Ten-axis flexible gripper

Abstract

The invention relates to the related technical field of carrying manipulators, discloses a ten-axis flexible gripper, and aims to solve the problem that a gripper is not easy to clamp due to the difference of sizes of workpieces. And the four grippers are controlled to move to corresponding positions to adapt to workpieces of different shapes / sizes, so that the flexibility and adaptability of the grippers are improved, and finally, the multi-axis controllable moving effect is achieved.

Description

Technical Field

[0001] The present application relates to the technical field related to handling robots, and in particular to a ten-axis flexible gripper. Background Art

[0002] With the continuous progress and deep integration of industrial automation and intelligent technology, the application scope of manipulators in the field of handling various types of plate parts is constantly expanding and deepening. In industries with high precision and high efficiency requirements such as automobile manufacturing, aerospace, and electronic appliances, plate parts such as steel plates, aluminum plates, and glass plates are widely used as key components. These parts are not only of various types, but also vary greatly in shape and size, which brings great challenges to traditional handling methods.

[0003] Given the differences in workpiece shapes and sizes, many clamping devices on the market are often limited to clamping specific sizes or shapes, making it difficult to meet the flexible needs of diversified production lines. Therefore, the market urgently needs an innovative clamping gripper that is highly adaptable and flexible, and can intelligently identify and accurately clamp plate parts of different sizes and shapes. Summary of the invention

[0004] The present application proposes a ten-axis flexible gripper having the advantage of multi-axis controllable movement, and is used to solve the problem in the above-mentioned background technology that the gripper is difficult to grip due to differences in workpiece sizes.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: a ten-axis flexible gripper, comprising: a main arm beam, on the middle of which a mounting connection plate is fastened and connected, for connecting with a mechanical articulated arm, and precise control of the mechanical articulated arm is achieved through a control system to drive the main arm beam to move to a specific area; a cantilever beam, movably mounted on the surface of the main arm beam, with an X-axis guide screw threadedly connected to the cantilever beam, the X-axis guide screw being driven to rotate by an X-axis servo motor fixed to the top of the main arm beam, to achieve reciprocating motion of the cantilever beam in the X-axis direction; an adjusting beam, movably mounted on the cantilever beam, with a Y-axis servo motor arranged on the top of the cantilever beam, and the Y-axis servo motor driving the Y-axis guide screw Rotation, the Y-axis guide screw is threadedly connected to the adjusting beam, so that the adjusting beam can reciprocate in the Y-axis direction along the cantilever beam; the Z-axis servo motor is fixedly installed on the top of the adjusting beam, and the Z-axis servo motor is threadedly connected to the Z-axis guide screw on the rotating shaft. The Z-axis servo motor drives the Z-axis guide screw to rotate, driving the gripper threadedly connected to the Z-axis guide screw to reciprocate in the Z-axis direction; the gripper, a gripping tongue is provided at the bottom of the gripper, which is used to accurately move to the outside of the workpiece under the coordinated control of the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor, and lift the bottom of the workpiece through the gripping tongue to realize the clamping operation of workpieces of different shapes.

[0006] Furthermore, a pressing cylinder is fixedly installed in the middle of the bottom side of the main arm beam, and a driving piston is movably installed in the pressing cylinder, and a pressing rod is fixedly installed at the bottom end of the driving piston; a return push spring is arranged between the driving piston and the pressing cylinder.

[0007] Furthermore, a material pressing seat is movably installed on the side of the gripper, a fixed magnetic block is fixedly installed on the surface of the gripping tongue, and a movable magnetic block that magnetically repels the fixed magnetic block is fixedly installed in the material pressing seat.

[0008] Furthermore, the grabbing tongue is hinged at the bottom of the gripper, a torsion spring is fixedly installed on the rotating shaft of the grabbing tongue, one end of the torsion spring is fixed on the gripper, and a gear is fixedly installed on the rotating shaft of the grabbing tongue; an adjusting cylinder is fastened to the side of the gripper, a driven piston is movably sleeved inside the adjusting cylinder, a limited distance push rod is fixedly installed at one end of the driven piston, a gear row is installed on the limited distance push rod, an air pipe is fixedly installed at one end of the adjusting cylinder, and an air joint is fixedly installed at the end of the air pipe; an air distribution chamber is formed inside the pressing cylinder body and at the bottom of the driving piston, and the air flow in the air distribution chamber is transported to the air joint through the air flow distributor.

[0009] Furthermore, a deflation valve rod is fixedly installed on the top of the pressing top seat, a deflation valve seat is fixedly installed on the top of the gripper, a deflation channel is opened on the side of the deflation valve seat, the deflation channel is communicated with the air pipe, and a vent hole is opened on the side of the deflation valve rod.

