A ten-axis flexible gripper

Abstract

The present application relates to the technical field related to handling robots, and discloses a ten-axis flexible gripper. In order to solve the problem that the gripper is difficult to grip due to differences in workpiece sizes, an independently controllable X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor are arranged on the main arm beam. The three work together to control the four grippers to move to corresponding positions, so as to adapt to workpieces of different shapes / sizes, thereby increasing the flexibility and adaptability of the gripper, and finally achieving the effect of multi-axis controllable movement.

Description

Technical Field

[0001] This application relates to the technical field of handling manipulators, and particularly to a ten-axis flexible gripper. Background Art

[0002] With the continuous progress and deep integration of industrial automation and intelligent technologies, the application scope of manipulators in the field of handling various plate-shaped parts is constantly expanding and deepening. In industries with high-precision and high-efficiency requirements such as automobile manufacturing, aerospace, and electronics and electrical appliances, plate-shaped parts such as steel plates, aluminum plates, and glass plates are widely used as key components. These parts not only have a wide variety of types, but also have extremely different shapes and sizes, posing great challenges to traditional handling methods.

[0003] Given the differences in the shapes and sizes of workpieces, many clamping devices on the current market are often limited to clamping specific sizes or shapes, and it is difficult to meet the flexible needs of diversified production lines. Therefore, there is an urgent need in the market for an innovative clamping gripper that has high adaptability and flexibility and can intelligently identify and accurately clamp plate-shaped parts of different sizes and shapes. Summary of the Invention

[0004] This application proposes a ten-axis flexible gripper, which has the advantage of multi-axis controllable movement to solve the problem that it is difficult for the gripper to clamp due to differences in workpiece sizes as mentioned in the above background art.

[0005] To achieve the above object, this application adopts the following technical solution: A ten-axis flexible gripper, comprising: a main arm beam, with a mounting connection disk tightly connected to the middle of the surface for connecting with a mechanical joint arm, and realizing precise control of the mechanical joint arm through a control system to drive the main arm beam to move to a specific area; a cantilever beam, movably installed on the surface of the main arm beam, with an X-axis guiding screw threadedly connected to the cantilever beam, and the X-axis guiding screw is driven to rotate by an X-axis servo motor fixed on the top of the main arm beam to realize the reciprocating movement of the cantilever beam in the X-axis direction; an adjustment beam, movably installed on the cantilever beam, with a Y-axis servo motor arranged on the top of the cantilever beam, the Y-axis servo motor drives the Y-axis guiding screw to rotate, and the Y-axis guiding screw is threadedly connected to the adjustment beam, enabling the adjustment beam to perform reciprocating movement in the Y-axis direction along the cantilever beam; a Z-axis servo motor, fixedly installed on the top of the adjustment beam, with a Z-axis guiding screw threadedly connected to the rotating shaft of the Z-axis servo motor, and driving the Z-axis guiding screw to rotate through the Z-axis servo motor to drive the gripper threadedly connected to the Z-axis guiding screw to perform reciprocating movement in the Z-axis direction; a gripper, with a grasping tongue provided at the bottom of the gripper, for precisely moving to the outside of the workpiece under the coordinated control of the X-axis servo motor, Y-axis servo motor, and Z-axis servo motor, and lifting the bottom of the workpiece through the grasping tongue to realize the clamping operation of workpieces with different shapes.

[0006] Further, a blanking cylinder body is fixedly installed in the middle of the bottom side of the main boom beam, and a driving piston is movably installed in the blanking cylinder body. A blanking rod is fixedly installed at the bottom end of the driving piston; a return push spring is arranged between the driving piston and the blanking cylinder body.

[0007] Further, a blanking top seat is movably installed on the side of the gripper, a fixed magnet is fixedly installed on the surface of the gripper tongue, and a movable magnet magnetically repulsive to the fixed magnet is fixedly installed in the blanking top seat.

