A self-adapting multi-position compensation pipe material workpiece gripper device and method

Abstract

This invention discloses an adaptive multi-position compensation gripper device and method for tubular workpieces, comprising a main frame, an adaptive electromagnetic adsorption unit, a support, clamping, and locking unit, and a sensor unit. Through the design of the gripper device for tubular workpieces, this invention solves the problem of adaptability in gripping and handling round and triangular tubular materials of different specifications. The gripper device has multi-position compensation capabilities, enabling loading and unloading operations with high positioning accuracy requirements. Simultaneously, it can achieve position correction and precise centering of round and triangular tubular materials during handling. The support and clamping locking mechanisms reduce safety hazards during loading and unloading operations.

Description

Technical Field

[0001] This invention relates to a gripper for an industrial robot in a flexible production line for drill pipes, specifically to a gripper device and method for tube-type workpieces with adaptive multi-position compensation. Background Technology

[0002] The flexible drill pipe production line aims to achieve intelligent and standardized production of each process, significantly improving production efficiency, product quality, and energy utilization. Industrial robots are crucial automation equipment in this line, primarily responsible for automated loading and unloading. The gripper device, a key component of the industrial robot, determines its reliability, stability, and accuracy during operation, thus placing higher demands on the robot's gripper device.

[0003] First, the gripper device must be able to handle and transport round and triangular tubes of different specifications in the flexible drill rod production line. Second, to increase the number of tubes stacked, the tubes on the drill rod frame should be placed as compactly as possible. This requires the gripper device to have a certain degree of positional compensation to accommodate multi-directional gripping of the tubes and prevent scratches and collisions. To ensure that the tubes are accurately placed in the preset positions of the processing equipment, the gripped tubes must be well centered during transport. Due to the special cross-sectional shape of triangular tubes, cross-sectional dimensional errors must be comprehensively considered, and positional compensation should be performed during adsorption. A dedicated support gripping device should be set up, but it should not affect the gripping of round tubes. In addition, the scenario of sudden power or gas outages during gripping should be considered, and a reliable locking mechanism should be set up to reduce potential safety hazards during tube transport. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an adaptive multi-position compensation gripper device and method for tubular workpieces, so as to achieve clamping and handling of tubular materials of different specifications, precise centering, increase the number of tubular materials stacked, and avoid scratches and collisions.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An adaptive multi-position compensation gripper device for tubular workpieces includes a main frame, an adaptive electromagnetic adsorption unit, a support clamping and locking unit, and a sensor unit.

[0007] The main frame includes a front wing frame, a gripper main frame, a gripper connecting plate, and a rear wing frame; the front wing frame and the rear wing frame are located on both sides of the gripper main frame; the gripper connecting plate is located on the top of the gripper main frame;

[0008] The adaptive electromagnetic adsorption unit includes an adaptive electromagnetic adsorption mechanism, an electromagnetic adsorption mechanism connecting pin, a double-eared sliding shaft, a rectangular spring, an inner sliding sleeve, a support ring block, and a locking nut; there are two sets of adaptive electromagnetic adsorption units, which are respectively installed on the front wing and the rear wing; the upper end of the adaptive electromagnetic adsorption mechanism is hinged to the lower end of the double-eared sliding shaft through the electromagnetic adsorption mechanism connecting pin, the upper part of the double-eared sliding shaft passes through the inner sliding sleeve, the two inner sliding sleeves are respectively set on the front wing and the rear wing, the rectangular spring is sleeved between the double-eared sliding shaft step of the double-eared sliding shaft and the end face of the inner sliding sleeve shaft section of the inner sliding sleeve, and the support ring block is installed on the top of the double-eared sliding shaft through the locking nut;

[0009] The supporting clamping and locking unit includes a locking mechanism, a clamping cylinder, a driven clamping gear, a driven clamping gear shaft, a driving clamping gear, a driving clamping gear shaft, a driving clamping frame, a rotary supporting clamping mechanism, and a driven clamping frame. The locking mechanism is mounted on the main gripper frame. The clamping cylinder body of the clamping cylinder is hinged to the main gripper frame, and the piston rod of the clamping cylinder is hinged to the driving clamping frame. The driving clamping frame and the driven clamping frame are opposite each other and are located between two sets of adaptive electromagnetic adsorption units. The upper end of the driving clamping frame is connected to the driving clamping gear shaft. The active gripper is mounted on the main gripper frame and can rotate around the active gripping gear shaft. The active gripping gear is coaxially mounted on the active gripping gear shaft and fixedly connected to the active gripper frame. The driven gripper is mounted on the main gripper frame at its upper end via the driven gripping gear shaft and can rotate around the driven gripping gear shaft. The driven gripping gear is coaxially mounted on the driven gripping gear shaft and fixedly connected to the driven gripper frame. The driven gripping gear meshes with the active gripping gear. A rotary support gripping mechanism is provided on both the active and driven grippers and is symmetrically arranged.

[0010] The sensor unit includes a clamping cylinder position sensor, a front proximity sensor, a distance measuring photoelectric sensor, a lower proximity sensor, and a rear proximity sensor. The clamping cylinder position sensor is located on the clamping cylinder body, the front proximity sensor is located above the front wing, the rear proximity sensor is located above the rear wing, the lower proximity sensor is located on a sensor mounting bracket below the front wing, and the distance measuring photoelectric sensor is located on a sensor mounting bracket below the rear wing.

[0011] The present invention also includes the following technical features:

[0012] Specifically, the front wing includes an upper surface, a lower surface, and a sliding hole, with a positioning surface for the sliding hole on the inner wall of the sliding hole; the rear wing includes an upper surface, a lower surface, and a sliding hole, with a positioning surface for the sliding hole on the inner wall of the sliding hole.

[0013] Specifically, the inner sliding sleeve has an inner hole, an inner step, and an inner shaft section. An inner hole positioning surface is provided on the inner wall of the inner hole, and an inner shaft section positioning surface is provided on the outer wall of the inner shaft section. The inner shaft sections of the two inner sliding sleeves are respectively located in the front wing sliding sleeve hole and the rear wing sliding sleeve hole. At this time, the positioning surface of the inner shaft section of one inner sliding sleeve mates with the positioning surface of the front wing sliding sleeve hole, and the positioning surface of the inner shaft section of the other inner sliding sleeve mates with the positioning surface of the rear wing sliding sleeve hole, so that the two inner sliding sleeves can only slide in the front wing sliding sleeve hole and the rear wing sliding sleeve hole, respectively.

[0014] Specifically, the double-eared sliding shaft consists of, from top to bottom, a small-diameter section, a sliding section, a step, and connecting ears; a positioning surface is provided on the side wall of the sliding section, and ear holes are provided on the connecting ears; the sliding section is located in the inner hole of the inner sleeve, and the positioning surface of the sliding section matches the positioning surface of the inner hole, so that the double-eared sliding shaft can only slide within the inner hole of the inner sleeve;

[0015] The rectangular spring is located between the double-eared sliding shaft step and the end face of the inner sliding sleeve shaft section;

[0016] The support ring block passes through the small diameter section of the double-ear sliding shaft, is located on the inner sliding sleeve step, and is locked and fixed by a locking nut located on the small diameter section of the double-ear sliding shaft.

[0017] Specifically, the adaptive electromagnetic adsorption mechanism includes an electromagnetic adsorption body, an adsorption frame, a sliding pin, an adsorption body pushing spring, a support limiting and resetting spring, a support limiting body, and a sensor mounting bracket; the adsorption frame includes a top plate and two opposing side plates. A positioning ear is provided at the center of the upper part of the top plate. The top plate also has an adsorption body push rod hole and a support limiting body sliding rod hole. Sliding pin waist holes are provided on the side plates. The electromagnetic adsorption bodies are symmetrically arranged within the adsorption frame. The bottom surfaces of the two electromagnetic adsorption bodies are magnetic adsorption areas for round tubes. The opposing surfaces of the two electromagnetic adsorption bodies, from bottom to top, are, in order, a magnetic adsorption area for triangular tubes, a longitudinal surface of the adsorption body, an inclined surface of the adsorption body, a limiting surface of the adsorption body, and a release surface of the adsorption body. Sliding pin fixing holes are provided on the end faces of the electromagnetic adsorption bodies.

[0018] The single ear of the adsorption mechanism frame on the adsorption mechanism frame is connected to the double ear of the double ear slide shaft through the connecting pin of the electromagnetic adsorption mechanism, and the adaptive electromagnetic adsorption mechanism is hinged to the double ear slide shaft.

[0019] The electromagnetic adsorbent is provided with multiple adsorbent push rods, which extend into the adsorbent push rod holes. At this time, the electromagnetic adsorbent can slide along the axial direction of the adsorbent push rod holes and is limited by the limit adjustment nut on the adsorbent push rod.

[0020] The adsorbent push spring is sleeved on the adsorbent push rod and is located between the electromagnetic adsorbent and the adsorption mechanism frame;

[0021] The sliding pin is fixed in the sliding pin fixing hole of the electromagnetic adsorbent and cooperates with the sliding pin waist hole of the adsorption mechanism frame, so that the electromagnetic adsorbent can slide along the sliding pin waist hole in the adsorption mechanism frame under the action of the adsorbent pushing spring.

[0022] Specifically, the supporting limiting body consists of, from bottom to top, a supporting limiting body top rod, a top rod reinforcing rod for reinforcing the supporting limiting body top rod, a supporting limiting wedge, a supporting limiting body top step, a supporting limiting body sliding rod, and a sliding rod limiting nut for sliding limiting. The supporting limiting body is set inside the adsorption mechanism frame and located between the two electromagnetic adsorption bodies. At this time, the supporting limiting body sliding rod passes through the supporting limiting body sliding rod hole, and a supporting limiting return spring is set on the supporting limiting body sliding rod. At this time, the supporting limiting return spring is located between the adsorption mechanism frame and the supporting limiting body. When the supporting limiting body top rod is not subjected to external force, under the action of the supporting limiting return spring, the supporting limiting body top step on it is pressed against the adsorption body limiting surface, and the supporting limiting wedge is also in contact with the inclined surface of the adsorption body, thereby restricting the sliding of the electromagnetic adsorption body within the adsorption mechanism frame, so that the triangular tube magnetic attraction areas on the left and right electromagnetic adsorption bodies cannot be squeezed and brought together in the middle.

[0023] Specifically, the active clamping frame includes a front plate and a rear plate of the active clamping frame that are opposite each other, and a clamping connecting shaft connecting the two. An active clamping frame reinforcing plate is connected between the front plate and the rear plate of the active clamping frame, and the reinforcing plate is close to the corner of the front plate and the rear plate of the active clamping frame. The clamping connecting shaft is located above the reinforcing plate. The lower part of the active clamping frame is bent inward, and the inclined surface of the bend is the clamping support surface of the active clamping frame. The two ends of the clamping gear shaft pass through the front plate and the rear plate of the active clamping frame and are fixed to the main frame of the gripper. The active clamping gear is not fixed to the active clamping gear shaft, but is fixed to the rear plate of the active clamping frame.

[0024] Specifically, the driven clamping frame includes a driven clamping frame front plate and a driven clamping frame rear plate that are opposite each other, and a driven clamping frame reinforcing plate that can connect and reinforce the driven clamping frame front plate and driven clamping frame rear plate. A driven clamping frame fixing pin and a driven clamping gear shaft are arranged sequentially above the driven clamping frame reinforcing plate. The lower part of the driven clamping frame is bent inward, and the inclined surface of the bend is the driven clamping frame clamping support surface. The two ends of the driven clamping gear shaft pass through the driven clamping frame front plate and the driven clamping frame rear plate and are fixed to the gripper main frame. The driven clamping gear is fixed to the driven clamping frame rear plate, but not fixed to the driven clamping gear shaft.

[0025] The clamping cylinder includes a clamping cylinder body and a clamping cylinder piston rod. The clamping cylinder body is hinged to the main frame of the gripper via a clamping cylinder connecting pin. The clamping cylinder piston rod is hinged to the active clamping frame via a clamping connecting block set on the clamping connecting shaft.