[0010] Furthermore, a connecting air passage is opened inside the pressing rod, and a detection pressing rod is movably installed in the connecting air passage, a pressing head is fixedly connected to the bottom of the detection pressing rod, a detection switch is fixedly installed on the top of the detection pressing rod, and a detection spring located above the detection pressing rod is fixedly installed on the inside of the pressing rod.

[0011] Furthermore, a damping piston is installed inside the adjusting cylinder, and a damping hole is opened in the middle of the damping piston, a limited distance spring is connected between the damping piston and the gear row, and a venting groove is opened on the side of the limited distance push rod; a connecting frame is fixedly installed on the end of the damping piston, and an angular push platform is fixedly installed on the top of the connecting frame, a tightening push rod is movably installed on the side of the press seat, and a tightening spring is connected between the tightening push rod and the press seat; spring push rods are movably installed on the outer side of the damping piston and the inner side of the press head, and an venting hole is opened on the outer bottom of the press rod.

[0012] Furthermore, the surface shape of the angled push table is a right triangle.

[0013] The present invention has the following beneficial effects:

[0014] The core design of the 10-axis flexible gripper provided in this application is that three independent and highly integrated servo motors are precisely arranged on the main arm beam: the X-axis servo motor, the Y-axis servo motor and the Z-axis servo motor. These servo motors work together through a precise control system, which can not only accurately control the positioning of the gripper in three-dimensional space (X, Y, and Z degrees of freedom), but also through the additional seven degrees of freedom (usually achieved through articulated arms or flexible transmission mechanisms), together constitute the movement capability of the ten axes, greatly expanding the operational flexibility and spatial coverage of the gripper.

[0015] The gripper uses algorithm control to optimize the motion coordination between the axes, ensuring that the four independent grippers can move accurately and quickly to the predetermined position to accommodate workpieces of various complex shapes and sizes. This highly customized design not only enhances the adaptability of the gripper, but also significantly improves the efficiency and accuracy of material handling, assembly and other operations on the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute a part of the specification, illustrate embodiments disclosed in the present application and, together with the description, serve to explain the principles disclosed in the present application.

[0017] The present application can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0018] Figure 1 It is a schematic diagram of the overall external three-dimensional structure;

[0019] Figure 2 It is a schematic diagram of the external three-dimensional structure of the pressing cylinder;

[0020] Figure 3 It is a schematic diagram of the internal sectional three-dimensional structure of the pressing cylinder;

[0021] Figure 4 for Figure 3 The enlarged structural diagram at E in the middle;

[0022] Figure 5 It is a schematic diagram of the position and three-dimensional structure of each component on the cantilever beam;

[0023] Figure 6 This is a schematic diagram of the position and three-dimensional structure of the various components on the gripper;

[0024] Figure 7 It is a schematic diagram of the internal sectional three-dimensional structure of the deflation valve seat;

[0025] Figure 8 It is a schematic diagram of the internal sectional view of the regulating cylinder;

[0026] Fig. 9 for Figure 8 Enlarged structural diagram at F in the middle.

[0027] In the figure: 1. Main arm beam; 2. Cantilever beam; 3. X-axis servo motor; 300. X-axis guide screw; 4. Y-axis servo motor; 400. Y-axis guide screw; 5. Z-axis servo motor; 500. Z-axis guide screw; 501. Adjustment beam; 6. Mounting connection plate; 7. Gripper; 8. Gripping tongue; 9. Pressing cylinder; 10. Air flow distributor; 11. Pressing rod; 110. Air distribution chamber; 111. Air vent; 112. Driving piston; 113. Return spring; 114. Connecting airway; 12. Pressing head; 13. Detection pressure rod; 14. Detection switch; 15. Detection spring; 16. Spring push rod; 17. Adjustment cylinder; 18. Air pipe; 180. Air joint; 19. Pressing seat; 190. Vent valve stem; 1901. Vent hole; 20. Vent valve seat; 2001. Vent passage; 21. Tightening push rod; 210. Tightening spring; 22. Fixed magnet; 220. Movable magnet; 23. Angle push table; 24. Gear; 25. Gear row; 26. Torsion spring; 27. Distance limiting push rod; 270. Vent groove; 271. Distance limiting spring; 28. Connecting frame; 29. ​​Damping piston; 290. Damping hole; 30. Follower piston. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Embodiment 1

[0030] See also Figure 1 It can be seen that the main arm beam 1 serves as the support of the entire device, and a mounting connection plate 6 is fastened to the middle of its surface. The mounting connection plate 6 is connected to the mechanical joint arm, and the mechanical joint arm is precisely controlled by the control system to realize that the mounting connection plate 6 drives the main arm beam 1 to move to a specific area. A cantilever beam 2 is movably installed on the surface of the main arm beam 1. There are two cantilever beams 2. The two cantilever beams 2 are correspondingly threaded with X-axis guide screws 300. The X-axis guide screws 300 are driven by the X-axis servo motor 3 fixed on the top of the main arm beam 1. Correspondingly, there are two X-axis servo motors 3, and the X-axis servo motor 3 is used to drive the X-axis guide screw 300 to rotate, so as to realize the reciprocating motion of the cantilever beam 2 on the X-axis.

