Foldable rotary multifunctional mechanical gripper

Abstract

The present application relates to the technical field of manipulator, and particularly relates to a foldable rotary multifunctional mechanical gripper, which comprises a connecting seat, the bottom of the connecting seat is provided with a rotating seat driven to rotate by a vertical cylinder, the rotating seat is provided with a clamping jaw assembly A and a clamping jaw assembly B for clamping workpieces; the connecting seat is symmetrically provided with connecting plates on the two sides in the longitudinal direction, a longitudinal rotating shaft driven to rotate by a driving assembly is arranged between the two connecting plates; the longitudinal rotating shaft is provided with swing arms at the two ends, the bottom of the swing arm is provided with a vacuum chuck; the two swing arms on the same side of the longitudinal rotating shaft are staggered and can cross-rotate; the four vacuum chucks are used for synchronously sucking plastic trays containing workpieces. Thus, while ensuring the rapid switching of workpieces in the numerical control machine tool, the plastic trays can also be automatically sucked and carried, which not only saves manpower, greatly improves the production efficiency, and meets the demand of mass production and processing.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a foldable, rotatable, multifunctional robotic gripper. Background Technology

[0002] A rectangular plate is placed within a groove in a rectangular plastic tray. Traditionally, a single gripper assembly holds the workpiece, which is then fed into a CNC machine tool via a gantry drive mechanism that moves in the XYZ directions. After processing, workers must manually move and stack the tray layer by layer, increasing their workload. However, this traditional production method is insufficient for the mass production of this rectangular plate; therefore, a redesigned mechanical gripper for holding the plate is necessary. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects and shortcomings of the existing technology. To this end, this invention provides a foldable and rotatable multifunctional mechanical gripper that can automatically grip plastic pallets and complete the switching and transportation of workpieces in CNC machine tools, thereby improving production efficiency.

[0004] To achieve the above objectives, the present invention provides a foldable, rotatable, multifunctional mechanical gripper, including a connecting base. The bottom of the connecting base is provided with a rotating seat that is driven to rotate by a vertical cylinder. The rotating seat is provided with gripper assembly A and gripper assembly B for gripping workpieces. Connecting plates are symmetrically arranged on both sides of the connecting base along its longitudinal direction. A longitudinal rotating shaft, driven to rotate by a driving assembly, is located between the two connecting plates. Swing arms are provided at both ends of the longitudinal rotating shaft, and vacuum suction cups are provided at the bottom of the swing arms. Two swing arms on the same side of the longitudinal rotating shaft are staggered and can rotate crosswise. Four vacuum suction cups are used to synchronously pick up plastic trays containing workpieces.

[0005] Furthermore, the drive assembly includes a sliding plate that is vertically driven by a dual-axis cylinder. The sliding plate is symmetrically provided with matching racks and gears on both sides along the transverse direction. The racks are bolted to the sliding plate, and the gears are coaxial with the longitudinal rotating shaft and connected by a flat key. The dual-axis cylinder is bolted to the connecting plate.

[0006] Furthermore, the rotating seat has a right-angled cross-section, and a rib is integrally provided on the inner side of the rotating seat; the push rod of the vertical cylinder is hinged to the rib; the rib is hinged to the cylinder body of the vertical cylinder through a pin.

[0007] Furthermore, the gripper assembly A includes a fixed plate A bolted to the outer end face of the rotating seat. The bottom end of the fixed plate A is provided with a bidirectional cylinder, and a right-angle plate is bolted to the outer side of the end plate of the bidirectional cylinder. A gripper A with an L-shaped cross-section is bolted to the bottom of the right-angle plate. The gripper A can slide through the right-angle plate in a planar manner. The fixed plate A is provided with a distance measuring sensor A, which is used to cooperate with the two grippers A to grip the workpiece.