[0026] Specifically, the locking mechanism includes a locking cylinder, a forward spring, a locking slider, a locking disc, and a locking bracket block. The locking cylinder is fixed to the main frame of the gripper. The locking disc is coaxially mounted on the driven clamping gear shaft and fixed to the driven clamping gear. The locking disc has multiple locking holes. The locking bracket block is fixed to the main frame of the gripper. The locking bracket block has a through-hole. The locking slider passes through the through-hole. A locking pin hole is provided below the locking slider. An end cap, a locking spring, and a locking pin are coaxially arranged in sequence in the locking pin hole. The locking pin extends out of the locking pin hole under the action of the locking spring. The piston rod of the locking cylinder extends through the upper end through-hole of the locking slider. A piston rod nut is provided in front of the upper end through-hole of the locking slider. A forward spring is provided on the piston rod of the locking cylinder. The forward spring is located between the locking slider and the locking cylinder.

[0027] Specifically, the rotary support clamping mechanism on the active clamping frame is located on the clamping support surface of the active clamping frame, and the rotary support clamping mechanism on the driven clamping frame is located on the clamping support surface of the driven clamping frame;

[0028] The rotary support clamping mechanism has a symmetrical structure, with an internal rotary support shaft connecting all rotating parts. One end of the rotary support shaft is coaxially arranged with a rear rotary cylinder, a torque transmission mechanism, a brake ratchet, a locking positioning ring, and a support clamping rotating body. The other end is symmetrically coaxially arranged with a front rotary cylinder, a torque transmission mechanism, a brake ratchet, a locking positioning ring, and a support clamping rotating body. The rear rotary cylinder, torque transmission mechanism, and brake ratchet are fixed to the rear plate of the driven clamping frame using long fastening screws. The front rotary cylinder, torque transmission mechanism, and brake ratchet are fixed to the front plate of the driven clamping frame using long fastening screws. The rotary support clamping mechanism on the active clamping frame is also fixed using long fastening screws.

[0029] Specifically, the torque transmission mechanism is externally provided with a transmission sliding sleeve outer sleeve and a connecting end cover, and internally provided with a transmission sliding sleeve. A transmission return spring is provided between the large-diameter end face of the transmission sliding sleeve and the connecting end cover. The cavity formed between the transmission sliding sleeve and the transmission sliding sleeve outer sleeve at one end of the rear rotary cylinder is the transmission air inlet cavity, and at one end of the front rotary cylinder is the transmission air inlet cavity. At one end of the rear rotary cylinder, under the action of only the transmission return spring, the cone surface of the transmission sliding sleeve hole is separated from the cone surface of the rear rotary cylinder drive shaft. At one end of the front rotary cylinder, the cone surface of the transmission sliding sleeve hole is separated from the cone surface of the front rotary cylinder drive shaft. The inner hole of the transmission sliding sleeve is fitted onto the left or right shaft section of the small-diameter rotary support. At this time, the positioning surface of the inner hole of the transmission sliding sleeve is in contact with the positioning surface of the small-diameter left or right shaft section, so that the transmission sliding sleeve can only slide along the positioning surface of the small-diameter left or right shaft section.

[0030] Specifically, the brake ratchet includes a brake ratchet outer sleeve, a brake ratchet inner shaft, a pawl, and a pawl shaft. The brake ratchet inner shaft is located inside the brake ratchet outer sleeve, and the brake ratchet inner shaft hole on the brake ratchet inner shaft is fitted onto the left or right shaft section of the small-diameter rotary support. At this time, the positioning surface of the brake ratchet inner shaft hole and the positioning surface of the small-diameter left shaft section or the right positioning surface of the large-diameter shaft section cooperate, forcing the brake ratchet inner shaft and the rotary support shaft to rotate synchronously. The pawl is located in the pawl groove of the inner shaft through the pawl shaft. The pawl can rotate unidirectionally in the pawl groove of the inner shaft with the pawl shaft as the axis. In the opposite direction, it forms a brake with the brake ratchet outer sleeve. The braking direction of the brake ratchet is opposite to the rotation direction of the rear rotary cylinder and the front rotary cylinder.

[0031] The inner bore of the rotating body of the support clamping rotating body is coaxially fitted onto the large-diameter rotating support shaft section. At this time, the positioning surface of the inner bore of the rotating body and the left positioning surface or the right positioning surface of the large-diameter shaft section are in contact and achieve synchronous rotation.

[0032] A method for loading and unloading tubular workpieces using an adaptive multi-position compensation gripper device is disclosed. The method is implemented using the adaptive multi-position compensation gripper device. The initial state of the device is as follows: the electromagnetic adsorption body in the adaptive electromagnetic adsorption mechanism is not energized; neither the magnetic adsorption area of ​​the triangular tube nor the magnetic adsorption area of ​​the round tube exhibits magnetic attraction; the electromagnetic adsorption body is limited by a supporting limiting body, at which point the top step of the supporting limiting body abuts against the limiting surface of the adsorption body, and the supporting limiting wedge also fits against the inclined surface of the adsorption body; two inner sliding sleeves… The inner sliding sleeve steps are respectively in contact with the upper end face of the front wing and the upper end face of the rear wing; the locking slider is pulled to the position closest to the locking cylinder by the locking cylinder, at which time the forward spring is compressed, the locking slider separates from the locking disc, and the locking pin completely disengages from the locking hole; the piston rod of the clamping cylinder of the clamping cylinder retracts to the limit position, and the active clamping frame and the driven clamping frame are raised above the upper end face of the front wing and the upper end face of the rear wing; the reset reference surface of the supporting clamping rotating body is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame.

[0033] Specifically, the loading and unloading of round tubes of different specifications includes the following steps:

[0034] Step a1: The AGV trolley arrives at the designated position with the tube rack loaded with tubes. The vision system at the designated position identifies the batch of tubes as round tubes and then transmits this information to the control unit. The control unit records the information and runs according to the loading and unloading procedure for round tubes.

[0035] Step a2: The industrial robot places the gripper device at a fixed position directly above the tube rack. It measures the distance difference between the circular tube on the tube rack and the photoelectric sensor by measuring the distance. This information is then transmitted to the control unit. The control unit determines the diameter of the tube and its coordinate position on the tube rack based on the transmitted information and issues a preset program command.

[0036] Step a3: The industrial robot, with its gripper device, reaches the predetermined coordinate position and then moves downwards. Because the adaptive electromagnetic adsorption mechanism is hinged to the double-ear sliding shaft, and a rectangular spring is set between the double-ear sliding shaft and the inner sliding sleeve, it has positioning compensation, enabling the magnetic adsorption area of ​​the electromagnetic adsorbent to contact the circular tube. At this time, the gripper device continues to move downwards, and the adaptive electromagnetic adsorption mechanism and the double-ear sliding shaft move upwards synchronously, compressing the rectangular spring. When the rectangular spring is compressed, the inner sliding sleeve also moves upwards. When the inner sliding sleeve moves to be flush with the front or rear proximity sensor, the proximity sensor or rear proximity sensor is lit up. At this time, the information is transmitted to the control unit, and the control unit energizes the electromagnetic adsorbent, making the magnetic adsorption area of ​​the circular tube magnetic and adsorbing the circular tube.

[0037] Step a4: The lower proximity sensor lights up after the circular tube is attracted to the magnet. It is used to detect whether the gripper device has fallen during the handling of the circular tube. If the circular tube falls, the gripper device will activate the safety mode and urgently open the locking mechanism or urgently close the active gripper and the driven gripper.

[0038] In step a5, the electromagnetic adsorption body adsorbs the circular tube. Due to its own weight, the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downward. At this time, the front proximity sensor or the rear proximity sensor receives the information that the inner sliding sleeve is moving downward and transmits this information to the control unit. The control unit controls the piston rod of the clamping cylinder to extend outward according to the preset moving speed of the gripper device. The position sensor of the clamping cylinder monitors the moving distance in real time. After moving to the preset distance, the position sensor of the clamping cylinder transmits the information to the control unit. The control unit stabilizes the piston rod of the cylinder at this position. At this time, the active clamping frame and the driven clamping frame close at a preset angle. The lower part of the circular tube is clamped and supported by the clamping support surface of the active clamping frame and the clamping support surface of the driven clamping frame, and the centering of the circular tube on the gripper device is completed.

[0039] In step a6, the piston rod of the locking cylinder of the locking cylinder extends outward rapidly, and the locking slider slides rapidly in the direction of movement of the piston rod of the locking cylinder under the action of the front push spring, and finally fits against the locking plate. At this time, the locking pin is inserted into the locking hole, so that the driven clamping gear can no longer rotate, and the closing self-locking of the active clamping frame and the driven clamping frame is completed.

[0040] In step a7, the industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the equipment clamps the round tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. At the same time, the piston rod of the clamping cylinder retracts, the active clamping frame and the driven clamping frame open, the electromagnetic adsorption body is de-energized and no longer adsorbs the round tube, and the gripper lifts up and returns to the position in step a1 to continue loading and unloading.

[0041] Specifically, the loading and unloading of triangular tubes of different specifications includes the following steps:

[0042] Steps b1 and b2 are the same as steps a1 and a2 for loading and unloading round tubes;

[0043] In step b3, the industrial robot moves the gripper to the predetermined coordinate position and then moves downward. Due to the positioning compensation function of the combination of the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, the inner sliding sleeve and the rectangular spring, the electromagnetic adsorption body can contact the edge surfaces at both ends of the triangular tube. At this time, the gripper continues to move downward, and the edge of the triangular tube hits the top rod of the support limiting body, pushing the support limiting body upward. At this time, the top step of the support limiting body moves from the adsorption body limiting surface to the adsorption body release surface. The support limiting wedge also has a gap with the inclined surface of the adsorption body, so that the two electromagnetic adsorption bodies on the left and right are no longer limited by the support limiting body. Under the action of the adsorption body pushing spring, they slide along the sliding pin waist hole and squeeze towards the middle, so that the magnetic adsorption area of ​​the triangular tube fits with the edge surface of the triangular tube.

[0044] Step b4: The gripper continues to move downwards. When the inner sliding sleeve moves to be flush with the front or rear proximity sensor, the proximity sensor or rear proximity sensor is lit up. At this time, the control unit energizes the electromagnetic adsorption body, and the magnetic adsorption area of ​​the triangular tube material becomes magnetic, adsorbing the edges of the triangular tube material.

[0045] Step b5 is the same as step a4 for loading and unloading round tubes.

[0046] Step b6: High-pressure gas enters the inlet chamber of the knob, pushing the knob sliding sleeve to slide along the positioning surface of the small-diameter right shaft section in the direction of compressing the knob return spring until the conical surface of the knob sliding sleeve hole is close to the conical surface of the front rotary cylinder drive shaft; at this time, the front rotary cylinder is started. The maximum rotation angle of the front rotary cylinder is 180°. The front rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together through the conical surface of the knob sliding sleeve hole and the conical surface of the front rotary cylinder drive shaft. After rotating to the preset angle, the front rotary cylinder stops rotating.

[0047] In step b7, the electromagnetic adsorption body attracts the triangular tube material. The adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downwards under their own weight. At this time, the inner sliding sleeve moves downwards. The control unit receives information from the front proximity sensor or the rear proximity sensor. According to the preset moving speed of the gripper device, it controls the piston rod of the clamping cylinder to extend outwards to the distance required by the preset program. The control unit stabilizes the piston rod of the cylinder at this position, and the active gripper and the driven gripper complete the closing at the preset angle. The lower edge of the triangular tube material is supported by the horizontal support surface of the rotating body at both ends, and the lower edge of the triangular tube material is clamped by the longitudinal clamping surface of the rotating body, thus completing the centering of the triangular tube material on the gripper device.

[0048] Step b8 is the same as step a6 for loading and unloading round tubes. This step completes the locking of the active clamping frame and the driven clamping frame. At the same time, the braking direction of the brake ratchet set in the rotary support clamping mechanism is opposite to the rotation direction of the front rotary cylinder and the rear rotary cylinder. The brake ratchet is positioned on the rotary support shaft and has a locking effect on the rotation of the support clamping rotating body.

[0049] Step b9: The industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the specially designed triangular tube clamps the triangular tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. The piston rod of the clamping cylinder retracts, and at this time the active clamping frame and the driven clamping frame open.