[0031] The surface of the cantilever beam 2 is symmetrically and movably mounted with an adjustment beam 501, which can only reciprocate along the cantilever beam 2. A Y-axis servo motor 4 is symmetrically arranged on the top of the cantilever beam 2, and the Y-axis servo motor 4 drives the Y-axis guide screw 400. The adjustment beam 501 threadedly connected to the Y-axis guide screw 400 can be directed along the cantilever beam 2 to achieve reciprocating motion of the adjustment beam 501 on the Y axis. Figure 1 It can be clearly seen that two independently movable adjustment beams 501 are respectively arranged on each cantilever beam 2. A Z-axis servo motor 5 is fixedly installed on the top of the adjustment beam 501, and a Z-axis guide screw 500 is threadedly connected to the rotating shaft of the Z-axis servo motor 5. The Z-axis guide screw 500 is driven to rotate by the Z-axis servo motor 5, so as to realize the directional up and down movement of the gripper 7 threadedly connected to the Z-axis guide screw 500, that is, the Z-axis reciprocating motion is realized.

[0032] It can be seen that the first embodiment uses the X-axis servo motor 3, the Y-axis servo motor 4 and the Z-axis servo motor 5 to perform multi-directional control on the gripper 7, so as to ensure that the four grippers 7 can accurately move to the outside of the clamped workpiece. Combined with the fact that each gripper 7 can be individually regulated, the four grippers 7 can accurately clamp workpieces of different shapes.

[0033] In order to ensure the stable handling of the workpiece, Figure 5 and Figure 6 It can be seen that a gripping tongue 8 is provided at the bottom of the gripper 7. When the gripper 7 is controlled by the X-axis servo motor 3, the Y-axis servo motor 4 and the Z-axis servo motor 5 to move to the bottom of the workpiece, the gripping tongue 8 is used to lift the bottom of the workpiece to achieve the transportation of the workpiece.

[0034] On this basis, in order to ensure the stability of the workpiece during handling, combined with Figure 1-Figure 3 It can be seen that a pressing cylinder 9 is fixedly installed in the middle part of the bottom side of the main arm beam 1, and a driving piston 112 is movably installed in the pressing cylinder 9, and a pressing rod 11 extending to the outside of the pressing cylinder 9 is fixedly installed at the bottom end of the driving piston 112. In actual application, when the four grabbing tongues 8 are placed on the bottom of the workpiece and lifted up, compressed gas or hydraulic medium is filled into the top input end of the pressing cylinder 9. The specific details can be determined independently according to the actual working conditions. The compressed gas or hydraulic medium pushes the driving piston 112 to move downward and compresses the return spring 113 between the driving piston 112 and the pressing cylinder 9. Finally, the bottom end of the pressing rod 11 rests on the workpiece. At this time, the bottom of the workpiece is supported by the four grabbing tongues 8, and the top is pushed by the pressing rod 11, which further ensures that the workpiece is more stable during movement.

[0035] When the workpiece reaches the destination, the compressed gas or hydraulic medium is removed, and the driving piston 112 is forced to pull the pressing rod 11 upward under the elastic force of the return spring 113, and the pressing rod 11 releases the pressing of the workpiece. The control system is used to make the grippers 7 relatively far apart, so that the gripping tongue 8 is separated from the workpiece, thereby realizing the unloading of the workpiece.

[0036] Embodiment 2

[0037] Further improvements are made based on Example 1. Figure 5 and Figure 6 It can be seen that a material pressing seat 19 is movably mounted on the side of the gripper 7, the material pressing seat 19 is located directly above the gripper tongue 8, and the material pressing seat 19 can only reciprocate up and down along the gripper 7. Figure 6 It can be clearly seen that a fixed magnetic block 22 is fixedly installed on the surface of the gripping tongue 8, and a movable magnetic block 220 that is magnetically repelled by the fixed magnetic block 22 is fixedly installed in the material pressing seat 19. When there is no barrier between the fixed magnetic block 22 and the movable magnetic block 220, the material pressing seat 19 is forced to move along the gripper 7 to the top of the gripping tongue 8 due to the magnetic repulsion between the two. When the gripper 7 moves the gripping tongue 8 to the bottom of the workpiece, the workpiece blocks the fixed magnetic block 22 and the movable magnetic block 220, thereby blocking the magnetic repulsion between the two. Therefore, the material pressing seat 19 will clamp the workpiece under its own gravity, thereby ensuring the stability of the workpiece during transportation. When the gripping tongue 8 and the workpiece are separated, the gripping tongue 8 and the material pressing seat 19 are again subject to the magnetic repulsion between the fixed magnetic block 22 and the movable magnetic block 220, thereby ensuring that the gripping tongue 8 and the material pressing seat 19 can clamp and tighten the next workpiece to be transported.