[0008] Furthermore, the gripper assembly B includes a fixed plate B bolted to the outer end face of the rotating seat. A four-jaw cylinder is provided at the bottom end of the fixed plate B, and a connecting block is bolted to the bottom end of the push block of the four-jaw cylinder. A gripper B with an L-shaped cross section is slidably provided at the bottom of the connecting block. The gripper B is bolted to the connecting block. A distance sensor B is provided on the fixed plate B, and the distance sensor B is used to cooperate with the four grippers B to grip the workpiece.

[0009] Furthermore, the bottom of the four-jaw cylinder is symmetrically bolted with triangular plates, and support plates are symmetrically bolted to the triangular plates. The support plates are provided with hydraulic dampers, and the four hydraulic dampers are of equal height and are symmetrically distributed in a rectangle.

[0010] Furthermore, two limiting posts are provided on the inner sides of the two right-angled sides of the rotating seat. The limiting posts are fixed on the cylinder body of the vertical cylinder and are used to ensure that the rotating seat rotates 90°.

[0011] Furthermore, a planetary reducer is provided at the bottom of the connecting seat. The input end of the planetary reducer is connected to a servo motor, and the output end of the planetary reducer is connected to the vertical cylinder. The planetary reducer is used to drive the vertical cylinder to rotate relative to the vertical direction.

[0012] Furthermore, the output end of the planetary reducer is bolted with flange A, and the top end of the vertical cylinder is bolted with flange B, wherein flange A and flange B are matched.

[0013] Furthermore, the swing arm is right-angled; the vacuum suction cup includes a connected suction nozzle and an air tube, the air tube slides through a sleeve, the sleeve is fixed to the bottom of the swing arm, and the suction nozzle and the sleeve are provided with compression springs fitted on the air tube.

[0014] Compared with existing technologies, the advantages of this invention are: by rotating the rotating seat, gripper assembly A and gripper assembly B can switch positions to switch workpieces within the CNC machine tool, and the processed workpieces are placed in the plastic tray, greatly improving production efficiency. Simultaneously, after all workpieces in the top plastic tray have been processed, the vacuum suction cup moves to the surface of the plastic tray under the action of the drive assembly and picks up the tray for transport, reducing manpower and making it suitable for mass production needs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 for Figure 1 A schematic diagram of the structure of the middle gripper assembly A.

[0017] Figure 3 for Figure 1 A schematic diagram of the structure of the middle gripper assembly B.

[0018] Figure 4 This is a diagram showing the working state of the present invention.

[0019] The components are as follows: 1. Connecting seat; 2. Vertical cylinder; 3. Planetary reducer; 4. Drive assembly; 5. Gripper assembly A; 6. Gripper assembly B; 7. Vacuum suction cup; 11. Connecting plate; 12. Longitudinal rotating shaft; 21. Rotating seat; 22. Flange B; 23. Limiting post; 31. Servo motor; 32. Flange A; 41. Sliding plate; 42. Gear; 43. Dual-axis cylinder; 51. Fixing plate A; 52. Two-way cylinder; 53. Right-angle plate; 54. Gripper A; 55. Distance sensor A; 61. Fixing plate B; 62. Four-jaw cylinder; 63. Connecting block; 64. Gripper B; 65. Distance sensor B; 66. Triangular plate; 67. Support plate; 68. Hydraulic shock absorber; 71. Suction nozzle; 72. Air pipe; 73. Tube sleeve; 74. Compression spring. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Example

[0023] Please see Figures 1 to 4This invention provides a foldable, rotatable, multifunctional mechanical gripper, including a connecting base 1. The bottom of the connecting base 1 is provided with a rotating base 21 that is driven to rotate by a vertical cylinder 2. The rotating base 21 is provided with a gripper assembly A5 and a gripper assembly B6 for gripping workpieces. The connecting base 1 has symmetrical connecting plates 11 on both sides along the longitudinal direction. A longitudinal rotating shaft 12 driven to rotate by a drive assembly 4 is provided between the two connecting plates 11. Both ends of the longitudinal rotating shaft 12 are provided with swing arms, and the bottom of the swing arms is provided with vacuum suction cups 7. The two swing arms on the same side of the longitudinal rotating shaft 12 are staggered and can rotate crosswise. Four vacuum suction cups 7 are used to synchronously pick up plastic trays containing workpieces.

