arranged obliquely, and the driving pin 25 is slidably connected in the driving part through the guiding part, wherein the guiding part has a first guiding segment 262 and a second guiding segment 267, so The driving part includes a first action part (not shown in the figure) and a second action part (not shown in the figure), the first action part has a first action section 263 and a fourth action section 266, the first action section The second action part has a second action section 264 and a third action section 265, the guide part communicates with the second action part through the first action part, and the guide part and the second action part are connected to each other. The drive pin 25 is matched, the diameter of the first action part is greater than the diameter of the drive pin 25, and the length of the first guide segment 262 in the vertical direction is greater than the length of the second guide segment 267, The first guide section 262 is connected to the second action section 264 through the first action section 263 , and the second guide section 267 is connected to the third action section 265 through the fourth action section 266 , The third action section 265 is connected to the first action section 263 through the second action section 264, and the first guide section 262 and the first action section 263 are arranged close to the position of the first docking portion 21; The locking pin 26 has a locking portion 261, and the second docking portion 9 has a first stop portion 91, a second stop portion 92 and a locking portion 93, and the first stop portion 91 passes through the The engaging portion 93 is connected to the second stop portion 92 , and the locking portion 261 is matched with the engaging portion 93 .

As shown in Fig. 1, Fig. 3, Fig. 4, and Fig. 5, a spring 29 is arranged in the housing 27, and one end of the spring 29 is connected to the piston 23, and the other end is connected to the housing 27; 27 is provided with a magnetic switch 28, the piston 23 is inlaid with a magnetic ring 231, the magnetic switch 28 is set close to the magnetic ring 231, and the magnetic switch is finally connected to the control system; the housing 27 is provided with Wireless RFID reader-writer 12 and photoelectric sensor 13, described wireless RFID reader-writer 12, photoelectric sensor 13 electrically connect described first communication module 4 respectively; Described jaw 8 is provided with proximity sensor 11, and described proximity sensor 11 electrically connecting the second communication module 5;

The jaw connecting portion 7 includes a connecting plate 71, the second butt joint portion 9 is disposed on the joint plate 71, and the connecting plate 71 is provided with positioning pins 10 on both sides of the second butt joint portion 9, The first docking part 21 includes a docking cavity and a docking ring 211, the locking pin 26 is located on both sides of the docking cavity, and the docking ring 211 is provided at the opening of the docking cavity on the housing 27 At the position, the housing 27 is provided with a positioning hole 22 on both sides of the docking ring 211 to match with the positioning pin 10; the clamping jaw 8 includes a finger 82 and a base jaw 81, and the finger 82 is connected to the positioning pin 10. The base claw 81 is detachably connected.

As shown in Figure 1, Figure 2 and Figure 4, the first communication module 4 includes a first communication connector 41 and a first signal module 42, and the second communication module 5 includes a second communication connector 51 and a second signal module 52, the first communication joint 41 is electrically connected to the wireless RFID reader 12 and the photoelectric sensor 13 respectively through the first signal module 42, the first signal module 42 has a signal interface 421, and the second signal The module 52 has a signal connector 521 matched with the signal interface 421, the first signal module 42 is matched with the second signal module 52 through the signal interface 421 and the signal connector 521, and the second communication connector 51 is electrically connected to the proximity sensor 11 through the second signal module 52 .

The capture method includes the following steps:

The control system controls the action of the manipulator, and the manipulator drives the locking mechanism 2 close to the second docking part 9, the first docking part 21 is docked with the second docking part 9, and after the docking is in place, the first communication module 4 transmits the signal of the docking in place to the control system , the control system controls the action of the first driving mechanism, and the first driving mechanism drives the locking mechanism 2 to lock the second docking part 9;

After locking in place, the first communication module 4 transmits the signal of locking in place to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to move to the place where the material is placed. When the gripper 8 approaches the workpiece, the second communication module 5 Transmitting the approaching signal to the control system, the control system controls the action of the second driving mechanism, and the second driving mechanism drives the jaws 8 to grab the workpiece;

After the workpiece is grasped, the second communication module 5 transmits the signal that the workpiece is grasped to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to transport the workpiece to the machine tool for feeding and processing;

After the workpiece is processed, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to move to the machining position of the machine tool. When the gripper 8 approaches the workpiece, the second communication module 5 transmits the approaching signal to the control system, and the control system controls the second The driving mechanism operates, and the second driving mechanism drives the jaws 8 to grab the workpiece;

After the workpiece is grasped, the second communication module 5 transmits the signal that the workpiece is grasped to the control system. The control system controls the action of the manipulator, and the manipulator drives the gripper 8 to transport the workpiece to the material placement place for unloading.