[0038] In actual application, due to the influence of gravity, the bottom of the workpiece is pressed tightly against the surface of the gripping tongue 8. This will cause the gripper 7 to drive the gripping tongue 8 away from the workpiece. Due to the friction between the workpiece and the gripping tongue 8, the workpiece is forced to follow the movement of the gripping tongue 8, which eventually causes the position where the workpiece arrives to deviate from the predetermined position. Since the current production line is fully automated, if the position of the workpiece is greatly offset, the subsequent gripper will not be able to clamp accurately, and ultimately the subsequent workpiece will not be able to be clamped in time. In order to ensure that the workpiece does not move when it is placed, combined with Figure 5 , Figure 6 and Figure 8 It can be seen that the gripping tongue 8 is hinged at the bottom of the gripper 7. Due to the limitation of the groove at the bottom of the gripper 7, the gripping tongue 8 can only deflect within 0°-90°. A torsion spring 26 is fixedly installed on the rotating shaft of the gripping tongue 8. One end of the torsion spring 26 is fixed on the gripper 7. Under normal conditions, the gripping tongue 8 is pushed by the torsion spring 26 to be in a horizontal state, thereby supporting the workpiece. A gear 24 is fixedly installed on the rotating shaft of the gripping tongue 8. When the gear 24 rotates, it can drive the gripping tongue 8 to deflect synchronously.

[0039] The side of the gripper 7 is provided with an adjusting cylinder 17 which is fastened by a clamping seat. A slave piston 30 is movably mounted inside the adjusting cylinder 17. A limited distance push rod 27 is fixedly mounted on one end of the slave piston 30. A tooth row 25 located on one side of the gear 24 is mounted on the limited distance push rod 27. When the slave piston 30 pushes the limited distance push rod 27 to move in the direction of the gear 24, the tooth row 25 will eventually mesh with the gear 24, thereby limiting the rotation of the gear 24 by using the tooth row 25. An air pipe 18 is fixedly mounted on one end of the adjusting cylinder 17. When the air pipe 18 delivers air to the inside of the adjusting cylinder 17, the air pipe 18 is combined with the air pipe 18 to move the air to the inside of the adjusting cylinder 17. Fig. 9 It can be seen that the increase in the airflow on the left side of the slave piston 30 will force the slave piston 30 to push the distance limiting push rod 27 to move outward. Figure 2 and Figure 3 It can be seen that an air distribution chamber 110 is formed inside the pressing cylinder 9 and at the bottom of the driving piston 112. When the driving piston 112 is pressed downward, the air flow will be output outward from the air flow distributor 10. The air flow distributor 10 can input the compressed air flow in the air distribution chamber 110 to the air joints 180 at the ends of the air pipes 18 on the four grippers 7 respectively.

[0040] In actual application, the gripper 7 moves the gripper tongue 8 to the bottom of the workpiece. Since the workpiece separates the fixed magnetic block 22 and the movable magnetic block 220, the material pressing seat 19 is pressed on the workpiece under gravity, thereby ensuring the fixation of the workpiece. At the same time, after the compressed air flow or hydraulic medium is input to the top of the material pressing cylinder 9, it will push the driving piston 112 to move downward, and the air flow in the air distribution chamber 110 will flow out to the air flow distributor 10 under pressure, and finally be transported to the regulating cylinder 17 through the air pipe 18. The air flow in the regulating cylinder 17 increases, thereby pushing the driven piston 30 to push the distance limiting push rod 27 outward until the tooth row 25 hits the gear 24, thereby ensuring that the gear 24 will not deflect and ensuring that the gripper tongue 8 has sufficient strength to support the workpiece. At the same time, the material pressing rod 11 extends out and finally hits the workpiece, further preventing the workpiece from moving.

[0041] When the gripper 7 carries the workpiece to the destination and stops supplying compressed air or hydraulic medium to the press cylinder 9, the return spring 113 pushes the driving piston 112 upward, and the press rod 11 moves away from the workpiece. The compressed air in the regulating cylinder 17 is discharged through the air distribution chamber 110, and finally the driven piston 30 drives the distance limiting push rod 27 to make the gear row 25 relatively away from the gear 24. After that, the workpiece is pressed by its own gravity to deflect the gripper tongue 8. After the gripper tongue 8 deflects from horizontal to vertical, it will guide the side of the downward workpiece, so as to ensure that the workpiece can fall into the predetermined position after being discharged, and ensure the accuracy of the position of the workpiece after being placed.

[0042] Finally, when the workpiece is separated from the gripping tongue 8, the gripping tongue 8 is restored by the elastic force of the torsion spring 26 to be in a horizontal state again, and the magnetic repulsion between the fixed magnetic block 22 and the movable magnetic block 220 forces the pressing top seat 19 to move upward again, thereby waiting for the next workpiece clamping.