[0024] The gripper assembly B6 is used to grip the workpiece to be processed in the plastic tray, while the gripper assembly A5 grips the workpiece processed in the CNC machine tool. The connecting seat 1 is mounted on the gantry drive mechanism. Through the rotation of the rotating seat 21, driven by the gantry drive mechanism, the workpiece processed in the CNC machine tool is gripped by the gripper assembly A5. At this time, the workpiece to be processed, gripped by the gripper assembly B6, is placed horizontally in the CNC machine tool for processing, thus completing the workpiece switching within the CNC machine tool. The processed workpiece is then placed in the plastic tray, greatly improving production efficiency. Simultaneously, after all the workpieces in the top plastic tray have been processed, under the action of the drive assembly 4, the vacuum suction cup 7 moves to the surface of the plastic tray and picks up the tray for transport, reducing manpower and achieving automated handling of the plastic tray, suitable for mass production processing needs.

[0025] As an embodiment of the present invention, the drive assembly 4 includes a sliding plate 41 that is vertically driven by a dual-axis cylinder 43. The sliding plate 41 is symmetrically provided with matching racks and gears 42 on both sides of the transverse direction. The racks are bolted to the sliding plate 41, and the gears 42 are coaxial with the longitudinal rotating shaft 12 and are connected by a flat key. The dual-axis cylinder 43 is bolted to the connecting plate 11.

[0026] like Figure 1 As shown, with the end plate of the dual-axis cylinder 43 not extended, the vacuum suction cup 7 is positioned on the surface of the plastic tray. When the end plate of the dual-axis cylinder 43 extends, it pushes the sliding plate 41 to move vertically downwards. The sliding plate 41 drives the rack to move, and the rack drives the gear 42 to achieve counter-rotation of the two longitudinal rotating shafts 12. At this time, the swing arms rotate upwards and cross. When this invention is not used, the upward rotation and crossing of the swing arms can save space.

[0027] The cross-section of the aforementioned rotating seat 21 can be right-angled. Correspondingly, the inner side of the rotating seat 21 is integrally provided with a rib plate; the push rod of the vertical cylinder 2 is hinged to the rib plate; the rib plate is hinged to the cylinder body of the vertical cylinder 2 through a pin, thereby realizing the rotating seat 21 that is driven by the vertical cylinder 2 to rotate.

[0028] To ensure the precise rotation position of the rotating seat 21, two limiting posts 23 are provided on the inner sides of the two right-angled sides of the rotating seat 21. The limiting posts 23 are fixed on the cylinder body of the vertical cylinder 2. The limiting posts 23 are used to ensure that the rotating seat 21 rotates 90°, so that the gripper assembly A5 or gripper assembly B6 is vertically downward and can grip horizontally placed workpieces.

[0029] As an embodiment of the present invention, the gripper assembly A5 includes a fixed plate A51 bolted to the outer end face of the rotating seat 21. The bottom end of the fixed plate A51 is provided with a bidirectional cylinder 52, and a right-angle plate 53 is bolted to the outer side of the end plate of the bidirectional cylinder 52. A gripper A54 with an L-shaped cross section is bolted to the bottom of the right-angle plate 53. The gripper A54 can slide through the right-angle plate 53 in a planar manner. The fixed plate A51 is provided with a distance measuring sensor A55. When the distance between the distance measuring sensor A55 and the top plane of the workpiece meets the set distance, the bidirectional cylinder 52 drives the two grippers A54 to grip the workpiece.

[0030] As an embodiment of the present invention, the gripper assembly B6 includes a fixed plate B61 bolted to the outer end face of the rotating seat 21. A four-jaw cylinder 62 is provided at the bottom end of the fixed plate B61, and a connecting block 63 is bolted to the bottom end of the push block of the four-jaw cylinder 62. A gripper B64 with an L-shaped cross section is slidably provided at the bottom of the connecting block 63. The gripper B64 is bolted to the connecting block 63. A distance sensor B65 is provided on the fixed plate B61. When the distance between the distance sensor B65 and the top plane of the workpiece meets the set distance, the four-jaw cylinder 62 drives the four grippers B64 to grip the workpiece.