[0050] Step b10: Simultaneously, the pressure in the inlet chamber of the control knob is released, and the control knob sliding sleeve returns to its original position under the action of the control knob return spring. At this time, the conical surface of the control knob sliding sleeve hole disengages from the conical surface of the front rotary cylinder drive shaft. The front rotary cylinder is then activated, and its rotation position is reversed to the initial position. Then, high-pressure gas is injected into the inlet chamber of the control knob, pushing the control knob sliding sleeve to slide along the small-diameter left shaft section positioning surface in the direction of compressing the control knob return spring until the conical surface of the control knob sliding sleeve hole is in close contact with the conical surface of the rear rotary cylinder drive shaft. At this time, the rear rotary cylinder... When the cylinder is started, the maximum rotation angle of the rear rotary cylinder remains 180°. The rear rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together. After rotating to the point where the reset reference surface is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame, the pressure in the air chamber of the transmission button is released, the transmission button sliding sleeve is reset, and the conical surface of the transmission button sliding sleeve hole disengages from the conical surface of the transmission shaft of the rear rotary cylinder. The rear rotary cylinder reverses to the initial position. The electromagnetic adsorption body is de-energized and no longer adsorbs the triangular tube material. The gripper device lifts and returns to the position of step b1 to continue loading and unloading.

[0051] Compared with the prior art, the present invention has the following technical effects:

[0052] The device and method of this invention are not only compact in structure and adaptable to the gripping and handling of round and triangular tubes of different specifications, but also have multi-position compensation functions, enabling precise centering of round and triangular tubes during handling. Furthermore, a highly reliable locking mechanism is incorporated to reduce safety hazards during gripping and handling.

[0053] This invention enables a gripper device for tubular workpieces to have an adaptive adsorption and clamping function, allowing for the loading and unloading of round and triangular tubular materials of different specifications. The gripper device is equipped with an adaptive electromagnetic adsorption mechanism. This mechanism's electromagnetic adsorption body has magnetic adsorption areas for triangular tubular materials and round tubular materials, respectively used for adsorbing triangular tubular and round tubular materials. In addition, an active clamping frame and a driven clamping frame are provided for supporting and clamping the round tubular materials. Simultaneously, a rotary support and clamping mechanism specifically for supporting and clamping triangular tubular materials is provided on this clamping frame. When handling round tubular materials, this mechanism, under the action of a rotary cylinder, retracts the rotary support and clamping body specifically for supporting and clamping triangular tubular materials, without affecting the support and clamping of the round tubular materials. When handling triangular tubular materials, the rotary support and clamping body specifically for supporting and clamping triangular tubular materials rotates out, realizing the support and clamping action of the triangular tubular materials.

[0054] This invention provides a multi-position compensation function for the gripper device used for tubular workpieces, enabling multi-directional clamping of the tubular material. The adaptive electromagnetic adsorption mechanism is hinged to the double-eared sliding shaft, and a rectangular spring is installed between the double-eared sliding shaft and the inner sliding sleeve, thus providing a certain degree of positioning compensation and allowing the electromagnetic adsorption body to make good contact with the tubular material. A support limiter is provided on the adaptive electromagnetic adsorption mechanism to restrict the electromagnetic adsorption body from sliding towards the center. When adsorbing a round tubular material, the support limiter does not slide upward. However, when adsorbing a triangular tubular material, the edge of the triangular tubular material moves upward against the support limiter. At this time, the electromagnetic adsorption body, which is not restricted by the support limiter, slides towards the center and fits tightly against the adsorption surface of the triangular tubular material, completing the adsorption position compensation for the triangular tubular material.

[0055] This invention provides a gripper device for tubular workpieces with both support and clamping locking functions, enabling safe automated loading and unloading operations. By locking the driven clamping gear to prevent rotation, the active and driven clamping frames achieve their locking function during support and clamping. A locking disc with several locking holes is mounted on the driven clamping gear, each corresponding to a different tubular material's support and clamping position. A locking cylinder is positioned above the locking disc, with its piston rod passing through a locking slider. A push spring is placed between the locking slider and the cylinder. A locking pin, which engages with the locking holes, is located at the bottom of the locking slider. When the active and driven clamping frames are extended to their predetermined positions, the locking cylinder piston extends, and under the action of the push spring, the locking slider quickly engages with the locking disc. At this point, the locking pin inserts into the locking hole, achieving the locking action. To unlock, the locking cylinder piston retracts, pulling back the locking slider and disengaging the locking pin from the locking hole. When power and gas are cut off, the locking slider, under the action of the front push spring, quickly engages with the locking disc, causing the locking pin to insert into the locking hole, thus completing the locking function during power and gas outages. In addition, the rotary support clamping mechanism is equipped with a braking ratchet, the braking direction of which is opposite to the rotation direction of the front and rear rotary cylinders, achieving the locking function for supporting and clamping the triangular tube.

[0056] This invention enables a gripper device for tubular workpieces to possess precise centering capabilities, achieving high-precision positioning. The gripper device is equipped with an active gripper and a driven gripper for support and clamping. The active and driven gripping gears on the active and driven grippers mesh with each other, exhibiting good synchronization. After adaptively adsorbing a circular tubular material, relatively precise centering can be achieved through the clamping support surfaces on the active and driven grippers. The gripper device also features a dedicated rotary support and clamping mechanism for triangular tubular materials on the active and driven grippers. This mechanism provides a horizontal support surface for supporting the bottom surface of the triangular tubular material and a longitudinal clamping surface for clamping the two ends of the triangular tubular material. The combined effect of these two mechanisms effectively achieves centering of the triangular tubular material. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the device structure of the present invention;

[0058] Figure 2 This is a rear view of the device of the present invention;

[0059] Figure 3 This is a partially enlarged structural diagram of the locking mechanism of the present invention at gripper device A;

[0060] Figure 4 This is a partially enlarged structural diagram of the rotary support clamping mechanism of the present invention at the gripper device B;

[0061] Figure 5This is a schematic diagram of the rotating support shaft structure of the present invention;

[0062] Figure 6 This is a schematic diagram of the braking ratchet structure of the present invention;

[0063] Figure 7 This is a schematic diagram of the supporting and clamping rotating body structure of the present invention;

[0064] Figure 8 This is a schematic cross-sectional view of the torsion transmission sliding sleeve of the present invention;

[0065] Figure 9 This is a schematic diagram of the structure of (a) the front rotary cylinder drive shaft and (b) the rear rotary cylinder drive shaft of the present invention;

[0066] Figure 10 These are a right view and a partial sectional view of the device of the present invention;

[0067] Figure 11 This is a schematic diagram of the inner sliding sleeve structure of the present invention;

[0068] Figure 12 This is a schematic diagram of the double-ear sliding shaft structure of the present invention;

[0069] Figure 13 This is a schematic diagram of the (a) front wing frame and (b) rear wing frame structure of the present invention;

[0070] Figure 14 This is a schematic diagram of the adaptive electromagnetic adsorption mechanism of the present invention;

[0071] Figure 15 This is a schematic diagram of the adsorption mechanism frame structure of the present invention;

[0072] Figure 16 This is a schematic diagram of the adsorption mechanism frame of the present invention in cross-sectional view along the CC direction;

[0073] Figure 17 This is a schematic diagram of the electromagnetic adsorption body structure arranged in a complete set according to the present invention;

[0074] Figure 18 This is a schematic diagram of the supporting and limiting structure of the present invention;

[0075] Figure 19 This is a schematic diagram of the gripper device of the present invention grasping a triangular tube.

[0076] Figure 20 This is a schematic diagram of the gripper device of the present invention picking up circular tubes.

[0077] The meanings of the labels in the diagram are as follows:

[0078] 1. Front wing frame, 2. Locking mechanism, 3. Gripper main frame, 4. Clamping cylinder connecting pin, 5. Gripper connecting plate, 6. Clamping cylinder, 7. Clamping cylinder position sensor, 8. Driven clamping gear, 9. Driven clamping gear shaft, 10. Active clamping gear, 11. Active clamping gear shaft, 12. Rear wing frame, 13. Clamping connecting block, 14. Clamping connecting shaft, 15. Active clamping frame, 16. Fastening long screw, 17. Rotary support clamping mechanism, 18. Driven clamping frame, 19. Adaptive electromagnetic adsorption mechanism, 20. Electromagnetic adsorption mechanism connecting pin, 21. Double-ear sliding shaft, 22. Rectangular spring, 23. Inner sliding sleeve, 24. Support ring block, 25. Locking nut, 26. Front proximity sensor, 27. Position measuring distance photoelectric sensor, 28. Lower proximity sensor, 29. Rear proximity sensor, 30. Triangular tube, 31. Round tube;

[0079] 1-1. Front wing support sliding hole; 1-2. Front wing support upper end face; 1-3. Front wing support lower end face; 1-1-1. Front wing support sliding hole positioning surface;

[0080] 2-1. Locking cylinder; 2-2. Push spring; 2-3. Locking slider; 2-4. Locking disc; 2-5. Locking bracket block; 2-1-1. Locking cylinder piston rod; 2-1-2. Piston rod nut; 2-3-1. End cap; 2-3-2. Locking pin hole; 2-3-3. Locking spring; 2-3-4. Locking pin; 2-3-5. Upper end through hole of locking slider; 2-4-1. Locking hole; 2-5-1. Slide groove hole of bracket block;

[0081] 6-1. Clamp the cylinder body; 6-2. Clamp the cylinder piston rod;

[0082] 12-1. Rear wing frame sliding sleeve hole; 12-2. Upper end face of the rear wing frame; 12-3. Lower end face of the rear wing frame; 12-1-1. Positioning surface of the rear wing frame sliding sleeve hole;

[0083] 15-1. Front plate of active clamping frame; 15-2. Rear plate of active clamping frame; 15-3. Reinforcing plate of active clamping frame; 15-4. Clamping support surface of active clamping frame;

[0084] 17-1. Rear-mounted rotary cylinder; 17-2. Torque transmission mechanism; 17-3. Brake ratchet; 17-4. Locking positioning ring; 17-5. Support clamping rotating body; 17-6. Rotary support shaft; 17-7. Front-mounted rotary cylinder; 17-1-1. Rear-mounted rotary cylinder drive shaft; 17-2-1. Connecting end cover; 17-2-2. Torque return spring; 17-2-3. Torque sliding sleeve; 17-2-4. Torque sliding sleeve outer sleeve; 17-2-5. Torque air inlet rear chamber; 17-2-6. Torque air inlet front chamber; 17-3-1. Brake ratchet outer sleeve; 17 -3-2. Braking ratchet inner shaft; 17-3-3. Pawl; 17-3-4. Pawl shaft; 17-5-1. Horizontal support surface of rotating body; 17-5-2. Longitudinal clamping surface of rotating body; 17-5-3. Reset reference surface; 17-5-4. Inner hole of rotating body; 17-6-1. Small diameter rotating support left shaft section; 17-6-2. Locking and positioning left shaft section; 17-6-3. Large diameter rotating support shaft section; 17-6-4. Locking and positioning right shaft section; 17-6-5. Small diameter rotating support right shaft section. 17-7-1. Front rotary cylinder drive shaft; 17-1-1-1. Rear rotary cylinder drive shaft tapered surface; 17-2-3-1. Large diameter end face of the transmission knob sliding sleeve; 17-2-3-2. Inner hole of the transmission knob sliding sleeve; 17-2-3-3. Tapered surface of the transmission knob sliding sleeve hole; 17-3-1-1. Outer threaded hole of the brake ratchet; 17-3-2-1. Inner shaft hole of the brake ratchet; 17-3-2-2. Inner shaft ratchet groove; 17-5-4- 1. Rotary inner bore positioning surface, 17-6-1-1. Small diameter left shaft section positioning surface, 17-6-3-1. Large diameter shaft section left positioning surface, 17-6-3-2. Large diameter shaft section right positioning surface, 17-6-5-1. Small diameter right shaft section positioning surface, 17-7-1-1. Front rotary cylinder drive shaft conical surface, 17-3-2-1-1. Brake ratchet inner shaft hole positioning surface, 17-2-3-2-1. Knob sliding sleeve inner bore positioning surface;