[0043] Embodiment 3

[0044] Further improvements are made based on Example 2. Figure 6 and Figure 7 It can be seen that a deflation valve rod 190 is fixedly installed on the top of the material pressing seat 19, and the deflation valve rod 190 is a cylindrical rod. Correspondingly, a deflation valve seat 20 is fixedly installed on the top of the gripper 7, and the deflation valve seat 20 and the deflation valve rod 190 are coaxially arranged. A deflation channel 2001 is opened on the side of the deflation valve seat 20, and the deflation channel 2001 is connected to the air pipe 18. Figure 7 It can be seen that when the material pressing seat 19 moves upward to the top limit, the vent hole 1901 on the side of the air release valve rod 190 will connect the air release channel 2001. Specifically, when the gripper 7 moves the gripping tongue 8 to the bottom of the workpiece, if more than one gripping tongue 8 is not moved to the right position, the workpiece will be partially unable to be supported during transportation, and the workpiece will fall easily during transportation. The third embodiment of the present invention is based on actual conditions. When all the gripping tongues 8 are placed normally at the bottom of the workpiece, the workpiece will block the fixed magnetic block 22 and the movable magnetic block 220, and the material pressing top seat 19 will move downward under the force of gravity, so that the vent hole 1901 is away from the air release passage 2001, and the air release passage 2001 is blocked by the side of the air release valve rod 190. After that, when the driving piston 112 squeezes the air flow in the air distribution chamber 110, the air flow pressure in the regulating cylinder 17 will increase, thereby pushing the gear row 25 to move in the direction of the gear 24; similarly, if more than one gripping tongue 8 fails to move normally to the bottom of the workpiece, the workpiece will not block the fixed magnetic block 22 and the movable magnetic block 220, and the vent hole 1901 will continue to connect the air release passage 2001. When the air flow in the air distribution chamber 110 is pressurized, the air flow input into the air pipe 18 will be directly discharged from the air release passage 2001, the gear row 25 will no longer move in the direction of the gear 24, and the gripping tongue 8 will not be locked. Afterwards, when the gripper 7 drives the gripping tongue 8 to move upward, it is pressed by the gravity of the workpiece, forcing the gripping tongue 8 to deflect, so that the upward gripper 7 will not drive the workpiece to move through the gripping tongue 8, avoiding the workpiece from being transported in an unstable clamping state.

[0045] On this basis, in order to ensure that the light-weight sheet material can also have sufficient driving force to deflect the gripping tongue 8 when it is not clamped in place, Figure 2-Figure 4It can be seen that a connecting air passage 114 communicating with the air distribution chamber 110 is provided inside the press rod 11, and a detection press rod 13 is movably installed in the connecting air passage 114. A press head 12 is fixedly connected to the bottom of the detection press rod 13. The press head 12 is made of polyurethane elastic material, so as to avoid the workpiece being compressed and deformed when the press head 12 presses the workpiece. A detection switch 14 is fixedly installed on the top of the detection press rod 13. When the detection switch 14 is compressed, it will stop inputting compressed air or hydraulic medium into the press cylinder 9 and maintain pressure, so as to avoid the phenomenon that the driving piston 112 is pushed upward and reset by the elastic force of the return spring 113. A detection spring 15 located above the detection press rod 13 is fixedly installed on the inside of the press rod 11. When the downward distance of the detection press rod 13 exceeds the normal extension length of the detection spring 15, there is no contact between the detection press rod 13 and the detection spring 15.

[0046] In actual application, when conveying light plates, the gripper 7 moves the gripping tongue 8 to the bottom of the workpiece. If the gripping tongue 8 is clamped in place, it is continuously pushed downward by the pressing rod 11 until the detection switch 14 contacts the pressing rod 11, and the pressing cylinder 9 stops working. During this process, the airflow in the air distribution chamber 110 enters the regulating cylinder 17, and finally the tooth row 25 and the gear 24 are locked, thereby ensuring that the plate can be stably clamped when clamped in place.

[0047] If the gripping tongue 8 is not clamped in place, the material pressing rod 11 is pressed downward. When the detection pressure rod 13 has not yet contacted the detection spring 15, the airflow in the air distribution chamber 110 will directly overflow from the air release channel 2001, causing the gear row 25 to not mesh with the gear 24. As the material pressing rod 11 continues to move downward until the detection pressure rod 13 contacts the detection spring 15, the detection spring 15 is compressed and the downward push strength of the detection pressure rod 13 is increased. Combined with the fact that the gripping tongue 8 is not locked at this time, the pressed material head 12 is pushed up to push the light workpiece that is not clamped in place from the gripping tongue 8, thereby ensuring that the light workpiece is also suitable for the stable clamping and transportation mentioned above.