[0031] Both gripper A54 and gripper B64 can be provided with wedge-shaped protrusions on the inner bottom of their respective grippers to assist in gripping the workpiece; details will not be elaborated further.

[0032] Based on the above-mentioned gripper assembly B6 structure, in order to ensure that the gripped workpiece is stable and secure, triangular plates 66 are symmetrically bolted to the bottom of the four-jaw cylinder 62, and support plates 67 are symmetrically bolted to the triangular plates 66. Hydraulic buffers 68 are provided on the support plates 67, and the four hydraulic buffers 68 are of equal height and are symmetrically distributed in a rectangle.

[0033] The hydraulic damper 68 here is a purchased part. You can choose the SAC series hydraulic damper. I will not go into details.

[0034] As an embodiment of the present invention, a planetary reducer 3 is also provided at the bottom of the connecting seat 1. The input end of the planetary reducer 3 is connected to the servo motor 31, and the output end of the planetary reducer 3 is connected to the vertical cylinder 2. The planetary reducer 3 is used to drive the vertical cylinder 2 to rotate relative to the vertical direction, so that the gripper assembly A5 and the gripper assembly B6 can flexibly grip and place the workpiece.

[0035] The planetary reducer 3 here is an unpurchased component. It can be a product provided by Newgear Intelligent Transmission (Guangdong) Co., Ltd., which mainly includes a motor mounting flange, output flange, planetary gears, and a one-button coupling. The reference website is http: / / www.cn-newgear.com / news_view_1854_107.html. The spindle of the servo motor 31 is connected to the one-button coupling and drives the planetary gears to rotate. The planetary gears drive the output flange to rotate. Here, the output flange is defined as the output end, and the motor mounting flange is defined as the input end. Further details are omitted.

[0036] The output end of the planetary reducer 3 is bolted with flange A32, and the top of the vertical cylinder 2 is bolted with flange B22. Flange A32 and flange B22 are matched to facilitate the installation of the vertical cylinder 2 and the planetary reducer 3.

[0037] Secondly, air nozzles can be provided on the outer end faces of grippers A54 and B64. When gripper assembly A5 or gripper assembly B6 is in the vertical direction, vertical cylinder 2 rotates, and the air nozzles can remove impurities from the workpiece surface and the surrounding area, ensuring that the workpiece is placed neatly in the plastic tray. The details will not be elaborated further.

[0038] In addition, such as Figure 1 As shown, the aforementioned swing arm is right-angled; the vacuum suction cup 7 includes a connected suction nozzle 71 and an air tube 72. The air tube 72 slides through the sleeve 73, and the sleeve 73 is fixed to the bottom of the swing arm. The suction nozzle 71 and the sleeve 73 are provided with a compression spring 74 fitted on the air tube 72 to ensure that the suction nozzle 71 can better grip the plastic pallet for handling.

[0039] This invention can be summarized in other specific forms that do not depart from the spirit or essential features of the invention. Therefore, in all respects, the above embodiments of the invention should be considered illustrative only and not limiting, while the claims define the scope of the invention. The foregoing description does not define the scope of the invention; therefore, any changes within the meaning and scope equivalent to the claims should be considered to be included within the scope of the claims.