[0008] Further, the gripper tongue is hinged to the bottom of the gripper. A torsion spring is fixedly installed on the rotating shaft of the gripper tongue. One end of the torsion spring is fixed to the gripper. A gear is fixedly installed on the rotating shaft of the gripper tongue; an adjusting cylinder is tightly connected to the side of the gripper. A driven piston is movably sleeved inside the adjusting cylinder. A distance-limiting push rod is fixedly installed at one end of the driven piston. A tooth row is installed on the distance-limiting push rod. An air pipe is fixedly installed at one end of the adjusting cylinder. An air joint is fixedly installed at the end of the air pipe; an air distribution chamber is formed inside the blanking cylinder body and at the bottom of the driving piston. The air flow in the air distribution chamber is delivered to the air joint through an air flow distributor.

[0009] Further, a pressure relief valve rod is fixedly installed on the top of the blanking top seat, a pressure relief valve seat is fixedly installed on the top of the gripper, an air relief channel is opened on the side of the pressure relief valve seat, the air relief channel is communicated with the air pipe, and an air vent hole is opened on the side of the pressure relief valve rod.

[0010] Further, a communication air channel is opened inside the blanking rod, and a detection pressure rod is movably installed in the communication air channel. A blanking head is fixedly connected to the bottom of the detection pressure rod. A detection switch is fixedly installed on the top of the detection pressure rod. A detection spring located above the detection pressure rod is fixedly installed on the inner side of the blanking rod.

[0011] Further, a damping piston is sleeved inside the adjusting cylinder, and a damping hole is opened in the middle of the damping piston. A distance-limiting spring is connected between the damping piston and the tooth row. An air relief groove is opened on the side of the distance-limiting push rod; a connecting frame is fixedly installed at 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 blanking top seat, and a tightening spring is connected between the tightening push rod and the blanking top seat; spring ejector rods are movably installed on the outer side of the damping piston and the inner side of the blanking head, and an air relief hole is opened at the bottom of the outer side of the blanking rod.

[0012] Further, the surface shape of the angular push platform is a right triangle.

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

[0014] A ten-axis flexible gripper provided by the present application, its core design lies in the precise layout of three independent and highly integrated servo motors on the main arm beam: the X-axis servo motor, the Y-axis servo motor, and the Z-axis servo motor. These servo motors achieve collaborative operation through a precise control system, which can not only accurately control the positioning of the gripper in three-dimensional space (the three degrees of freedom of X, Y, and Z), but also jointly constitute the ten-axis motion ability through an additional seven degrees of freedom (usually achieved through articulated arms or flexible transmission mechanisms), greatly expanding the operation flexibility and spatial coverage of the gripper.

[0015] The gripper uses algorithm control to optimize the motion coordination between axes, ensuring that the four independent grippers can accurately and quickly move to the predetermined positions to adapt to workpieces of various complex shapes and different sizes. This highly customized design not only enhances the adaptability of the gripper, but also significantly improves the efficiency and accuracy of operations such as material handling and assembly on the production line. Brief Description of the Drawings

[0016] The drawings forming a part of the specification depict the embodiments disclosed in the present application and, together with the specification, are used to explain the principles disclosed in the present application.

[0017] Referring to the drawings, the present application can be more clearly understood according to the following detailed description, wherein:

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

[0019] Figure 2 is a schematic external three-dimensional structure diagram of the blank holding cylinder body;

[0020] Figure 3 is a schematic internal sectional three-dimensional structure diagram of the blank holding cylinder body;

[0021] Figure 4 is Figure 3 a schematic enlarged structure diagram at position E in

[0022] Figure 5 is a schematic diagram of the positions and three-dimensional structure of the components on the cantilever beam;

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

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

[0025] Figure 8 is a schematic internal sectional three-dimensional structure diagram of the adjusting cylinder;

[0026] Figure 9 is Figure 8 a schematic enlarged structure diagram at position F in