[0048] Embodiment 4

[0049] Further improvements are made on the basis of the third embodiment to ensure that the light workpiece has sufficient driving force to disengage from the gripping tongue 8 after it moves to the destination. Figure 8 and Fig. 9It can be seen that the damping piston 29 located on one side of the driven piston 30 is set inside the regulating cylinder 17, and a damping hole 290 is opened in the middle of the damping piston 29 to ensure that the damping piston 29 has a certain damping force when moving inside the regulating cylinder 17. The damping piston 29 and the distance limiting push rod 27 are movably set, and the gear row 25 and the distance limiting push rod 27 are movably installed. The gear row 25 can reciprocate along the distance limiting push rod 27. Furthermore, a distance limiting spring 271 located on the outer side of the distance limiting push rod 27 is connected between the damping piston 29 and the gear row 25. The elastic force of the distance limiting spring 271 forces the damping piston 29 and the gear row 25 to always have a tendency to be relatively far away. A venting groove 270 is opened on the side of the distance limiting push rod 27. When the damping piston 29 moves along the distance limiting push rod 27 and passes through the venting groove 270, the left and right chambers of the damping piston 29 are quickly connected, so that there will be no motion damping phenomenon.

[0050] A connecting frame 28 is fixedly installed on the end of the damping piston 29, and an angular push platform 23 is fixedly installed on the top of the connecting frame 28. The surface shape of the angular push platform 23 is a right-angled triangle. Correspondingly, a tightening push rod 21 is movably installed on the side of the material pressing seat 19, and a tightening spring 210 is connected between the tightening push rod 21 and the material pressing seat 19. The elastic force of the tightening spring 210 forces the tightening push rod 21 to move toward the inclined surface of the angular push platform 23.

[0051] Combination Figure 8 and Fig. 9 It can be seen that an annular groove is provided on the inner side of the regulating cylinder 17 away from the air pipe 18, and a spring push rod 16 is movably installed on the outer side of the damping piston 29. The spring push rod 16 is composed of an ejection rod and an ejection spring. When the spring push rod 16 moves to the annular groove of the regulating cylinder 17, the disengagement resistance of the damping piston 29 will increase. Figure 2-Figure 4 It can be seen that a spring push rod 16 is movably installed inside the pressing head 12, and a corresponding annular groove is provided on the outer side of the pressing rod 11. When the spring push rod 16 reaches the annular groove, the separation resistance between the pressing head 12 and the pressing rod 11 is also increased. An air leakage hole 111 is provided at the bottom of the outer side of the pressing rod 11. When the detection pressing rod 13 moves downward and passes over the air leakage hole 111, the outside can directly communicate with the gas distribution chamber 110 by using the air leakage hole 111 and the connecting air passage 114.

[0052] In specific applications, when carrying a light sheet material, the gripper 7 moves the gripper tongue 8 to the bottom of the workpiece, which is blocked by the workpiece, so that the fixed magnetic block 22 and the movable magnetic block 220 are separated, and the material pressing seat 19 is pressed on the workpiece under gravity. Afterwards, as the driving piston 112 pushes the material pressing rod 11 downward, during this process, since the detection pressure rod 13 is downward under gravity, the air flow in the air distribution chamber 110 quickly flows out from the air leakage hole 111 during the downward movement of the driving piston 112, so that the downward resistance of the driving piston 112 is reduced.

[0053] When the pressing head 12 reaches the workpiece, it will push the detection pressure rod 13 upward and over the bleed hole 111. As the driving piston 112 continues to move downward, the pressurized air flow in the air distribution chamber 110 can only be transported from the air distributor 10 to the air joint 180. After the air flow enters the air pipe 18, the bleed passage 2001 is blocked, resulting in the air flow only being input into the regulating cylinder 17. Finally, the air flow in the regulating cylinder 17 pushes the driven piston 30 outward. During this process, the damping piston 29, the distance limiting push rod 27 and the connecting frame 28 are pushed outward synchronously. The tooth row 25 on the distance limiting push rod 27 will first contact the gear 24, thereby locking the gear 24 and preventing the grabbing tongue 8 from deflecting.

[0054] At the same time, when the detection pressure rod 13 approaches the detection spring 15, the gear row 25 has locked the gear 24. As the detection pressure rod 13 compresses the detection spring 15, the air flow pressure in the regulating cylinder 17 will be further increased, thereby pushing the driven piston 30 to move further to the right. At this time, the gear row 25 has been pressed on the gear 24. When the driven piston 30 is pushed to the right again, the damping piston 29 will squeeze the distance spring 271. After that, as the damping piston 29 pushes the connecting frame 28 to continue to move to the right, the connecting frame 28 drives the angle push table 23 to press the tightening push rod 21, and the tightening spring 210 is further compressed. At this time, since the angle push table 23 is an inclined surface, when the tightening push rod 21 is compressed, it will further press the material pressing top seat 19 downward, thereby enhancing the workpiece clamping strength. The spring push rod 16 on the damping piston 29 is pressed into the annular groove at the end of the adjusting cylinder 17. Then, as the pressing rod 11 continues to move downward, the detection switch 14 finally contacts the pressing rod 11, and the spring push rod 16 is stuck in the annular groove at the bottom of the pressing rod 11.