Embodiments of the present invention have the following advantages:

1. The first communication module 4 and the second communication module 5 are used to realize signal transmission with the control system; the first docking part 21 is matched with the second docking part 9 to realize docking, and the lock is driven by the first driving mechanism The tightening mechanism 2 locks or loosens the second docking part 9 so as to connect or replace the jaws 8; the second driving mechanism provides power for the gripping action of the jaws 8;

The robot grabbing device can replace manual operation and is used to grab workpieces, realize automation and intelligent loading and unloading of workpieces, improve production efficiency and product quality, and reduce production costs;

Before use, the control system is programmed according to the specific production situation; during use, the control system controls the action of the manipulator, and the manipulator drives the locking mechanism 2 to approach the second docking part 9, and the first butt joint 21 is docked with the second butt joint 9, After docking in place, the first communication module 4 transmits the signal of docking in place to the control system, the control system controls the action of the first driving mechanism, and the first driving mechanism drives the locking mechanism 2 to lock the second docking part 9;

After locking in place, the first communication module 4 transmits the signal of locking in place to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to move to the place where the material is placed. When the gripper 8 approaches the workpiece, the second communication module 5 Transmitting the approaching signal to the control system, the control system controls the action of the second driving mechanism, and the second driving mechanism drives the jaws 8 to grab the workpiece;

After the workpiece is grasped, the second communication module 5 transmits the signal that the workpiece is grasped to the control system, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to transport the workpiece to the machine tool for feeding and processing;

After the workpiece is processed, the control system controls the action of the manipulator, and the manipulator drives the gripper 8 to move to the machining position of the machine tool. When the gripper 8 approaches the workpiece, the second communication module 5 transmits the approaching signal to the control system, and the control system controls the second The driving mechanism operates, and the second driving mechanism drives the jaws 8 to grab the workpiece;

After the workpiece is grasped, the second communication module 5 transmits the signal that the workpiece is grasped to the control system. The control system controls the action of the manipulator, and the manipulator drives the gripper 8 to transport the workpiece to the material placement place for unloading.

The invention can replace manual operation, realize automatic and intelligent loading and unloading of workpieces, improve production efficiency and product quality, and reduce production costs.

2. After the first docking part 21 and the second docking part 9 are docked in place, the first pneumatic channel module 3 has been connected with the second pneumatic channel module 6. When the gripper 8 approaches the workpiece, the control system controls the second cylinder to move toward The air source connector 15 conveys the air flow, and the air flow enters the gripper 8 through the first pneumatic channel module 3 and the second pneumatic channel module 6, and the power generated by the air flow drives the gripper 8 to grab the workpiece; wherein, when the gripper 8 needs When loosening the workpiece, it is enough to change the direction of the air flow delivered by the second air cylinder to the air source joint 15, and the air source is used as the power source of the jaws 8, which reduces the production cost.

3. When the first docking part 21 is docked with the second docking part 9, the first air inlet 141 and the first air outlet 142 are opened, while the second air inlet 143 and the second air outlet 144 are closed, and the control The system controls the first cylinder to deliver airflow to the first air inlet 141, and the power generated by the airflow drives the piston 23 to move forward, and the piston 23 pushes the connecting block 24 to move forward linearly together with the driving pin 25, and the driving pin 25 is guided by the guide part down, and gradually enter the driving part, because the driving part is inclined, when the driving pin 25 slides along the driving part, a lateral component force will be generated on the locking pin 26, and the lateral component force will drive the locking pin 26 to the first Slide sideways at the position of the docking part 21 until the locking part 261 and the locking part 93 are matched in place, and the setting of the first stop part 91 and the second stop part 92 enables the locking part 261 to be firmly connected to the locking part. part 93 to clamp to prevent relative slippage between the locking part 261 and the engaging part 93; when the second docking part 9 needs to be released, the second air inlet 143 and the second air outlet 144 are opened, and the second One air inlet 141 and the first air outlet 142 are in the closed state, the control system controls the first cylinder to deliver airflow to the second air inlet 143, the power generated by the airflow drives the piston 23 to move backward, and the piston 23 drives the connecting block 24 together with the drive The pins 25 move linearly backward together, and the driving pin 25 pulls the locking pin 26 to separate from the second butt joint 9; Lateral movement, so as to lock or loosen the second docking part 9, the method is reliable and practical;