[0027] In the figure: 1, main boom; 2, cantilever beam; 3, X-axis servo motor; 300, X-axis guiding lead screw; 4, Y-axis servo motor; 400, Y-axis guiding lead screw; 5, Z-axis servo motor; 500, Z-axis guiding lead screw; 501, adjusting beam; 6, mounting connection plate; 7, gripper; 8, gripping tongue; 9, blanking cylinder body; 10, air flow distributor; 11, blanking rod; 110, air distribution chamber; 111, air vent hole; 112, driving piston; 113, return push spring; 114, communicating air passage; 12, blanking head; 13, detecting pressure rod; 14, detecting switch; 15, detecting spring; 16, spring ejector rod; 17, adjusting cylinder; 18, air pipe; 180, air joint; 19, blanking top seat; 190, air release valve rod; 1901, air vent hole; 20, air release valve seat; 2001, air release passage; 21, tightening push rod; 210, tightening spring; 22, fixed magnet block; 220, movable magnet block; 23, angular push platform; 24, gear; 25, tooth row; 26, torsion spring; 27, distance limiting push rod; 270, air release groove; 271, distance limiting spring; 28, connecting frame; 29, damping piston; 290, damping hole; 30, driven piston. Specific implementation mode

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0029] Embodiment 1

[0030] Please refer to Figure 1 It can be seen that the main boom 1 serves as the support of the entire device, and the mounting connection plate 6 is fixedly connected to the middle of its surface. The mounting connection plate 6 is connected to the robotic arm joint, and combined with the precise control of the robotic arm joint by the control system, the mounting connection plate 6 drives the main boom 1 to move to a specific area. The cantilever beam 2 is movably mounted on the surface of the main boom 1. There are two cantilever beams 2, and the X-axis guiding lead screws 300 are correspondingly threadedly connected to the two cantilever beams 2. The X-axis guiding lead screws 300 are driven by the X-axis servo motors 3 fixed on the top of the main boom 1. Correspondingly, there are two X-axis servo motors 3. The X-axis servo motors 3 drive the X-axis guiding lead screws 300 to rotate, thereby realizing the reciprocating movement of the cantilever beam 2 on the X-axis.

[0031] The adjusting beam 501 is symmetrically and movably installed on the surface of the cantilever beam 2. The adjusting beam 501 can only reciprocate along the cantilever beam 2. The Y-axis servo motors 4 are symmetrically arranged at the top of the cantilever beam 2, and the Y-axis servo motors 4 drive the Y-axis guiding screw rod 400. The adjusting beam 501 threadedly connected to the Y-axis guiding screw rod 400 can move directionally along the cantilever beam 2, realizing the reciprocating movement of the adjusting beam 501 on the Y-axis. It can be clearly seen from Figure 1 that two independently movable adjusting beams 501 are respectively arranged on each cantilever beam 2. And a Z-axis servo motor 5 is fixedly installed on the top of the adjusting beam 501. The Z-axis guiding screw rod 500 is threadedly connected to the rotating shaft of the Z-axis servo motor 5. By using the Z-axis servo motor 5 to drive the Z-axis guiding screw rod 500 to rotate, the gripper 7 threadedly connected to the Z-axis guiding screw rod 500 can move directionally up and down, that is, the reciprocating movement of the Z-axis is realized.

[0032] So far, it can be seen that in the first embodiment, the X-axis servo motor 3, the Y-axis servo motor 4 and the Z-axis servo motor 5 are used 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 workpiece to be clamped. Combining that each gripper 7 can be individually controlled, therefore, the four grippers 7 can accurately clamp workpieces of different shapes.

[0033] To ensure the stable handling of the workpiece, combining Figure 5 and Figure 6 it can be seen that a gripper tongue 8 is arranged 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 lower part of the workpiece, the gripper tongue 8 is used to lift the bottom of the workpiece, so as to realize the handling of the workpiece.

[0034] On this basis, to ensure the stability of the workpiece during handling, combining Figures 1 - 3 it can be seen that a pressure cylinder body 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 pressure cylinder body 9. A pressure rod 11 extending to the outside of the pressure cylinder body 9 is fixedly installed at the bottom end of the driving piston 112. In actual application, when the four gripper tongues 8 are placed at the bottom of the workpiece and lift it, compressed gas or hydraulic medium is filled into the input end at the top of the pressure cylinder body 9, which 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 push spring 113 between the driving piston 112 and the pressure cylinder body 9. Finally, the bottom end of the pressure rod 11 abuts against the workpiece. At this time, the bottom of the workpiece is supported by the four gripper tongues 8, and the top is pushed by the pressure rod 11, further ensuring that the workpiece is more stable during movement.