[0055] When the gripper 7 moves the workpiece to the destination, the pressure input of the press cylinder 9 is removed, and the return spring 113 pushes the driving piston 112 upward, thereby increasing the space of the gas distribution chamber 110. At the same time, since the press head 12 is limited on the press rod 11, the air pressure in the regulating cylinder 17 is reduced through the air pipe 18, thereby pulling the slave piston 30 to move to the right. At this time, since the side of the distance limiting push rod 27 is provided with a venting groove 270, when the slave piston 30 pulls the distance limiting push rod 27 to move to the left, the venting groove 270 passes through the damping piston 29, so that the inner cavity of the regulating cylinder 17 between the slave piston 30 and the damping piston 29 can quickly transport air through the venting groove 270, and the slave piston 30 can quickly move to the left. When the venting groove 270 passes over the damping piston 29, the distance limiting push rod 27 also drives the gear row 25 away from the gear 24. When the gear 24 is released from the restriction, it is pushed against the angled push platform 23 by the elastic force of the tensioning spring 210, forcing the downward pressing force of the pressing top seat 19 to act on the workpiece, forcing the workpiece to be pushed downward until the workpiece is separated from the grabbing tongue 8, thereby ensuring that the lightweight workpiece can be easily and stably separated from the grabbing tongue 8.

[0056] At the same time, when the air release groove 270 passes over the damping piston 29, the slave piston 30 that continues to move to the left side will reduce the pressure in the left chamber of the damping piston 29, and the damping hole 290 will be used to slow down the pressure in the chamber of the regulating cylinder 17 between the slave piston 30 and the damping piston 29, thereby slowing down the speed of the slave piston 30 moving to the left. The advantage is that when the slave piston 30 pulls the distance limiting push rod 27 to move to the left, the tooth row 25 will eventually hit the damping piston 29 at the end of the regulating cylinder 17. When the tooth row 25 pushes the spring push rod 16 on the damping piston 29 to disengage from the annular groove, the angle push table 23 will release the restriction on the tightening push rod 21. When the slave piston 30 moves slowly, it can ensure that the material pressing seat 19 has enough time to push the grab tongue 8 downward to ensure that the workpiece can be pushed stably.

[0057] Secondly, when the workpiece is pushed out, the tooth row 25 is used to push the damping piston 29, so that the torsion spring 26 on the damping piston 29 is separated from the annular groove. After that, the gripping tongue 8 is pushed upward by the elastic force of the torsion spring 26, and then the material pressing seat 19 moves upward. Combined with the magnetic repulsion between the fixed magnetic block 22 and the movable magnetic block 220, the material pressing seat 19 is forced to have a tendency to move further upward. However, in this process, when the material pressing seat 19 drives the tightening push rod 21 upward, it will still push the angle push table 23 to move to the left. The angle push table 23 is pushed to the left through the connecting frame 28. When the damping piston 29 is moved, the damping piston 29 will squeeze the airflow in the inner cavity of the regulating cylinder 17 again, thereby reducing the upward speed of the pressing seat 19. By reducing the upward speed of the pressing seat 19, it is ensured that the pressing seats 19 on other grippers 7 have enough time to press the workpiece downward, thereby preventing a single pressing seat 19 from returning too quickly after pressing, causing the vent hole 1901 to first connect the vent 2001, so that the pressure in the air distribution chamber 110 has been effectively buffered when other pressing seats 19 have not been pressed in time. This also has the advantage that when the pressing seat 19 slowly returns upward, the slave pistons 30 in other parts have enough driving force to return to the normal position, that is, all the slave pistons 30 have enough time to move to the left side of the inner cavity of the regulating cylinder 17, so as to facilitate the next work.

[0058] Finally, as the pressing rod 11 continuously pulls the pressing head 12 upward, the pressing head 12 reaches the bottom of the pressing cylinder 9 , thereby completing the separation between the pressing head 12 and the pressing rod 11 .