[0085] 18-1. Front plate of driven clamp; 18-2. Rear plate of driven clamp; 18-3. Fixing pin of driven clamp; 18-4. Reinforcing plate of driven clamp; 18-5. Clamping support surface of driven clamp;

[0086] 19-1. Electromagnetic adsorbent, 19-2. Adsorption mechanism frame, 19-3. Sliding pin, 19-4. Adsorbent push spring, 19-5. Support limit reset spring, 19-6. Support limit body, 19-7. Sensor mounting bracket, 19-1-1. Magnetic adsorption area for triangular tube, 19-1-2. Magnetic adsorption area for round tube, 19-1-3. Longitudinal surface of adsorbent, 19-1-4. Inclined surface of adsorbent, 19-1-5. Sliding pin fixing hole, 19-1-6. Adsorbent limiting surface, 19-1-7. Adsorbent release Surface, 19-1-8. Adsorption body push rod, 19-1-9. Limit adjustment nut, 19-2-1. Adsorption mechanism frame positioning single ear, 19-2-2. Sliding pin waist hole, 19-2-3. Adsorption body push rod hole, 19-2-4. Support limit body sliding rod hole, 19-6-1. Support limit body top rod, 19-6-2. Support limit wedge, 19-6-3. Support limit body top step, 19-6-4. Support limit body sliding rod, 19-6-5. Sliding rod limit nut, 19-6-6. Top rod reinforcing rod;

[0087] 21-1. Small diameter section of double-eared sliding shaft; 21-2. Sliding section of double-eared sliding shaft; 21-3. Step of double-eared sliding shaft; 21-4. Connecting double ears; 21-2-1. Positioning surface of sliding section of double-eared sliding shaft; 21-4-1. Double ear hole;

[0088] 23-1. Inner hole of inner sleeve, 23-2. Step of inner sleeve, 23-3. Shaft section of inner sleeve, 23-1-1. Positioning surface of inner hole of inner sleeve, 23-3-1. Positioning surface of shaft section of inner sleeve. Detailed Implementation

[0089] This invention provides an adaptive multi-position compensation gripper device and method for tubular workpieces. Through innovative design of the gripper device for tubular workpieces, it solves the problem of adaptability in gripping and handling round and triangular tubes of different specifications. The gripper device has a multi-position compensation function, which can realize loading and unloading operations with high positioning accuracy requirements. At the same time, it can realize position correction and precise centering of round and triangular tubes during the handling process. Finally, a locking mechanism for support and gripping is set to reduce safety hazards during loading and unloading operations.

[0090] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0091] Example 1:

[0092] like Figures 1 to 20 As shown, this embodiment provides an adaptive multi-position compensation gripper device for tubular workpieces, including a main frame, an adaptive electromagnetic adsorption unit, a support clamping and locking unit, and a sensor unit.

[0093] The main frame includes a front wing frame 1, a gripper main frame 3, a gripper connecting plate 5, and a rear wing frame 12; the front wing frame 1 and the rear wing frame 12 are located on both sides of the gripper main frame 3, serving as supports for the adaptive electromagnetic adsorption mechanism 19; the gripper connecting plate 5 is located on the top of the gripper main frame 3, used to connect the arm of the industrial robot.

[0094] Specifically, the front wing 1 includes an upper front wing surface 1-2, a lower front wing surface 1-3, and a front wing sliding hole 1-1, with a front wing sliding hole positioning surface 1-1-1 provided on the inner wall of the front wing sliding hole 1-1; the rear wing 12 includes an upper rear wing surface 12-2, a lower rear wing surface 12-3, and a rear wing sliding hole 12-1, with a rear wing sliding hole positioning surface 12-1-1 provided on the inner wall of the rear wing sliding hole 12-1.

[0095] The adaptive electromagnetic adsorption unit includes an adaptive electromagnetic adsorption mechanism 19, an electromagnetic adsorption mechanism connecting pin 20, a double-eared sliding shaft 21, a rectangular spring 22, an inner sliding sleeve 23, a support ring block 24, and a locking nut 25. There are two sets of adaptive electromagnetic adsorption units, which are installed corresponding to the front wing 1 and the rear wing 12, respectively. The upper end of the adaptive electromagnetic adsorption mechanism 19 is hinged to the lower end of the double-eared sliding shaft 21 through the electromagnetic adsorption mechanism connecting pin 20. The upper part of the double-eared sliding shaft 21 passes through the inner sliding sleeve 23. The two inner sliding sleeves 23 are respectively set on the front wing 1 and the rear wing 12. The rectangular spring 22 is sleeved between the double-eared sliding shaft step 21-3 of the double-eared sliding shaft 21 and the end face of the inner sliding sleeve shaft section 23-3 of the inner sliding sleeve 23. The support ring block 24 is installed on the top of the double-eared sliding shaft 21 through the locking nut 25.

[0096] Specifically, the inner sliding sleeve 23 is provided with an inner sliding sleeve inner hole 23-1, an inner sliding sleeve step 23-2, and an inner sliding sleeve shaft section 23-3. An inner sliding sleeve inner hole positioning surface 23-1-1 is provided on the inner wall of the inner sliding sleeve inner hole 23-1, and an inner sliding sleeve shaft section positioning surface 23-3-1 is provided on the outer wall of the inner sliding sleeve shaft section 23-3. The inner sliding sleeve shaft sections 23-3 of the two inner sliding sleeves 23 are respectively located in the front wing sliding sleeve hole 1-1 and the rear wing sliding sleeve hole 12-1. At this time, the inner sliding sleeve shaft section positioning surface 23-3-1 of one inner sliding sleeve 23 is engaged with the front wing sliding sleeve hole positioning surface 1-1-1, and the inner sliding sleeve shaft section positioning surface 23-3-1 of the other inner sliding sleeve 23 is engaged with the rear wing sliding sleeve hole positioning surface 12-1-1, so that the two inner sliding sleeves 23 can only slide in the front wing sliding sleeve hole 1-1 and the rear wing sliding sleeve hole 12-1, respectively.

[0097] Specifically, the double-eared sliding shaft 21 consists of, from top to bottom, a small-diameter section 21-1, a sliding section 21-2, a step 21-3, and a connecting ear 21-4. A sliding section positioning surface 21-2-1 is provided on the side wall of the sliding section 21-2, and a double-eared hole 21-4-1 is provided on the connecting ear 21-4. The sliding section 21-2 of the double-eared sliding shaft 21 is located within the inner hole 23-1 of the inner sleeve. The sliding section positioning surface 21-2-1 mates with the inner hole positioning surface 23-1-1, allowing the double-eared sliding shaft 21 to slide only within the inner hole 23-1 of the inner sleeve.

[0098] A rectangular spring 22 is located between the double-eared sliding shaft step 21-3 and the end face of the inner sliding sleeve shaft section 23-3.

[0099] The support ring block 24 passes through the small diameter section 21-1 of the double-ear slide shaft, is located on the inner slide sleeve step 23-2, and is locked and fixed by the locking nut 25 located on the small diameter section 21-1 of the double-ear slide shaft.

[0100] Specifically, the adaptive electromagnetic adsorption mechanism 19 includes an electromagnetic adsorption body 19-1, an adsorption mechanism frame 19-2, a sliding pin 19-3, an adsorption body pushing spring 19-4, a support limiting and resetting spring 19-5, a support limiting body 19-6, and a sensor mounting bracket 19-7; the adsorption mechanism frame 19-2 includes an adsorption mechanism frame top plate and two opposing adsorption mechanism frame side plates. A positioning ear 19-2-1 is provided at the middle of the upper part of the top of the adsorption mechanism frame top plate. The top of the adsorption mechanism frame top plate also has an adsorption body push rod hole 19-2-3 and a support limiting body sliding rod hole 19-2-3. 4. A sliding pin waist hole 19-2-2 is provided on the side plate of the adsorption mechanism frame; the electromagnetic adsorbents 19-1 are symmetrically arranged in the adsorption mechanism frame 19-2. The bottom surface of the two electromagnetic adsorbents 19-1 is the magnetic adsorption area 19-1-2 of the round tube. The opposite surfaces of the two electromagnetic adsorbents 19-1 from bottom to top are the magnetic adsorption area 19-1-1 of the triangular tube, the longitudinal surface of the adsorbent 19-1-3, the inclined surface of the adsorbent 19-1-4, the limiting surface of the adsorbent 19-1-6, and the release surface of the adsorbent 19-1-7. A sliding pin fixing hole 19-1-5 is provided on the end face of the electromagnetic adsorbent 19-1.

[0101] The single ear 19-2-1 of the adsorption mechanism frame 19-2 is connected to the double ear 21-4 of the double ear slide shaft 21 through the electromagnetic adsorption mechanism connecting pin 20, so that the adaptive electromagnetic adsorption mechanism 19 is hinged to the double ear slide shaft 21.

[0102] Multiple adsorption push rods 19-1-8 are provided on the electromagnetic adsorption body 19-1, which extend into the adsorption push rod hole 19-2-3. At this time, the electromagnetic adsorption body 19-1 can slide along the axial direction of the adsorption push rod hole 19-2-3 and be limited by the limit adjustment nut 19-1-9 on the adsorption push rod 19-1-8.

[0103] The adsorbent push spring 19-4 is sleeved on the adsorbent push rod 19-1-8 and is located between the electromagnetic adsorbent 19-1 and the adsorption mechanism frame 19-2.

[0104] The sliding pin 19-3 is fixed in the sliding pin fixing hole 19-1-5 of the electromagnetic adsorbent 19-1 and cooperates with the sliding pin waist hole 19-2-2 of the adsorption mechanism frame 19-2, so that the electromagnetic adsorbent 19-1 can slide along the sliding pin waist hole 19-2-2 in the adsorption mechanism frame 19-2 under the action of the adsorbent push spring 19-4.

[0105] The support limiting body 19-6, from bottom to top, consists of a support limiting body top rod 19-6-1, a top rod reinforcing rod 19-6-6 for reinforcing the support limiting body top rod 19-6-1, a support limiting wedge 19-6-2, a support limiting body top step 19-6-3, a support limiting body slide rod 19-6-4, and a slide rod limiting nut 19-6-5 for sliding limitation. The support limiting body 19-6 is installed inside the adsorption mechanism frame 19-2 and located between the two electromagnetic adsorption bodies 19-1. At this time, the support limiting body slide rod 19-6-4 passes through the support limiting body slide rod hole 19-2-4. A support limiting return spring 19-5 is installed on the support limiting body slide rod 19-6-4. At this time, the support limiting return spring 19-5 is located between the adsorption mechanism frame 19-2 and the support limiting body 19-6. When the top rod 19-6-1 of the support limiting body is not subjected to external force, under the action of the support limiting return spring 19-5, the top step 19-6-3 of the support limiting body 19-6 is pressed against the limiting surface 19-1-6 of the adsorbent body, and the support limiting wedge 19-6-2 is also in contact with the inclined surface 19-1-4 of the adsorbent body, thereby restricting the electromagnetic adsorbent body 19-1 from sliding in the adsorption mechanism frame 19-2, so that the triangular tube magnetic adsorption area 19-1-1 on the left and right electromagnetic adsorbent bodies 19-1 cannot be squeezed and brought closer to the middle.

[0106] The support clamping and locking unit includes a locking mechanism 2, a clamping cylinder 6, a driven clamping gear 8, a driven clamping gear shaft 9, a driving clamping gear 10, a driving clamping gear shaft 11, a driving clamping frame 15, a rotary support clamping mechanism 17, and a driven clamping frame 18. The locking mechanism 2 is mounted on the main gripper frame 3. The clamping cylinder body 6-1 of the clamping cylinder 6 is hinged to the main gripper frame 3, and the piston rod 6-2 of the clamping cylinder 6 is hinged to the driving clamping frame 15. The driving clamping frame 15 and the driven clamping frame 18 are positioned opposite each other and between two sets of adaptive electromagnetic adsorption units. The upper end of the driving clamping frame 15 is connected to the driving clamping gear shaft 11. The active gripper 15 is mounted on the main gripper frame 3 and can rotate about the active gripping gear shaft 11. The active gripping gear 10 is coaxially mounted on the active gripping gear shaft 11 and fixedly connected to the active gripper 15. The driven gripper 18 is mounted on the main gripper frame 3 via the driven gripping gear shaft 9 and can rotate about the driven gripping gear shaft 9. The driven gripping gear 8 is coaxially mounted on the driven gripping gear shaft 9 and fixedly connected to the driven gripper 18. The driven gripping gear 8 meshes with the active gripping gear 10. A rotary support gripping mechanism 17 is provided on both the active gripper 15 and the driven gripper 18 and is arranged symmetrically.