[0035] After the workpiece reaches the destination, by removing the compressed gas or hydraulic medium, under the elastic force of the return push spring 113, the driving piston 112 is forced to pull the blank holding rod 11 upward, and the blank holding rod 11 releases the pressing on the workpiece. The control system is used to make the grippers 7 move relatively away from each other, so that the gripper tongues 8 are disengaged from the workpiece, thereby realizing the unloading of the workpiece.

[0036] Embodiment 2

[0037] On the basis of Embodiment 1, further improvements are made. Please refer to Figure 5 and Figure 6 It can be seen that a blank holding top seat 19 is movably installed on the side of the gripper 7. The blank holding top seat 19 is located directly above the gripper tongue 8, and the blank holding top seat 19 can only move up and down reciprocally along the gripper 7. Combining Figure 6 It can be clearly seen that a fixed magnet 22 is fixedly installed on the surface of the gripper tongue 8, and a movable magnet 220 magnetically repulsive to the fixed magnet 22 is fixedly installed in the blank holding top seat 19. When there is no barrier between the fixed magnet 22 and the movable magnet 220, due to the magnetic repulsion between the two, the blank holding top seat 19 is forced to move upward along the gripper 7 to directly above the gripper tongue 8. When the gripper 7 moves the gripper tongue 8 to the bottom of the workpiece, since the workpiece blocks the fixed magnet 22 and the movable magnet 220, the magnetic repulsion between the two is blocked. Therefore, the blank holding top seat 19 will clamp the workpiece under its own gravity, so as to ensure the stability of the workpiece during handling. When the gripper tongue 8 is disengaged from the workpiece, the magnetic repulsion between the fixed magnet 22 and the movable magnet 220 is exerted again between the gripper tongue 8 and the blank holding top seat 19, so as to ensure that the gripper tongue 8 and the blank holding top seat 19 can clamp and fasten the next workpiece to be handled.

[0038] In the actual application process, due to the influence of gravity, the bottom of the workpiece is tightly pressed on the surface of the gripper tongue 8. This will cause the workpiece to have a tendency to follow the gripper tongue 8 when the gripper 7 drives the gripper tongue 8 away from the workpiece due to the friction between the workpiece and the gripper tongue 8, and finally cause the position where the workpiece arrives to deviate from the predetermined position. Since the current production line operates fully automatically, if the deviation of the workpiece placement position is large, it will cause the subsequent clamping hands to be unable to accurately clamp, and finally cause the subsequent workpieces to be unable to be clamped in time. In order to ensure that the workpiece does not move during placement, combining Figure 5 、 Figure 6 and Figure 8 It can be seen that the gripper tongue 8 is hinged at the bottom of the gripper 7. Limited by the bottom groove type of the gripper 7, the gripper tongue 8 can only deflect within 0° - 90°. A torsion spring 26 is fixedly installed on the rotating shaft of the gripper tongue 8, and one end of the torsion spring 26 is fixed on the gripper 7. Under normal conditions, the gripper tongue 8 is forced to be in a horizontal state by the torsion spring 26, so as to realize the support of the workpiece. A gear 24 is fixedly installed on the rotating shaft of the gripper tongue 8. When the gear 24 rotates, it can drive the gripper tongue 8 to deflect synchronously.