Claims

1. A foldable, rotatable, multifunctional mechanical gripper, characterized in that, Includes a connecting seat (1), the bottom of which is provided with a rotating seat (21) that is driven to rotate by a vertical cylinder (2), and the rotating seat (21) is provided with a gripper assembly A (5) and a gripper assembly B (6) for gripping workpieces; The connecting seat (1) is symmetrically provided with connecting plates (11) on both sides along the longitudinal direction. A longitudinal rotating shaft (12) driven to rotate by a driving component (4) is provided between the two connecting plates (11). Both ends of the longitudinal rotating shaft (12) are provided with swing arms. Vacuum suction cups (7) are provided at the bottom of the swing arms. The two swing arms on the same side of the longitudinal rotating shaft (12) are staggered and can rotate in a cross manner. The four vacuum suction cups (7) are used to synchronously pick up the plastic trays containing the workpieces. The drive assembly (4) includes a sliding plate (41) driven vertically by a dual-axis cylinder (43). The sliding plate (41) has matching racks and gears (42) symmetrically arranged on both sides of the transverse direction. The racks are bolted to the sliding plate (41), and the gears (42) are coaxial with the longitudinal rotating shaft (12) and connected by a flat key. The dual-axis cylinder (43) is bolted to the connecting plate (11). The rotating seat (21) has a right-angled cross section. Two limiting posts (23) are provided on the inner sides of the two right-angled sides of the rotating seat (21). The limiting posts (23) are fixed on the cylinder body of the vertical cylinder (2). The limiting posts (23) are used to ensure that the rotating seat (21) rotates 90° so that the gripper assembly A (5) or gripper assembly B (6) is vertically downward and can grip horizontally placed workpieces.

2. The foldable, rotatable, multifunctional mechanical gripper according to claim 1, characterized in that, The inner side of the rotating seat (21) is integrally provided with a rib plate; the push rod of the vertical cylinder (2) is hinged to the rib plate; the rib plate is hinged to the cylinder body of the vertical cylinder (2) through a pin.

3. The foldable, rotatable, multifunctional mechanical gripper according to claim 2, characterized in that, The gripper assembly A (5) includes a fixed plate A (51) bolted to the outer end face of the rotating seat (21). The bottom end of the fixed plate A (51) is provided with a two-way cylinder (52). A right-angle plate (53) is bolted to the outer side of the end plate of the two-way cylinder (52). A gripper A (54) with an L-shaped cross section is bolted to the bottom of the right-angle plate (53). The gripper A (54) can slide through the right-angle plate (53) in a planar manner. The fixed plate A (51) is provided with a distance sensor A (55). The distance sensor A (55) is used to cooperate with the two grippers A (54) to grip the workpiece.

4. The foldable, rotatable, multifunctional mechanical gripper according to claim 2, characterized in that, The gripper assembly B (6) includes a fixed plate B (61) bolted to the outer end face of the rotating seat (21). The bottom end of the fixed plate B (61) is provided with a four-jaw cylinder (62). The bottom end of the push block of the four-jaw cylinder (62) is bolted with a connecting block (63). The bottom of the connecting block (63) is provided with a gripper B (64) with an L-shaped cross section. The gripper B (64) is bolted to the connecting block (63). The fixed plate B (61) is provided with a distance sensor B (65). The distance sensor B (65) is used to cooperate with the four grippers B (64) to grip the workpiece.

5. The foldable, rotatable, multifunctional mechanical gripper according to claim 4, characterized in that, The bottom of the four-jaw cylinder (62) is symmetrically bolted with a triangular plate (66), and a support plate (67) is symmetrically bolted to the triangular plate (66). The support plate (67) is provided with a hydraulic damper (68), and the four hydraulic dampers (68) are of equal height and are symmetrically distributed in a rectangle.

6. The foldable, rotatable, multifunctional mechanical gripper according to claim 5, characterized in that, The bottom of the connecting seat (1) is also provided with a planetary reducer (3). The input end of the planetary reducer (3) is connected to a servo motor (31), and the output end of the planetary reducer (3) is connected to the vertical cylinder (2). The planetary reducer (3) is used to drive the vertical cylinder (2) to rotate relative to the vertical direction.

7. The foldable, rotatable, multifunctional mechanical gripper according to claim 6, characterized in that, The output end of the planetary reducer (3) is bolted with flange A (32), and the top end of the vertical cylinder (2) is bolted with flange B (22). Flange A (32) and flange B (22) are matched.

Images