In this embodiment, when the piston 23 pushes the connecting block 24 to move forward linearly together with the driving pin 25, the driving pin 25 gradually enters the driving part under the guidance of the guide part. The specific process is as follows: The length of a guide segment 262 is greater than the length of the second guide segment 267, so after the drive pin 25 has walked the length of the second guide segment 267, it continues to follow the first action segment 263, the The second action section 264 slides, and at the same time, because the diameter of the first action part is larger than the diameter of the drive pin 25, there is a gap between the drive pin 25 and the fourth action section 266 during the sliding process along the first action section 263 No force is generated on the fourth action section 266, so during the sliding process of the drive pin 25 along the first action section 263 and the second action section 264, a lateral component force will be generated on the locking pin 26, and the side direction The component force acts on the first action section 263, thereby driving the locking pin 26 to slide laterally towards the position of the first docking part 21 until the locking part 261 and the clamping part 93 are matched in place; similarly, when the piston 23 drives When the connecting block 24 moves linearly backward together with the driving pin 25, under the action of the third action segment 265, the drive pin 25 slides along the fourth action segment 266 and exerts a lateral component force on the fourth action segment 266, so that The driving pin 25 can pull the locking pin 26 to separate from the second docking portion 9 .

4. A spring 29 is provided inside the housing 27. During the locking process of the second docking part 9, the spring 29 is pushed by the piston 23 and compressed, so that the locking pin 26 can maintain a good locking force and play a role in shutting off the air. The function of protection; the magnetic switch 28 can monitor the stroke of the piston 23 conveniently by detecting the magnetic ring 231 on the piston 23 .

5. The setting of the positioning pin 10 and the positioning hole 22 enables the second docking part 9 to enter into the docking cavity quickly and accurately for docking. At the same time, when the driving pin 25 drives the locking pin 26 to slide laterally, the housing The body 27 is prone to slight vibration, which affects the locking of the second docking part 9, and the setting of the positioning pin 10 and the positioning hole 22 can offset the slight vibration generated by the housing 27, so that the locking pin 26 has a positive impact on the second docking part 9. The locking of part 9 can be carried out safely and smoothly.

6. The housing 27 is equipped with a wireless RFID reader 12, which can identify different types of workpieces; when the jaw 8 is feeding the machine tool, the opening and closing state of the machine door can be confirmed by using the photoelectric sensor 13, To prevent collision; when the jaws 8 are close to the workpiece, the proximity sensor 11 can be used to detect the displacement of the jaws 8 conveniently and effectively, so as to ensure that the jaws 8 can accurately reach the appropriate position from the workpiece for grasping action.

7. The first communication connector 41 is finally connected to the control system. When the wireless RFID reader-writer 12 identifies the type of workpiece, the signal generated by the wireless RFID reader-writer 12 passes through the first signal module 42 and the first communication connector 41 transmitted to the control system so as to control the subsequent grabbing work and prevent wrong workpieces from being grabbed; when the photoelectric sensor 13 confirms the opening and closing state of the machine door, the signal generated by the photoelectric sensor 13 passes through the first signal module The first communication joint 41 is transmitted to the control system so as to control the action of the manipulator and prevent collisions; when the gripper 8 approaches the workpiece, the proximity sensor 11 responds and generates signals through the second signal module 52, The first signal module 42 and the first communication connector 41 are transmitted to the control system so as to detect the displacement of the gripper 8 to ensure that the gripper 8 can accurately reach a suitable position from the workpiece for grabbing.

8. The finger 82 is detachably connected to the base jaw 81. The finger 82 can be an electrode finger 82 or a tool finger 82. The type of the finger 82 can be customized according to the specific workpiece type to improve the flexibility of the jaw 8. The clamping jaws 8 can adapt to the grasping work of different workpieces.

The above are only specific embodiments of the present invention, and do not limit the protection scope of the present invention; any replacement and improvement made on the basis of not violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims (8)

1. The robot grabbing device is characterized by comprising an arm connecting part, a clamping jaw connecting part, a first driving mechanism and a second driving mechanism, wherein a locking mechanism and a first communication module are arranged on the arm connecting part, the locking mechanism is respectively connected with the first driving mechanism and the first communication module, and the locking mechanism is provided with a first butt joint part; the clamping jaw connecting part is provided with a clamping jaw and a second communication module, the clamping jaw is respectively connected with the second driving mechanism and the second communication module, and the clamping jaw connecting part is provided with a second butt joint part matched with the first butt joint part;

the first driving mechanism comprises a first air cylinder which is communicated with the locking mechanism; the second driving mechanism comprises a second air cylinder, a first pneumatic channel module is arranged on the locking mechanism, a second pneumatic channel module is arranged on the clamping jaw connecting part, the first pneumatic channel module is matched with the second pneumatic channel module, the second air cylinder is communicated with the first pneumatic channel module, and the clamping jaw is communicated with the first pneumatic channel module through the second pneumatic channel module;