[0107] Specifically, the active clamping frame 15 includes a front active clamping frame 15-1 and a rear active clamping frame 15-2 facing each other, and a clamping connecting shaft 14 connecting the two; an active clamping frame reinforcing plate 15-3 is connected between the front active clamping frame 15-1 and the rear active clamping frame 15-2, and the active clamping frame reinforcing plate 15-3 is close to the corner of the front active clamping frame 15-1 and the rear active clamping frame 15-2, and the clamping connecting shaft 14 is located above the active clamping frame reinforcing plate 15-3; the lower part of the active clamping frame 15 is bent inward, and the bend slope is the active clamping frame clamping support surface 15-4; the two ends of the clamping gear shaft 11 pass through the front active clamping frame 15-1 and the rear active clamping frame 15-2 and are fixed to the gripper main frame 3; the active clamping gear 10 is not fixed to the active clamping gear shaft 11, but is fixed to the rear active clamping frame 15-2.

[0108] The driven clamp 18 includes a driven clamp front plate 18-1 and a driven clamp rear plate 18-2 that are opposite each other, and a driven clamp reinforcement plate 18-4 that can connect and reinforce the driven clamp front plate 18-1 and the driven clamp rear plate 18-2. A driven clamp fixing pin 18-3 and a driven clamping gear shaft 9 are arranged sequentially above the driven clamp reinforcement plate 18-4. The lower part of the driven clamp 18 is bent inward and the bending slope is the driven clamp clamping support surface 18-5. The two ends of the driven clamping gear shaft 9 pass through the driven clamp front plate 18-1 and the driven clamp rear plate 18-2 and are fixed to the gripper main frame 3. The driven clamping gear 8 is fixed to the driven clamp rear plate 18-2, but not fixed to the driven clamping gear shaft 9.

[0109] The clamping cylinder 6 includes a clamping cylinder body 6-1 and a clamping cylinder piston rod 6-2. The clamping cylinder body 6-1 is hinged to the main gripper frame 3 via the clamping cylinder connecting pin 4. The clamping cylinder piston rod 6-2 is hinged to the active clamping frame 15 via the clamping connecting block 13 set on the clamping connecting shaft 14.

[0110] Specifically, the locking mechanism 2 includes a locking cylinder 2-1, a push spring 2-2, a locking slider 2-3, a locking disc 2-4, and a locking bracket block 2-5. The locking cylinder 2-1 is fixed on the main frame of the gripper 3. The locking disc 2-4 is coaxially mounted on the driven clamping gear shaft 9 and fixed to the driven clamping gear 8. The locking disc 2-4 has multiple locking holes 2-4-1. The locking bracket block 2-5 is fixed on the main frame of the gripper 3. The locking bracket block 2-5 has a through bracket block groove hole 2-5-1. The locking slider 2-3 passes through the bracket block groove hole 2-5-1, and a locking pin hole 2-3 is provided below the locking slider 2-3. -2, End cap 2-3-1, locking spring 2-3-3 and locking pin 2-3-4 are coaxially arranged in sequence in the locking pin hole 2-3-2; the locking pin 2-3-4 extends out of the locking pin hole 2-3-2 under the action of the locking spring 2-3-3; the piston rod 2-1-1 of the locking cylinder extends through the upper end through hole 2-3-5 of the locking slider 2-3, and the piston rod nut 2-1-2 is set in front of the upper end through hole 2-3-5 of the locking slider. The push spring 2-2 is set on the piston rod 2-1-1 of the locking cylinder, and the push spring 2-2 is located between the locking slider 2-3 and the locking cylinder 2-1.

[0111] Specifically, the rotary support clamping mechanism 17 on the active clamping frame 15 is located on the active clamping frame clamping support surface 15-4, and the rotary support clamping mechanism 17 on the driven clamping frame 18 is located on the driven clamping frame clamping support surface 18-5.

[0112] The rotary support clamping mechanism 17 has a symmetrical structure, with an internal rotary support shaft 17-6 connecting all rotating parts. At one end of the rotary support shaft 17-6, a rear rotary cylinder 17-1, a torque transmission mechanism 17-2, a brake ratchet 17-3, a locking positioning ring 17-4, and a support clamping rotating body 17-5 are arranged coaxially in sequence. At the other end, a front rotary cylinder 17-7, a torque transmission mechanism 17-2, a brake ratchet 17-3, and a locking positioning ring 17-5 are arranged symmetrically and coaxially in sequence. -4 and the supporting clamping rotating body 17-5; the rear rotating cylinder 17-1, the torque transmission mechanism 17-2 and the brake ratchet 17-3 are fixed to the driven clamping frame rear plate 18-2 by fastening long screws 16; the front rotating cylinder 17-7, the torque transmission mechanism 17-2 and the brake ratchet 17-3 are fixed to the driven clamping frame front plate 18-1 by fastening long screws 16; similarly, the rotating support clamping mechanism 17 on the active clamping frame 15 is also fixed by fastening long screws 16.

[0113] The torsion transmission mechanism 17-2 is externally equipped with a transmission sliding sleeve outer sleeve 17-2-4 and a connecting end cap 17-2-1, and internally equipped with a transmission sliding sleeve 17-2-3. A transmission return spring 17-2-2 is positioned between the large-diameter end face 17-2-3-1 of the transmission sliding sleeve and the connecting end cap 17-2-1. The cavity formed between the transmission sliding sleeve 17-2-3 and the transmission sliding sleeve outer sleeve 17-2-4 at one end of the rear rotary cylinder 17-1 is the transmission air inlet rear cavity 17-2-5, and at one end of the front rotary cylinder 17-7 is the transmission air inlet front cavity 17-2-6. At one end of the rear rotary cylinder 17-1, under the action of only the transmission return spring 17-2-2, the transmission sliding sleeve hole conical surface 17-2-3 of the transmission sliding sleeve 17-2-3... 3-3 is separated from the conical surface 17-1-1-1 of the rear rotary cylinder drive shaft; similarly, at one end of the front rotary cylinder 17-7, the conical surface 17-2-3-3 of the knob sliding sleeve hole is separated from the conical surface 17-7-1-1 of the front rotary cylinder drive shaft; the inner hole 17-2-3-2 of the knob sliding sleeve is fitted onto the left shaft section 17-6-1 or the right shaft section 17-6-5 of the small diameter rotary support. At this time, the positioning surface 17-2-3-2-1 of the inner hole of the knob sliding sleeve is in contact with the positioning surface 17-6-1-1 or the positioning surface 17-6-5-1 of the small diameter left shaft section, so that the knob sliding sleeve 17-2-3 can only slide along the positioning surface 17-6-1-1 or the positioning surface 17-6-5-1 of the small diameter right shaft section.

[0114] The brake ratchet 17-3 includes a brake ratchet outer sleeve 17-3-1, a brake ratchet inner shaft 17-3-2, a pawl 17-3-3, and a pawl shaft 17-3-4. The brake ratchet inner shaft 17-3-2 is disposed inside the brake ratchet outer sleeve 17-3-1. The brake ratchet inner shaft hole 17-3-2-1 on the brake ratchet inner shaft 17-3-2 fits onto the left shaft section 17-6-1 or the right shaft section 17-6-5 of the small-diameter rotary support. At this time, the positioning surface 17-3-2-1-1 of the brake ratchet inner shaft hole and the positioning surface 17-6-1-1 of the small-diameter left shaft section are located. Alternatively, the right positioning surface 17-6-3-2 of the large-diameter shaft section can be matched to force the inner shaft 17-3-2 of the braking ratchet and the rotating support shaft 17-6 to rotate synchronously; the pawl 17-3-3 is set in the inner shaft pawl groove 17-3-2-2 through the pawl shaft 17-3-4. The pawl 17-3-3 can rotate unidirectionally in the inner shaft pawl groove 17-3-2-2 with the pawl shaft 17-3-4 as the axis. In the opposite direction, it forms a brake with the outer sleeve 17-3-1 of the braking ratchet. The braking direction of the braking ratchet 17-3 is opposite to the rotation direction of the rear rotating cylinder 17-1 and the front rotating cylinder 17-7.

[0115] The inner hole 17-5-4 of the rotating body 17-5 is coaxially sleeved on the large-diameter rotating support shaft section 17-6-3. At this time, the positioning surface 17-5-4-1 of the inner hole of the rotating body and the left positioning surface 17-6-3-1 or the right positioning surface 17-6-3-2 of the large-diameter shaft section are in contact and achieve synchronous rotation.

[0116] The sensor unit includes a clamping cylinder position sensor 7, a front proximity sensor 26, a position distance photoelectric sensor 27, a lower proximity sensor 28, and a rear proximity sensor 29. The clamping cylinder position sensor 7 is mounted on the clamping cylinder body 6-1, the front proximity sensor 26 is mounted above the front wing 1, the rear proximity sensor 29 is mounted above the rear wing 12, the lower proximity sensor 28 is mounted on the sensor mounting bracket 19-7 below the front wing 1, and the position distance photoelectric sensor 27 is mounted on the sensor mounting bracket 19-7 below the rear wing 12.

[0117] Example 2:

[0118] This embodiment provides a method for loading and unloading tubular workpieces using an adaptive multi-position compensation gripper device. This method is implemented using the adaptive multi-position compensation gripper device for tubular workpieces from Embodiment 1. The initial state of this device is as follows: the electromagnetic adsorption body in the adaptive electromagnetic adsorption mechanism is not energized, and neither the magnetic adsorption area of ​​the triangular tube nor the magnetic adsorption area of ​​the round tube exhibits magnetic attraction; the electromagnetic adsorption body is limited by a supporting limiting body, at which point the top step of the supporting limiting body abuts against the limiting surface of the adsorption body, and the supporting limiting wedge also fits against the inclined surface of the adsorption body. The inner sliding sleeve step of the inner sliding sleeve fits against the upper end face of the front wing (upper end face of the rear wing); the locking slider is pulled to the position closest to the locking cylinder by the locking cylinder. At this time, the forward push spring is compressed, the locking slider separates from the locking disc, and the locking pin completely disengages from the locking hole; the piston rod of the clamping cylinder of the clamping cylinder retracts to the limit position, and the active clamping frame and the driven clamping frame are raised above the upper end face of the front wing and the upper end face of the rear wing; the reset reference surface of the supporting clamping rotating body is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame.

[0119] The loading and unloading of round tubes of different specifications includes the following steps:

[0120] The diameter specifications of the round tubes used for loading and unloading are several diameter specifications within a fixed range. Therefore, the coordinate position to be reached by the industrial robot and the corresponding loading and unloading program for each diameter specification of tube can be preset.

[0121] Step a1: The AGV trolley arrives at the designated position with the tube rack loaded with tubes. The vision system at the designated position identifies the batch of tubes as round tubes and then transmits this information to the control unit. The control unit records the information and runs according to the loading and unloading procedure for round tubes.

[0122] Step a2: The industrial robot places the gripper device at a fixed position directly above the tube rack. It measures the distance difference between the circular tube on the tube rack and the photoelectric sensor by measuring the distance. This information is then transmitted to the control unit. The control unit determines the diameter of the tube and its coordinate position on the tube rack based on the transmitted information and issues a preset program command.