[0039] On the side of the gripper 7, there is an adjusting cylinder 17 fixedly connected by a clamping seat. Inside the adjusting cylinder 17, a driven piston 30 is movably sleeved. One end of the driven piston 30 is fixedly installed with a distance-limiting push rod 27. A tooth row 25 located on one side of the gear 24 is installed on the distance-limiting push rod 27. When the driven piston 30 pushes the distance-limiting push rod 27 to move towards the gear 24, the tooth row 25 will eventually engage with the gear 24, thereby using the tooth row 25 to restrict the rotation of the gear 24. One end of the adjusting cylinder 17 is fixedly installed with an air pipe 18. When the air pipe 18 conveys air flow into the adjusting cylinder 17, combined with Figure 9 it can be seen that when the air flow on the left side of the driven piston 30 increases, it will force the driven piston 30 to push the distance-limiting push rod 27 to move outward. Regarding the supply of gas, combined with Figure 2 and Figure 3 it can be seen that an air distribution chamber 110 is formed inside the blank holding cylinder block 9 and at the bottom of the driving piston 112. When the driving piston 112 presses downward, it will cause the air flow to output outward from the air flow distributor 10. The air flow distributor 10 can respectively input the compressed air flow in the air distribution chamber 110 into the air connectors 180 at the ends of the air pipes 18 on the four grippers 7.

[0040] In actual application, the gripper 7 moves the gripper tongue 8 to the bottom of the workpiece. Since the workpiece separates the fixed magnet 22 and the movable magnet 220, the blank holding top seat 19 is pressed on the workpiece under gravity, thereby ensuring the fixation of the workpiece. At the same time, after compressed air flow or hydraulic medium is input into the top of the blank holding cylinder block 9, it will push the driving piston 112 to move downward. The air flow in the air distribution chamber 110 is pressured and flows out into the air flow distributor 10, and finally is conveyed to the adjusting cylinder 17 through the air pipe 18. The air flow in the adjusting cylinder 17 increases, thereby pushing the driven piston 30 to push the distance-limiting push rod 27 outward until the tooth row 25 abuts against 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 blank holding rod 11 extends and finally abuts against the workpiece, further preventing the workpiece from moving.

[0041] When the gripper 7 transports the workpiece to the destination, after stopping supplying compressed air flow or hydraulic medium to the blank holding cylinder block 9, the return push spring 113 pushes the driving piston 112 to move upward, and the blank holding rod 11 moves away from the workpiece. The compressed air flow in the adjusting cylinder 17 is discharged through the air distribution chamber 110. Finally, the driven piston 30 drives the distance-limiting push rod 27 to make the tooth row 25 move relatively away from the gear 24. After that, the workpiece presses the gripper tongue 8 to deflect under its own gravity. After the gripper tongue 8 deflects from horizontal to vertical, it will guide the side of the descending workpiece, thereby ensuring that the workpiece can fall into the predetermined position after being unloaded and ensuring the accuracy of the position of the workpiece after being placed.

[0042] Finally, when the workpiece disengages from the gripper tongue 8, the torsional spring 26 returns to its original state under the elastic force, causing the gripper tongue 8 to return to the horizontal state again. The magnetic repulsion between the fixed magnet 22 and the movable magnet 220 forces the pressure plate top seat 19 to move upward again, waiting for the next workpiece clamping.

[0043] Embodiment 3

[0044] Based on Embodiment 2, a further improvement is made. Please refer to Figure 6 and Figure 7 It can be seen that a vent valve rod 190 is fixedly installed at the top of the pressure plate top seat 19, and the vent valve rod 190 is a cylindrical rod. Correspondingly, a vent valve seat 20 is fixedly installed at the top of the gripper 7, and the vent valve seat 20 and the vent valve rod 190 are coaxially arranged in a movable manner. An air vent passage 2001 is provided on the side of the vent valve seat 20, and the air vent passage 2001 communicates with the air pipe 18. Combining Figure 7 It can be seen that when the pressure plate top seat 19 moves upward to the top limit, the vent hole 1901 on the side of the vent valve rod 190 will communicate with the air vent passage 2001. Specifically, when the gripper 7 moves the gripper tongue 8 to the bottom of the workpiece, if more than one gripper tongue 8 fails to move into place, it will cause a phenomenon where the workpiece cannot be supported locally during the handling process, and finally the workpiece is likely to fall during the handling process. In this Embodiment 3, starting from the actual situation, when all the gripper tongues 8 are normally placed at the bottom of the workpiece, the workpiece will block the fixed magnet 22 and the movable magnet 220, and the pressure plate top seat 19 will move downward under gravity, so that the vent hole 1901 moves away from the air vent passage 2001, and the air vent passage 2001 is blocked by the side of the vent valve rod 190. After that, when the driving piston 112 squeezes the air flow in the air distribution chamber 110, the air pressure in the regulating cylinder 17 will increase, thereby pushing the gear row 25 towards the gear 24; similarly, if more than one gripper tongue 8 fails to move normally to the bottom of the workpiece, the workpiece will not block the fixed magnet 22 and the movable magnet 220, and the vent hole 1901 will continuously communicate with the air vent passage 2001. When the air flow in the air distribution chamber 110 is pressurized, the air flow input into the air pipe 18 will directly discharge from the air vent passage 2001, and the gear row 25 will no longer move towards the gear 24, and the gripper tongue 8 will not be locked. After that, when the gripper 7 drives the gripper tongue 8 to move upward, under the pressure of the workpiece gravity, the gripper tongue 8 is forced to deflect, so that the upward-moving gripper 7 will not drive the workpiece to move through the gripper tongue 8, avoiding the workpiece being conveyed in an unstable clamping state.