the locking mechanism is further provided with a shell, a piston, a connecting block, a driving pin and a locking pin, the first butt joint part is arranged on the shell, the piston, the connecting block, the driving pin and the locking pin are arranged in the shell in pairs, an air source interface is arranged on the shell, an air passage is arranged in the shell, the first air cylinder is communicated with the air passage through the air source interface, and the piston is communicated with the air source interface through the air passage;

the connecting block is arranged on the piston, the driving pin penetrates through the connecting block, the locking pin is connected to the two sides of the first butt joint part in a sliding mode, the locking pin is provided with a notch matched with the driving pin, the notch is provided with a guide part and a driving part, the guide part is arranged vertically, the driving part is arranged obliquely, and the driving pin is connected into the driving part in a sliding mode through the guide part; the locking pin is provided with a locking part, the second butt joint part is provided with a first stopping part, a second stopping part and a clamping part, the first stopping part is connected with the second stopping part through the clamping part, and the locking part is matched with the clamping part.

2. The robotic grasping device according to claim 1, wherein a spring is provided in the housing, one end of the spring being connected to the piston, the other end being connected to the housing; the magnetic switch is arranged in the shell, the magnetic ring is embedded on the piston, and the magnetic switch is arranged close to the magnetic ring.

3. The robot gripping device according to claim 1 or 2, wherein the jaw connecting portion comprises a connecting plate, the second abutting portion is arranged on the connecting plate, positioning pins are arranged on two sides of the second abutting portion by the connecting plate, the first abutting portion comprises an abutting cavity and an abutting ring, the locking pins are arranged on two sides of the abutting cavity, the abutting ring is arranged at an opening of the abutting cavity on the shell, and positioning holes matched with the positioning pins are formed on two sides of the abutting ring by the shell.

4. The robot gripping device according to claim 1 or 2, wherein a wireless RFID reader and a photoelectric sensor are arranged on the housing, and the wireless RFID reader and the photoelectric sensor are respectively and electrically connected with the first communication module; and the clamping jaw is provided with a proximity sensor, and the proximity sensor is electrically connected with the second communication module.

5. The robotic grasping device according to claim 4, wherein the first communication module includes a first communication connector and a first signal module, the second communication module includes a second communication connector and a second signal module, the first communication connector is electrically connected to the wireless RFID reader and the photoelectric sensor through the first signal module, the first signal module is paired with the second signal module, and the second communication connector is electrically connected to the proximity sensor through the second signal module.

6. The robotic grasping device of claim 1 or 2, wherein the jaw comprises a finger and a base jaw, the finger being detachably connected to the base jaw.

7. The robot gripping system is characterized by comprising a manipulator, a control system and the robot gripping device according to any one of the preceding claims, wherein the control system is in electrical connection with the manipulator, the arm connecting part is arranged on the manipulator, and the first driving mechanism, the first communication module, the second driving mechanism and the second communication module are finally connected with the control system.

8. Gripping method with a robotic gripping device according to any of the preceding claims 1-6, characterised in that it comprises the steps of:

the control system controls the mechanical arm to act, the mechanical arm drives the locking mechanism to be close to the second butting part, the first butting part is in butting joint with the second butting part, after the first butting part is in butting joint, the first communication module transmits a signal of butting joint to the control system, the control system controls the first driving mechanism to act, and the first driving mechanism drives the locking mechanism to lock the second butting part;

after the clamping jaw is locked in place, the first communication module transmits a locked signal to the control system, the control system controls the mechanical arm to act, the mechanical arm drives the clamping jaw to move to a material placement position, when the clamping jaw approaches a workpiece, the second communication module transmits the approaching signal to the control system, the control system controls the second driving mechanism to act, and the second driving mechanism drives the clamping jaw to grab the workpiece;

after the workpiece is gripped, the second communication module transmits a signal of the gripped workpiece to the control system, the control system controls the mechanical arm to act, and the mechanical arm drives the clamping jaw to convey the workpiece to the machine tool for feeding and processing;

after the workpiece is machined, the control system controls the mechanical arm to act, the mechanical arm drives the clamping jaw to move to the machining position of the machine tool, when the clamping jaw approaches the workpiece, the second communication module transmits an approaching signal to the control system, the control system controls the second driving mechanism to act, and the second driving mechanism drives the clamping jaw to grab the workpiece;

after the workpiece is gripped, the second communication module transmits a signal of the gripped workpiece to the control system, the control system controls the mechanical arm to act, and the mechanical arm drives the clamping jaw to carry the workpiece to the material placing position for discharging.