[0123] Step a3: The industrial robot, with its gripper device, reaches the predetermined coordinate position and then moves downwards. Because the adaptive electromagnetic adsorption mechanism is hinged to the double-ear sliding shaft, and a rectangular spring is set between the double-ear sliding shaft and the inner sliding sleeve, it has positioning compensation, which allows the magnetic adsorption area of ​​the electromagnetic adsorbent to make good contact with the round tube. At this time, the gripper device continues to move downwards, and the adaptive electromagnetic adsorption mechanism and the double-ear sliding shaft move upwards synchronously, compressing the rectangular spring. After the rectangular spring is compressed to a certain extent, the inner sliding sleeve also moves upwards. When the inner sliding sleeve moves to be flush with the front proximity sensor or the rear proximity sensor, the proximity sensor or the rear proximity sensor is lit up. At this time, the information is transmitted to the control unit, and the control unit energizes the electromagnetic adsorbent, making the magnetic adsorption area of ​​the round tube magnetic and adsorbing the round tube.

[0124] Step a4: The lower proximity sensor lights up after the circular tube is attracted to the magnet. It is used to detect whether the gripper device has fallen during the handling of the circular tube. If the circular tube falls, the gripper device will activate the safety mode and open the locking mechanism in an emergency or close the active and passive grippers in an emergency at a certain height.

[0125] In step a5, the electromagnetic adsorption body adsorbs the circular tube to a certain height. Due to its own weight, the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downward. At this time, the front proximity sensor or the rear proximity sensor receives the information that the inner sliding sleeve is moving downward and transmits this information to the control unit. The control unit starts to control the piston rod of the clamping cylinder to extend outward according to the preset moving speed of the gripper device. The position sensor of the clamping cylinder monitors the moving distance in real time. After moving to the preset distance, the position sensor of the clamping cylinder transmits the information to the control unit. The control unit stabilizes the piston rod of the cylinder at this position. At this time, the active clamping frame and the driven clamping frame close at a preset angle. The lower part of the circular tube is clamped and supported by the clamping support surface of the active clamping frame and the clamping support surface of the driven clamping frame, and the centering of the circular tube on the gripper device is completed.

[0126] In step a6, the piston rod of the locking cylinder of the locking cylinder extends outward rapidly, and the locking slider slides rapidly in the direction of movement of the piston rod of the locking cylinder under the action of the front push spring, and finally fits against the locking plate. At this time, the locking pin is inserted into the locking hole, so that the driven clamping gear can no longer rotate, and the closing self-locking of the active clamping frame and the driven clamping frame is completed.

[0127] In step a7, the industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the equipment clamps the round tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. At the same time, the piston rod of the clamping cylinder retracts, the active clamping frame and the driven clamping frame open, the electromagnetic adsorption body is de-energized and no longer adsorbs the round tube, and the gripper lifts up and returns to the position in step a1 to continue loading and unloading.

[0128] The loading and unloading of triangular tubes of different specifications includes the following steps:

[0129] The outer diameter specifications of the triangular tubes used for loading and unloading are still several outer diameter specifications within a fixed range. Therefore, the coordinate position to be reached by the industrial robot and the loading and unloading program corresponding to each outer diameter specification of the tube can be preset.

[0130] Steps b1 and b2 are the same as steps a1 and a2 for loading and unloading round tubes; however, the drill rod frame in step b1 for loading and unloading triangular tubes is a specially made drill rod frame with a layered structure, and the edges of each layer of triangular tubes face upwards.

[0131] In step b3, the industrial robot moves the gripper to the predetermined coordinate position and then moves downward. Due to the positioning compensation function of the combination of the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, the inner sliding sleeve and the rectangular spring, the electromagnetic adsorbent can make good contact with the edge surfaces at both ends of the triangular tube. At this time, the gripper continues to move downward, and the edge of the triangular tube hits the top rod of the support limiting body, pushing the support limiting body upward. At this time, the top step of the support limiting body moves from the adsorbent limiting surface to the adsorbent release surface. The support limiting wedge also has a gap with the inclined surface of the adsorbent, so that the two electromagnetic adsorbents on the left and right are no longer limited by the support limiting body. Under the action of the adsorbent pushing spring, they slide along the sliding pin waist hole and squeeze towards the middle, so that the magnetic adsorption area of ​​the triangular tube fits well with the edge surface of the triangular tube.

[0132] Step b4: The gripper continues to move downwards. When the inner sliding sleeve moves to be flush with the front or rear proximity sensor, the proximity sensor or rear proximity sensor is lit up. At this time, the control unit energizes the electromagnetic adsorption body, and the magnetic adsorption area of ​​the triangular tube material becomes magnetic, adsorbing the edges of the triangular tube material.

[0133] Step b5 is the same as step a4 for loading and unloading round tubes.

[0134] Step b6: High-pressure gas enters the inlet chamber of the knob, pushing the knob sliding sleeve to slide along the positioning surface of the small-diameter right shaft section in the direction of compressing the knob return spring until the conical surface of the knob sliding sleeve hole is close to the conical surface of the front rotary cylinder drive shaft; at this time, the front rotary cylinder is started, and the maximum rotation angle of the front rotary cylinder is 180°. The front rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together through the close contact of the knob sliding sleeve hole conical surface and the front rotary cylinder drive shaft conical surface. After rotating to the preset angle, the front rotary cylinder stops rotating.

[0135] In step b7, the electromagnetic adsorption body attracts the triangular tube material to a certain height. The adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downwards under their own weight. At this time, the inner sliding sleeve moves downwards and away. The control unit receives information from the front proximity sensor or the rear proximity sensor. According to the preset moving speed of the gripper device, it controls the piston rod of the clamping cylinder to extend outwards to the distance required by the preset program. The control unit stabilizes the piston rod of the cylinder at this position, and the active gripper and the driven gripper complete the closing at the preset angle. The lower edge of the triangular tube material is supported by the horizontal support surface of the rotating body at both ends, and the lower edge of the triangular tube material is clamped by the longitudinal clamping surface of the rotating body, thus completing the centering of the triangular tube material on the gripper device.

[0136] Step b8 is the same as step a6 for loading and unloading round tubes. This step completes the locking of the active clamping frame and the driven clamping frame. At the same time, the braking direction of the brake ratchet set in the rotary support clamping mechanism is opposite to the rotation direction of the front rotary cylinder and the rear rotary cylinder. The brake ratchet is positioned on the rotary support shaft and has a locking effect on the rotation of the support clamping rotating body.

[0137] Step b9: The industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the specially designed triangular tube clamps the triangular tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. The piston rod of the clamping cylinder retracts, and at this time the active clamping frame and the driven clamping frame open.

[0138] Step b10: Simultaneously, the pressure in the inlet chamber of the control knob is released, and the control knob sliding sleeve returns to its original position under the action of the control knob return spring. At this time, the conical surface of the control knob sliding sleeve hole disengages from the conical surface of the front rotary cylinder drive shaft. The front rotary cylinder is then activated, and its rotation position is reversed to the initial position. Then, high-pressure gas is injected into the inlet chamber of the control knob, pushing the control knob sliding sleeve to slide along the small-diameter left shaft section positioning surface in the direction of compressing the control knob return spring, until the conical surface of the control knob sliding sleeve hole is in close contact with the conical surface of the rear rotary cylinder drive shaft. At this time, the rear rotary cylinder... The rotary cylinder starts, and the maximum rotation angle of the rear rotary cylinder remains 180°. The rear rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together. After rotating to the point where the reset reference surface is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame, the pressure in the air chamber of the transmission button is released, the transmission button sliding sleeve is reset, and the conical surface of the transmission button sliding sleeve hole disengages from the conical surface of the transmission shaft of the rear rotary cylinder. The rear rotary cylinder reverses to the initial position. The electromagnetic adsorption body is de-energized and no longer adsorbs the triangular tube material. The gripper device lifts and returns to the position of step b1 to continue loading and unloading.

Claims

1. An adaptive multi-position compensation gripper device for tubular workpieces, characterized in that, It includes the main frame, adaptive electromagnetic adsorption unit, support clamping and locking unit, and sensor unit; The main frame includes a front wing frame (1), a claw main frame (3), a claw connecting plate (5), and a rear wing frame (12); the front wing frame (1) and the rear wing frame (12) are located on both sides of the claw main frame (3); the claw connecting plate (5) is located on the top of the claw main frame (3); The adaptive electromagnetic adsorption unit includes an adaptive electromagnetic adsorption mechanism (19), an electromagnetic adsorption mechanism connecting pin (20), a double-ear slide shaft (21), a rectangular spring (22), an inner slide sleeve (23), a support ring block (24), and a locking nut (25). There are two sets of adaptive electromagnetic adsorption units, which are installed corresponding to the front wing frame (1) and the rear wing frame (12), respectively. The upper end of the adaptive electromagnetic adsorption mechanism (19) is hinged to the lower end of the double-ear slide shaft (21) through the electromagnetic adsorption mechanism connecting pin (20). The upper part of the double-ear slide shaft (21) passes through the inner slide sleeve (23). The two inner slide sleeves (23) are respectively set on the front wing frame (1) and the rear wing frame (12). The rectangular spring (22) is sleeved between the double-ear slide shaft step (21-3) of the double-ear slide shaft (21) and the end face of the inner slide sleeve shaft section (23-3) of the inner slide sleeve (23). The support ring block (24) is installed on the top of the double-ear slide shaft (21) through the locking nut (25). The supporting clamping and locking unit includes a locking mechanism (2), a clamping cylinder (6), a driven clamping gear (8), a driven clamping gear shaft (9), an active clamping gear (10), an active clamping gear shaft (11), an active clamping frame (15), a rotating supporting clamping mechanism (17), and a driven clamping frame (18); the locking mechanism (2) is mounted on the main gripper frame (3); the clamping cylinder body (6-1) of the clamping cylinder (6) is hinged to the main gripper frame (3), and the clamping cylinder piston rod (6-2) of the clamping cylinder (6) is hinged to the active clamping frame (15); the active clamping frame (15) and the driven clamping frame (18) are opposite each other and are located between two sets of adaptive electromagnetic adsorption units; the upper end of the active clamping frame (15) is connected to the active clamping gear shaft. (11) The active gripper (15) is mounted on the main gripper frame (3) and can rotate around the active gripper gear shaft (11); the active gripper gear (10) is coaxially mounted on the active gripper gear shaft (11) and fixedly connected to the active gripper frame (15); the upper end of the driven gripper (18) is mounted on the main gripper frame (3) via the driven gripper gear shaft (9) and can rotate around the driven gripper gear shaft (9); the driven gripper gear (8) is coaxially mounted on the driven gripper gear shaft (9) and fixedly connected to the driven gripper frame (18), and the driven gripper gear (8) meshes with the active gripper gear (10); the rotary support gripping mechanism (17) is provided on the active gripper frame (15) and the driven gripper frame (18) and is symmetrically arranged; The sensor unit includes a clamping cylinder position sensor (7), a front proximity sensor (26), a position distance photoelectric sensor (27), a lower proximity sensor (28), and a rear proximity sensor (29); the clamping cylinder position sensor (7) is located on the clamping cylinder body (6-1), the front proximity sensor (26) is located above the front wing (1), the rear proximity sensor (29) is located above the rear wing (12), the lower proximity sensor (28) is located on the sensor mounting bracket (19-7) below the front wing (1), and the position distance photoelectric sensor (27) is located on the sensor mounting bracket (19-7) below the rear wing (12); The adaptive electromagnetic adsorption mechanism (19) includes an electromagnetic adsorption body (19-1), an adsorption mechanism frame (19-2), a sliding pin (19-3), an adsorption body pushing spring (19-4), a support limiting reset spring (19-5), a support limiting body (19-6), and a sensor mounting bracket (19-7). The adsorption mechanism frame (19-2) includes an adsorption mechanism frame top plate and two opposing adsorption mechanism frame side plates. An adsorption mechanism frame positioning ear (19-2-1) is provided at the middle of the upper part of the top of the adsorption mechanism frame. An adsorption body push rod hole (19-2-3) and a support limiting body sliding rod hole (19-2-4) are also provided on the top of the adsorption mechanism frame. A sliding pin waist hole (19-2-2) is provided on the side plate of the adsorption mechanism frame; the electromagnetic adsorbents (19-1) are symmetrically arranged in the adsorption mechanism frame (19-2). The bottom surface of the two electromagnetic adsorbents (19-1) is the magnetic adsorption area of ​​the round tube (19-1-2). The opposite surfaces of the two electromagnetic adsorbents (19-1) from bottom to top are the magnetic adsorption area of ​​the triangular tube (19-1-1), the longitudinal surface of the adsorbent (19-1-3), the inclined surface of the adsorbent (19-1-4), the limiting surface of the adsorbent (19-1-6), and the release surface of the adsorbent (19-1-7). A sliding pin fixing hole (19-1-5) is provided on the end face of the electromagnetic adsorbent (19-1). The single ear (19-2-1) of the adsorption mechanism frame (19-2) is connected to the double ear (21-4) of the double ear slide shaft (21) through the electromagnetic adsorption mechanism connecting pin (20), so that the adaptive electromagnetic adsorption mechanism (19) is hinged to the double ear slide shaft (21). The electromagnetic adsorbent (19-1) is provided with multiple adsorbent push rods (19-1-8), which extend into the adsorbent push rod hole (19-2-3). At this time, the electromagnetic adsorbent (19-1) can slide along the axial direction of the adsorbent push rod hole (19-2-3) and be limited by the limiting adjustment nut (19-1-9) on the adsorbent push rod (19-1-8). The adsorbent push spring (19-4) is sleeved on the adsorbent push rod (19-1-8) and is located between the electromagnetic adsorbent (19-1) and the adsorption mechanism frame (19-2); The sliding pin (19-3) is fixed in the sliding pin fixing hole (19-1-5) of the electromagnetic adsorbent (19-1) and cooperates with the sliding pin waist hole (19-2-2) of the adsorption mechanism frame (19-2), so that the electromagnetic adsorbent (19-1) can slide along the sliding pin waist hole (19-2-2) in the adsorption mechanism frame (19-2) under the action of the adsorbent push spring (19-4).

2. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 1, characterized in that, The front wing (1) includes an upper end face (1-2), a lower end face (1-3), and a front wing sliding hole (1-1). A front wing sliding hole positioning surface (1-1-1) is provided on the inner wall of the front wing sliding hole (1-1). The rear wing (12) includes an upper end face (12-2), a lower end face (12-3), and a rear wing sliding hole (12-1). A rear wing sliding hole positioning surface (12-1-1) is provided on the inner wall of the rear wing sliding hole (12-1).

3. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 2, characterized in that, The inner sleeve (23) is provided with an inner sleeve bore (23-1), an inner sleeve step (23-2), and an inner sleeve shaft section (23-3). An inner sleeve bore positioning surface (23-1-1) is provided on the inner wall of the inner sleeve bore (23-1), and an inner sleeve shaft section positioning surface (23-3-1) is provided on the outer wall of the inner sleeve shaft section (23-3). The inner sleeve shaft sections (23-3) of the two inner sleeves (23) are respectively located in the front wing frame slide sleeve hole (1-1) and the rear wing frame slide sleeve hole (1-1). In the sliding sleeve hole (12-1), at this time, the inner sliding sleeve shaft section positioning surface (23-3-1) of one inner sliding sleeve (23) is engaged with the front wing sliding sleeve hole positioning surface (1-1-1), and the inner sliding sleeve shaft section positioning surface (23-3-1) of the other inner sliding sleeve (23) is engaged with the rear wing sliding sleeve hole positioning surface (12-1-1), so that the two inner sliding sleeves (23) can only slide in the front wing sliding sleeve hole (1-1) and the rear wing sliding sleeve hole (12-1) respectively.

4. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 3, characterized in that, The double-eared sliding shaft (21) consists of, from top to bottom, a small-diameter section (21-1), a sliding section (21-2), a step (21-3), and connecting ears (21-4). A positioning surface (21-2-1) is provided on the side wall of the sliding section (21-2), and a double-eared hole (21-4-1) is provided on the connecting ears (21-4). The sliding section (21-2) of the double-eared sliding shaft (21) is located in the inner hole (23-1) of the inner sleeve. The positioning surface (21-2-1) of the sliding section is matched with the positioning surface (23-1-1) of the inner hole of the inner sleeve, so that the double-eared sliding shaft (21) can only slide in the inner hole (23-1). The rectangular spring (22) is located between the double-eared sliding shaft step (21-3) and the end face of the inner sliding sleeve shaft section (23-3); The support ring block (24) passes through the small diameter section (21-1) of the double-ear slide shaft, is located on the inner slide step (23-2), and is locked and fixed by the locking nut (25) located on the small diameter section (21-1) of the double-ear slide shaft.

5. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 1, characterized in that, The support limiting body (19-6) consists of, from bottom to top, a support limiting body top rod (19-6-1), a top rod reinforcing rod (19-6-6) for reinforcing the support limiting body top rod (19-6-1), a support limiting wedge (19-6-2), a support limiting body top step (19-6-3), a support limiting body slide rod (19-6-4), and a slide rod limiting nut (19-6-5) for sliding limiting. The support limiting body (19-6) is set inside the adsorption mechanism frame (19-2) and located between the two electromagnetic adsorption bodies (19-1). At this time, the support limiting body slide rod (19-6-4) passes through the support limiting body slide rod hole (19-2-4), and a support limiting return spring is set on the support limiting body slide rod (19-6-4). (19-5) At this time, the support limiting return spring (19-5) is located between the adsorption mechanism frame (19-2) and the support limiting body (19-6); when the top rod (19-6-1) of the support limiting body is not subjected to external force, under the action of the support limiting return spring (19-5), the top step (19-6-3) of the support limiting body (19-6) is close to the adsorption body limiting surface (19-1-6), and the support limiting wedge (19-6-2) is also in contact with the adsorption body inclined surface (19-1-4), thereby restricting the electromagnetic adsorbent (19-1) from sliding in the adsorption mechanism frame (19-2), so that the triangular tube magnetic adsorption area (19-1-1) on the left and right electromagnetic adsorbents (19-1) cannot be squeezed and close to the middle.

6. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 1, characterized in that, The active clamping frame (15) includes a front plate (15-1) and a rear plate (15-2) of the active clamping frame that are opposite each other, and a clamping connecting shaft (14) connecting the two. An active clamping frame reinforcing plate (15-3) is connected between the front plate (15-1) and the rear plate (15-2), and the active clamping frame reinforcing plate (15-3) is close to the corner of the front plate (15-1) and the rear plate (15-2) of the active clamping frame, and the clamping connection is... The shaft (14) is located above the active clamping frame reinforcement plate (15-3); the lower part of the active clamping frame (15) is bent inward and the bending slope is the active clamping frame clamping support surface (15-4); the two ends of the clamping gear shaft (11) pass through the front plate (15-1) and the rear plate (15-2) of the active clamping frame and are fixed to the main frame of the gripper (3); the active clamping gear (10) is not fixed to the active clamping gear shaft (11) and is fixed to the rear plate (15-2) of the active clamping frame.

7. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 6, characterized in that, The driven clamping frame (18) includes a driven clamping frame front plate (18-1) and a driven clamping frame rear plate (18-2) that are opposite each other, and a driven clamping frame reinforcing plate (18-4) that can connect and reinforce the driven clamping frame front plate (18-1) and the driven clamping frame rear plate (18-2). A driven clamping frame fixing pin (18-3) and a driven clamping gear shaft (9) are sequentially arranged above the driven clamping frame reinforcing plate (18-4). The driven clamping frame (18) is bent inward at the bottom and the inclined surface of the bend is the driven clamping frame clamping support surface (18-5); the two ends of the driven clamping gear shaft (9) pass through the driven clamping frame front plate (18-1) and the driven clamping frame rear plate (18-2) and are fixed to the gripper main frame (3); the driven clamping gear (8) is fixed to the driven clamping frame rear plate (18-2) and not fixed to the driven clamping gear shaft (9); The clamping cylinder (6) includes a clamping cylinder body (6-1) and a clamping cylinder piston rod (6-2). The clamping cylinder body (6-1) is hinged to the main gripper frame (3) via a clamping cylinder connecting pin (4). The clamping cylinder piston rod (6-2) is hinged to the active clamping frame (15) via a clamping connecting block (13) provided on the clamping connecting shaft (14).

8. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 1, characterized in that, The locking mechanism (2) includes a locking cylinder (2-1), a push spring (2-2), a locking slider (2-3), a locking disc (2-4), and a locking bracket block (2-5); the locking cylinder (2-1) is fixed on the main frame of the gripper (3), the locking disc (2-4) is coaxially mounted on the driven clamping gear shaft (9) and fixed to the driven clamping gear (8), and multiple locking holes (2-4-1) are provided on the locking disc (2-4); the locking bracket block (2-5) is fixed on the main frame of the gripper (3), and a through bracket block slide groove hole (2-5-1) is provided on the locking bracket block (2-5); the locking slider (2-3) passes through the bracket block slide groove hole (2-5-1), and a locking pin hole (2-5-1) is provided below the locking slider (2-3). -3-2), an end cap (2-3-1), a locking spring (2-3-3), and a locking pin (2-3-4) are coaxially arranged in sequence in the locking pin hole (2-3-2); the locking pin (2-3-4) extends out of the locking pin hole (2-3-2) under the action of the locking spring (2-3-3); the piston rod (2-1-1) of the locking cylinder extends through the upper end through hole (2-3-5) of the locking slider (2-3) and a piston rod nut (2-1-2) is set in front of the upper end through hole (2-3-5) of the locking slider; a push spring (2-2) is set on the piston rod (2-1-1) of the locking cylinder and the push spring (2-2) is located between the locking slider (2-3) and the locking cylinder (2-1).

9. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 1, characterized in that, The rotary support clamping mechanism (17) on the active clamping frame (15) is located on the clamping support surface (15-4) of the active clamping frame, and the rotary support clamping mechanism (17) on the driven clamping frame (18) is located on the clamping support surface (18-5) of the driven clamping frame. The rotary support clamping mechanism (17) has a symmetrical structure, with an internal rotary support shaft (17-6) connecting all rotating parts together. One end of the rotary support shaft (17-6) is coaxially arranged with a rear rotary cylinder (17-1), a torque transmission mechanism (17-2), a brake ratchet (17-3), a locking positioning ring (17-4), and a support clamping rotating body (17-5). The other end is symmetrically coaxially arranged with a front rotary cylinder (17-7), a torque transmission mechanism (17-2), a brake ratchet (17-3), and a locking positioning ring (17-4). The rear rotary cylinder (17-1), torque transmission mechanism (17-2), and brake ratchet (17-3) are fixed to the rear plate (18-2) of the driven clamping frame by fastening long screws (16); the front rotary cylinder (17-7), torque transmission mechanism (17-2), and brake ratchet (17-3) are fixed to the front plate (18-1) of the driven clamping frame by fastening long screws (16); the rotary support clamping mechanism (17) on the active clamping frame (15) is also fixed by fastening long screws (16).

10. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 9, characterized in that, The torsion transmission mechanism (17-2) is externally provided with a torsion transmission sliding sleeve outer sleeve (17-2-4) and a connecting end cap (17-2-1), and internally provided with a torsion transmission sliding sleeve (17-2-3). A torsion transmission return spring (17-2-2) is provided between the large-diameter end face (17-2-3-1) of the torsion transmission sliding sleeve and the connecting end cap (17-2-1). The cavity formed between the torsion transmission sliding sleeve (17-2-3) and the torsion transmission sliding sleeve outer sleeve (17-2-4) at one end of the rear rotary cylinder (17-1) is the torsion transmission air inlet rear cavity (17-2-5), and at one end of the front rotary cylinder (17-7) is the torsion transmission air inlet front cavity (17-2-6). At one end of the rear rotary cylinder (17-1), under the action of only the torsion transmission return spring (17-2-2), the torsion transmission sliding sleeve hole conical surface (17-2-3) of the torsion transmission sliding sleeve (17-2-3) 17-2-3-3) is separated from the conical surface (17-1-1-1) of the rear rotary cylinder drive shaft; at one end of the front rotary cylinder (17-7), the conical surface (17-2-3-3) of the knob sliding sleeve hole is separated from the conical surface (17-7-1-1) of the front rotary cylinder drive shaft; the inner hole (17-2-3-2) of the knob sliding sleeve is fitted onto the left shaft section (17-6-1) of the small-diameter rotary support or the small-diameter rotary support. On the right shaft section (17-6-5), the inner hole positioning surface (17-2-3-2-1) of the knob sliding sleeve is in contact with the positioning surface (17-6-1-1) or the positioning surface (17-6-5-1) of the small diameter left shaft section, so that the knob sliding sleeve (17-2-3) can only slide along the positioning surface (17-6-1-1) or the positioning surface (17-6-5-1) of the small diameter left shaft section.