[0045] On this basis, in order to ensure that even a relatively light sheet metal can have sufficient driving force to deflect the gripper tongue 8 when it is not clamped in place, combining Figures 2 - 4As can be seen, a communication air passage 114 communicating with the air distribution chamber 110 is provided inside the pressure bar 11, and a detection bar 13 is movably installed in the communication air passage 114. A pressure head 12 is fixedly connected to the bottom of the detection bar 13. The pressure head 12 is made of polyurethane elastic material, so as to avoid the workpiece being deformed under pressure when the pressure head 12 presses the workpiece. A detection switch 14 is fixedly installed at the top of the detection bar 13. When the detection switch 14 is pressed, the input of compressed air or hydraulic medium into the pressure cylinder body 9 will be stopped and pressure will be maintained, so as to avoid the driving piston 112 moving upward and resetting under the elastic force of the return push spring 113. A detection spring 15 located above the detection bar 13 is fixedly installed inside the pressure bar 11. When the downward movement distance of the detection bar 13 exceeds the extended length of the detection spring 15 under normal conditions, the detection bar 13 and the detection spring 15 do not contact each other.

[0046] During actual application, when conveying a relatively light-weight board, the gripper 7 moves the gripper tongue 8 below the workpiece. If the gripper tongue 8 is clamped in place, the pressure bar 11 continuously pushes downward until the detection switch 14 abuts against the pressure bar 11 and the pressure cylinder body 9 stops working. During this process, since the air flow in the air distribution chamber 110 enters the adjusting cylinder 17, the tooth row 25 and the gear 24 are finally locked, so as to ensure that the board can be stably clamped when it is clamped in place.

[0047] If the gripper tongue 8 is not clamped in place, when the pressure bar 11 presses downward, during the process that the detection bar 13 has not contacted the detection spring 15 yet, the air flow in the air distribution chamber 110 will directly overflow from the air leakage passage 2001, resulting in the tooth row 25 not meshing with the gear 24. As the pressure bar 11 continuously moves downward until the detection bar 13 contacts the detection spring 15, the detection spring 15 is compressed under pressure and the downward pushing strength of the detection bar 13 increases. Considering that the gripper tongue 8 is not locked at this time and is pushed by the pressure head 12, the light-weight workpiece that is not clamped in place is pushed out from the gripper tongue 8, so as to ensure that the light-weight workpiece can also be stably clamped and transported as described above.