Claims

1. A ten-axis flexible gripper, characterized in that: include: The main arm beam (1) has a mounting connection plate (6) fastened to the middle of the surface thereof, which is used to connect with the mechanical joint arm, and the mechanical joint arm is precisely controlled by the control system to drive the main arm beam (1) to move to a specific area; A cantilever beam (2) is movably mounted on the surface of the main arm beam (1); an X-axis guide screw (300) is threadedly connected to the cantilever beam (2); the X-axis guide screw (300) is driven to rotate by an X-axis servo motor (3) fixed on the top of the main arm beam (1), thereby realizing reciprocating motion of the cantilever beam (2) in the X-axis direction; An adjusting beam (501) is movably mounted on the cantilever beam (2). A Y-axis servo motor (4) is arranged on the top of the cantilever beam (2). The Y-axis servo motor (4) drives the Y-axis guide screw (400) to rotate. The Y-axis guide screw (400) is threadedly connected to the adjusting beam (501), so that the adjusting beam (501) can reciprocate in the Y-axis direction along the cantilever beam (2). A Z-axis servo motor (5) is fixedly mounted on the top of the adjustment beam (501), and a Z-axis guide screw (500) is threadedly connected to the rotating shaft of the Z-axis servo motor (5). The Z-axis guide screw (500) is driven to rotate by the Z-axis servo motor (5), thereby driving a gripper (7) threadedly connected to the Z-axis guide screw (500) to perform reciprocating motion in the Z-axis direction; The gripper (7) is provided with a gripping tongue (8) at the bottom thereof, and is used for accurately moving to the outside of a workpiece under the coordinated control of an X-axis servo motor (3), a Y-axis servo motor (4) and a Z-axis servo motor (5) and lifting the bottom of the workpiece through the gripping tongue (8) to achieve a clamping operation of workpieces of different shapes.

2. The ten-axis flexible gripper according to claim 1, characterized in that: A material pressing cylinder (9) is fixedly installed in the middle of the bottom side of the main arm beam (1), and a driving piston (112) is movably installed in the material pressing cylinder (9), and a material pressing rod (11) is fixedly installed at the bottom end of the driving piston (112); a return push spring (113) is arranged between the driving piston (112) and the material pressing cylinder (9).

3. The ten-axis flexible gripper according to claim 1, characterized in that: A material pressing seat (19) is movably mounted on the side of the gripper (7), a fixed magnetic block (22) is fixedly mounted on the surface of the gripping tongue (8), and a movable magnetic block (220) that magnetically repels the fixed magnetic block (22) is fixedly mounted in the material pressing seat (19).

4. The ten-axis flexible gripper according to claim 1 or 3, characterized in that: The gripping tongue (8) is hinged at the bottom of the gripping hand (7), a torsion spring (26) is fixedly mounted on the rotating shaft of the gripping tongue (8), one end of the torsion spring (26) is fixed on the gripping hand (7), and a gear (24) is fixedly mounted on the rotating shaft of the gripping tongue (8); The side of the gripper (7) is fastened with an adjusting cylinder (17), a driven piston (30) is movably mounted inside the adjusting cylinder (17), a limited distance push rod (27) is fixedly mounted on one end of the driven piston (30), a gear row (25) is mounted on the limited distance push rod (27), an air pipe (18) is fixedly mounted on one end of the adjusting cylinder (17), and an air joint (180) is fixedly mounted on the end of the air pipe (18); An air distribution chamber (110) is formed inside the material pressing cylinder (9) and at the bottom of the driving piston (112). The air flow in the air distribution chamber (110) is transported to the air joint (180) through the air flow distributor (10).

5. The ten-axis flexible gripper according to claim 4, characterized in that: A deflation valve rod (190) is fixedly mounted on the top of the material pressing top seat (19), a deflation valve seat (20) is fixedly mounted on the top of the gripper (7), a deflation passage (2001) is provided on the side of the deflation valve seat (20), the deflation passage (2001) is communicated with the air pipe (18), and a vent hole (1901) is provided on the side of the deflation valve rod (190).

6. The ten-axis flexible gripper according to claim 5, characterized in that: A connecting air passage (114) is provided inside the pressing rod (11), and a detection pressing rod (13) is movably installed in the connecting air passage (114); a pressing head (12) is fixedly connected to the bottom of the detection pressing rod (13); a detection switch (14) is fixedly installed on the top of the detection pressing rod (13); and a detection spring (15) located above the detection pressing rod (13) is fixedly installed on the inner side of the pressing rod (11).

7. The ten-axis flexible gripper according to claim 6, characterized in that: A damping piston (29) is mounted inside the regulating cylinder (17), and a damping hole (290) is provided in the middle of the damping piston (29). A limited distance spring (271) is connected between the damping piston (29) and the gear row (25), and a gas relief groove (270) is provided on the side of the limited distance push rod (27); A connecting frame (28) is fixedly mounted on the end of the damping piston (29), and an angular push platform (23) is fixedly mounted on the top of the connecting frame (28); a tightening push rod (21) is movably mounted on the side of the material pressing seat (19), and a tightening spring (210) is connected between the tightening push rod (21) and the material pressing seat (19); A spring push rod (16) is movably mounted on the outer side of the damping piston (29) and the inner side of the pressing head (12), and an air release hole (111) is provided at the outer bottom of the pressing rod (11).

8. The ten-axis flexible gripper according to claim 7, characterized in that: The surface shape of the angled push platform (23) is a right triangle.

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