11. The adaptive multi-position compensation gripper device for tubular workpieces as described in claim 9, characterized in that, The brake ratchet (17-3) includes a brake ratchet outer sleeve (17-3-1), a brake ratchet inner shaft (17-3-2), a pawl (17-3-3), and a pawl shaft (17-3-4). The brake ratchet inner shaft (17-3-2) is located inside the brake ratchet outer sleeve (17-3-1). The brake ratchet inner shaft hole (17-3-2-1) on the brake ratchet inner shaft (17-3-2) is fitted onto the left shaft section (17-6-1) or the right shaft section (17-6-5) of the small-diameter rotary support. At this time, the positioning surface (17-3-2-1-1) of the brake ratchet inner shaft hole and the positioning surface (17-6-1-1) of the small-diameter left shaft section are located at the same time. The ratchet inner shaft (17-3-2) and the rotating support shaft (17-6) are matched with the right positioning surface (17-6-3-2) of the large diameter shaft section to force the ratchet inner shaft (17-3-2) and the rotating support shaft (17-6) to rotate synchronously; the pawl (17-3-3) is set in the inner shaft pawl groove (17-3-2-2) through the pawl shaft (17-3-4). The pawl (17-3-3) can rotate unidirectionally in the inner shaft pawl groove (17-3-2-2) with the pawl shaft (17-3-4) as the axis. In the opposite direction, it forms a brake with the brake ratchet outer sleeve (17-3-1). The braking direction of the brake ratchet (17-3) is opposite to the rotation direction of the rear rotating cylinder (17-1) and the front rotating cylinder (17-7). The inner bore (17-5-4) of the rotating body (17-5) is coaxially fitted onto the large-diameter rotating support shaft section (17-6-3). At this time, the positioning surface (17-5-4-1) of the inner bore of the rotating body and the left positioning surface (17-6-3-1) or the right positioning surface (17-6-3-2) of the large-diameter shaft section are in contact and achieve synchronous rotation.

12. A method for loading and unloading tubular workpieces using an adaptive multi-position compensation gripper device, characterized in that, This method is implemented using the adaptive multi-position compensation tube-type workpiece gripper device as described in any one of claims 1 to 11. The initial state of this device is as follows: the electromagnetic adsorption body in the adaptive electromagnetic adsorption mechanism is not energized; neither the magnetic adsorption area of ​​the triangular tube nor the magnetic adsorption area of ​​the round tube exhibits magnetic adsorption; the electromagnetic adsorption body is limited by the supporting limiting body, at which point the top step of the supporting limiting body abuts against the limiting surface of the adsorption body, and the supporting limiting wedge also fits against the inclined surface of the adsorption body; the inner sliding sleeve steps of the two inner sliding sleeves... The locking slider is respectively attached to the upper surface of the front wing and the upper surface of the rear wing; the locking slider is pulled to the position closest to the locking cylinder by the locking cylinder, at which time the forward spring is compressed, the locking slider separates from the locking disc, and the locking pin completely disengages from the locking hole; the piston rod of the clamping cylinder of the clamping cylinder retracts to the limit position, and the active clamping frame and the driven clamping frame are raised above the upper surface of the front wing and the upper surface of the rear wing; the reset reference surface of the supporting clamping rotating body is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame.

13. The method for loading and unloading tubular workpieces using an adaptive multi-position compensation gripper device as described in claim 12, characterized in that, The loading and unloading of round tubes of different specifications includes the following steps: Step a1: The AGV trolley arrives at the designated position with the tube rack loaded with tubes. The vision system at the designated position recognizes that the batch of tubes is round tubes and then transmits this information to the control unit. The control unit records the information and runs according to the loading and unloading procedure for round tubes. Step a2: The industrial robot places the gripper device at a fixed position directly above the tube rack. It measures the distance difference between the circular tube on the tube rack and the photoelectric sensor by measuring the distance. This information is then transmitted to the control unit. The control unit determines the diameter of the tube and its coordinate position on the tube rack based on the transmitted information and issues a preset program command. Step a3: The industrial robot, with its gripper device, reaches the predetermined coordinate position and then moves downwards. Because the adaptive electromagnetic adsorption mechanism is hinged to the double-ear sliding shaft, and a rectangular spring is set between the double-ear sliding shaft and the inner sliding sleeve, it has positioning compensation, enabling the magnetic adsorption area of ​​the electromagnetic adsorbent to contact the circular tube. At this time, the gripper device continues to move downwards, and the adaptive electromagnetic adsorption mechanism and the double-ear sliding shaft move upwards synchronously, compressing the rectangular spring. When the rectangular spring is compressed, the inner sliding sleeve also moves upwards. When the inner sliding sleeve moves to be flush with the front or rear proximity sensor, the proximity sensor or rear proximity sensor is lit up. At this time, the information is transmitted to the control unit, and the control unit energizes the electromagnetic adsorbent, making the magnetic adsorption area of ​​the circular tube magnetic and adsorbing the circular tube. Step a4: The lower proximity sensor lights up after the circular tube is attracted to the magnet. It is used to detect whether the gripper device has fallen during the handling of the circular tube. If the circular tube falls, the gripper device will activate the safety mode and urgently open the locking mechanism or urgently close the active gripper and the driven gripper. In step a5, the electromagnetic adsorption body adsorbs the circular tube. Due to its own weight, the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downward. At this time, the front proximity sensor or the rear proximity sensor receives the information that the inner sliding sleeve is moving downward and transmits this information to the control unit. The control unit controls the piston rod of the clamping cylinder to extend outward according to the preset moving speed of the gripper device. The position sensor of the clamping cylinder monitors the moving distance in real time. After moving to the preset distance, the position sensor of the clamping cylinder transmits the information to the control unit. The control unit stabilizes the piston rod of the cylinder at this position. At this time, the active clamping frame and the driven clamping frame close at a preset angle. The lower part of the circular tube is clamped and supported by the clamping support surface of the active clamping frame and the clamping support surface of the driven clamping frame, and the centering of the circular tube on the gripper device is completed. In step a6, the piston rod of the locking cylinder of the locking cylinder extends outward rapidly, and the locking slider slides rapidly in the direction of movement of the piston rod of the locking cylinder under the action of the front push spring, and finally fits against the locking plate. At this time, the locking pin is inserted into the locking hole, so that the driven clamping gear can no longer rotate, and the closing self-locking of the active clamping frame and the driven clamping frame is completed. In step a7, the industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the equipment clamps the round tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. At the same time, the piston rod of the clamping cylinder retracts, the active clamping frame and the driven clamping frame open, the electromagnetic adsorption body is de-energized and no longer adsorbs the round tube, and the gripper lifts up and returns to the position in step a1 to continue loading and unloading.

14. The method for loading and unloading tubular workpieces using an adaptive multi-position compensation gripper device as described in claim 13, characterized in that, The loading and unloading of triangular tubes of different specifications includes the following steps: Steps b1 and b2 are the same as steps a1 and a2 for loading and unloading round tubes; In step b3, the industrial robot moves the gripper to the predetermined coordinate position and then moves downward. Due to the positioning compensation function of the combination of the adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, the inner sliding sleeve and the rectangular spring, the electromagnetic adsorption body can contact the edge surfaces at both ends of the triangular tube. At this time, the gripper continues to move downward, and the edge of the triangular tube hits the top rod of the support limiting body, pushing the support limiting body upward. At this time, the top step of the support limiting body moves from the adsorption body limiting surface to the adsorption body release surface. The support limiting wedge also has a gap with the inclined surface of the adsorption body, so that the two electromagnetic adsorption bodies on the left and right are no longer limited by the support limiting body. Under the action of the adsorption body pushing spring, they slide along the sliding pin waist hole and squeeze towards the middle, so that the magnetic adsorption area of ​​the triangular tube fits with the edge surface of the triangular tube. Step b4: The gripper continues to move downwards. When the inner sliding sleeve moves to be flush with the front or rear proximity sensor, the proximity sensor or rear proximity sensor is lit up. At this time, the control unit powers on the electromagnetic adsorption body, and the magnetic adsorption area of ​​the triangular tube material becomes magnetic, adsorbing the edges of the triangular tube material. Step b5 is the same as step a4 for loading and unloading round tubes. Step b6: High-pressure gas enters the inlet chamber of the knob, pushing the knob sliding sleeve to slide along the positioning surface of the small-diameter right shaft section in the direction of compressing the knob return spring until the conical surface of the knob sliding sleeve hole is close to the conical surface of the front rotary cylinder drive shaft; at this time, the front rotary cylinder is started. The maximum rotation angle of the front rotary cylinder is 180°. The front rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together through the conical surface of the knob sliding sleeve hole and the conical surface of the front rotary cylinder drive shaft. After rotating to the preset angle, the front rotary cylinder stops rotating. In step b7, the electromagnetic adsorption body attracts the triangular tube material. The adaptive electromagnetic adsorption mechanism, the double-ear sliding shaft, and the inner sliding sleeve move downwards under their own weight. At this time, the inner sliding sleeve moves downwards. The control unit receives information from the front proximity sensor or the rear proximity sensor. According to the preset moving speed of the gripper device, it controls the piston rod of the clamping cylinder to extend outwards to the distance required by the preset program. The control unit stabilizes the piston rod of the cylinder at this position, and the active gripper and the driven gripper complete the closing at the preset angle. The lower edge of the triangular tube material is supported by the horizontal support surface of the rotating body at both ends, and the lower edge of the triangular tube material is clamped by the longitudinal clamping surface of the rotating body, thus completing the centering of the triangular tube material on the gripper device. Step b8 is the same as step a6 for loading and unloading round tubes. This step completes the locking of the active clamping frame and the driven clamping frame. At the same time, the braking direction of the brake ratchet set in the rotary support clamping mechanism is opposite to the rotation direction of the front rotary cylinder and the rear rotary cylinder. The brake ratchet is positioned on the rotary support shaft and has a locking effect on the rotation of the support clamping rotating body. Step b9: The industrial robot moves the gripper to the designated coordinate position on the processing equipment. After the specially designed triangular tube clamps the triangular tube, the control unit sends a command to retract the piston rod of the locking cylinder and pull the locking slider towards the locking cylinder until the locking pin on the locking slider disengages from the locking hole. The piston rod of the clamping cylinder retracts, and at this time the active clamping frame and the driven clamping frame open. Step b10: Simultaneously, the pressure in the inlet chamber of the control knob is released, and the control knob sliding sleeve returns to its original position under the action of the control knob return spring. At this time, the conical surface of the control knob sliding sleeve hole disengages from the conical surface of the front rotary cylinder drive shaft. The front rotary cylinder is then activated, and its rotation position is reversed to the initial position. Then, high-pressure gas is injected into the inlet chamber of the control knob, pushing the control knob sliding sleeve to slide along the small-diameter left shaft section positioning surface in the direction of compressing the control knob return spring until the conical surface of the control knob sliding sleeve hole is in close contact with the conical surface of the rear rotary cylinder drive shaft. At this time, the rear rotary cylinder... When the cylinder is started, the maximum rotation angle of the rear rotary cylinder remains 180°. The rear rotary cylinder drives the rotary support shaft and the support clamping rotary body to rotate together. After rotating to the point where the reset reference surface is coplanar with the clamping support surface of the active clamping frame or the clamping support surface of the driven clamping frame, the pressure in the air chamber of the transmission button is released, the transmission button sliding sleeve is reset, and the conical surface of the transmission button sliding sleeve hole disengages from the conical surface of the transmission shaft of the rear rotary cylinder. The rear rotary cylinder reverses to the initial position. The electromagnetic adsorption body is de-energized and no longer adsorbs the triangular tube material. The gripper device lifts and returns to the position of step b1 to continue loading and unloading.

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