[0048] Embodiment 4

[0049] On the basis of Embodiment 3, for further improvement, in order to ensure that when a relatively light-weight workpiece moves to the destination, there is sufficient driving force to break away from the gripper tongue 8, please refer to Figure 8 and Figure 9It can be seen that a damping piston 29 is sleeved inside the adjusting cylinder 17 on one side of the driven piston 30, and a damping hole 290 is provided in the middle of the damping piston 29 to ensure that there is a certain damping force when the damping piston 29 moves inside the adjusting cylinder 17. The damping piston 29 is movably sleeved between the distance-limiting push rod 27, and the toothed row 25 is movably installed between the distance-limiting push rod 27. The toothed row 25 can reciprocate along the distance-limiting push rod 27. Further, a distance-limiting spring 271 is connected between the damping piston 29 and the toothed row 25 on the outer side of the distance-limiting push rod 27. Forced by the elastic force of the distance-limiting spring 271, there is always a tendency for the damping piston 29 and the toothed row 25 to move away from each other. An air release groove 270 is provided 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 air release groove 270, the chambers on the left and right sides of the damping piston 29 will be quickly connected, so that no movement damping phenomenon will occur.

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

[0051] Combined with Figure 8 and Figure 9 It can be seen that an annular groove is provided on the inner side of the adjusting cylinder 17 far from the air pipe 18, and a spring ejecting rod 16 is movably installed outside the damping piston 29. The spring ejecting rod 16 is composed of an ejecting rod and an ejecting spring. When the spring ejecting rod 16 moves to the annular groove of the adjusting cylinder 17, the detachment resistance of the damping piston 29 will increase. Similarly, combined with Figures 2 - 4 It can be seen that a spring ejecting rod 16 is movably installed inside the blank pressing head 12, and a corresponding annular groove is provided on the outer side of the blank pressing rod 11. When the spring ejecting rod 16 abuts against the annular groove, the detachment resistance between the blank pressing head 12 and the blank pressing rod 11 is also increased. An air release hole 111 is provided at the bottom of the outer side of the blank pressing rod 11. When it is detected that the pressing rod 13 moves downward and passes over the air release hole 111, the outside can be directly communicated with the air distribution chamber 110 through the air release hole 111 and the communicating air passage 114.

[0052] In specific applications, when handling a relatively light sheet material, the gripping tongue 8 is moved below the workpiece through the gripper 7. Blocked by the workpiece, the fixed magnet 22 and the movable magnet 220 are separated, and the blank pressing top seat 19 presses on the workpiece under gravity. Then, as the driving piston 112 pushes the blank pressing rod 11 downward, during this process, since the detection pressing rod 13 moves downward under gravity, during the downward movement of the driving piston 112, the air flow in the air distribution chamber 110 quickly flows out through the air release hole 111, reducing the resistance of the driving piston 112 to move downward.

[0053] When the pressure head 12 abuts against the workpiece, it will cause the pressure head 12 to push the detection pressure rod 13 upward and over the air vent hole 111. As the driving piston 112 continuously moves downward, the air flow in the air distribution chamber 110 is pressurized and can only be conveyed from the air flow distributor 10 to the air joint 180. After the air flow enters the air pipe 18, since the air discharge channel 2001 is blocked, the air flow can only be input into the adjustment cylinder 17. Finally, the air flow in the adjustment 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 to lock the gear 24, so that the gripper tongue 8 cannot deflect.

[0054] Meanwhile, when the detection pressure rod 13 approaches the detection spring 15, the tooth row 25 has locked the gear 24. As the detection pressure rod 13 compresses the detection spring 15, the air pressure in the adjustment cylinder 17 will further increase, thereby pushing the driven piston 30 to move further to the right. At this time, the tooth row 25 has been pressed on the gear 24. When the driven piston 30 is pushed further to the right, the damping piston 29 will squeeze the distance-limiting spring 271. Then, as the damping piston 29 pushes the connecting frame 28 to continue moving to the right, the connecting frame 28 drives the angular push platform 23 to tightly press the tightening push rod 21, and the tightening spring 210 is further compressed. At this time, since the angular push platform 23 is inclined, when the tightening push rod 21 is pressed, it will further cause the pressure head top seat 19 to press downward, thereby enhancing the workpiece clamping strength. The spring push rod 16 on the damping piston 29 is pressed in the annular groove at the end of the adjustment cylinder 17. Then, as the pressure rod 11 continuously moves downward, finally, the detection switch 14 abuts against the pressure rod 11, and the spring push rod 16 is stuck in the annular groove at the bottom of the pressure rod 11.

[0055] When the gripper 7 moves the workpiece to the destination, the pressure input of the pressure cylinder body 9 is removed, and the return push spring 113 pushes the driving piston 112 upward, thereby increasing the space of the air distribution chamber 110. At the same time, since the pressure head 12 is restricted on the pressure rod 11, the air flow pressure in the adjusting cylinder 17 will be reduced through the air pipe 18, and then the driven piston 30 will be pulled to move to the right. At this time, since the air release groove 270 is provided on the side of the distance limiting push rod 27, when the driven piston 30 pulls the distance limiting push rod 27 to move to the left, the air release groove 270 passes through the damping piston 29, so that the inner cavity of the adjusting cylinder 17 between the driven piston 30 and the damping piston 29 can quickly convey air through the air release groove 270, and the driven piston 30 can quickly move to the left. After the air release groove 270 passes over the damping piston 29, the distance limiting push rod 27 also drives the tooth row 25 away from the gear 24. When the gear 24 is released from the restriction, the power that presses the pressure head seat 19 downward under the elastic force of the tightening spring 210 acts on the workpiece, forcing the workpiece to move downward until the workpiece disengages from the gripper tongue 8, so as to ensure that the lightweight workpiece can be stably disengaged from the gripper tongue 8.

[0056] At the same time, after the air release groove 270 passes over the damping piston 29, the driven piston 30 that continues to move to the left will reduce the pressure in the left chamber of the damping piston 29, and use the damping hole 290 to relieve the pressure of the chamber of the adjusting cylinder 17 between the driven piston 30 and the damping piston 29, so as to slow down the speed of the driven piston 30 moving to the left. The advantage of this is that when the driven piston 30 pulls the distance limiting push rod 27 to move to the left, finally the tooth row 25 will abut against the damping piston 29 located at the end of the adjusting cylinder 17. When the tooth row 25 pushes the spring ejector rod 16 on the damping piston 29 out of the ring groove, the angular push table 23 will be released from the restriction on the tightening push rod 21. When the driven piston 30 moves slowly, it can ensure that the pressure head seat 19 has enough time to push the gripper tongue 8 downward, ensuring that the workpiece can be stably pushed.

[0057] Secondly, after 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 disengaged from the annular groove. After that, under the elastic force of the torsion spring 26, the gripper tongue 8 is pushed upward, and then the blank holding top seat 19 moves upward. Combining the magnetic repulsion between the fixed magnet 22 and the movable magnet 220, the blank holding top seat 19 is forced to have a tendency to move upward further. However, in this process, when the blank holding top seat 19 drives the tightening push rod 21 upward, it will still push the left side of the angular push block 23. When the angular push block 23 pushes the damping piston 29 to the left through the connecting frame 28, the damping piston 29 will squeeze the air flow in the inner cavity of the adjusting cylinder 17 again, so as to reduce the upward movement speed of the blank holding top seat 19. By reducing the upward movement speed of the blank holding top seat 19, it is ensured that the blank holding top seats 19 on other grippers 7 can have enough time to press the workpiece downward, so as to avoid the return speed of the blank holding top seat 19 being too fast after pressing, resulting in the vent hole 1901 connecting the air release channel 2001 first, so that when the other blank holding top seats 19 have not been pressed in time, the pressure in the air distribution chamber 110 has been effectively buffered. Another advantage is that when the blank holding top seat 19 slowly resets upward, the driven pistons 30 in other parts have enough driving force to return to the normal position, that is, all the driven pistons 30 have enough time to move to the left side of the inner cavity of the adjusting cylinder 17, which is convenient for the next operation.

[0058] Finally, as the blank holding rod 11 continuously pulls the blank holding head 12 upward, the blank holding head 12 abuts against the bottom of the blank holding cylinder block 9, thus completing the disengagement between the blank holding head 12 and the blank holding 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 its surface, which is used to connect to the mechanical joint arm, and to achieve precise control of the mechanical joint arm through a control system, so as 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 to 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 the gripper (7) to the outside of the workpiece under the coordinated control of the X-axis servo motor (3), the Y-axis servo motor (4) and the Z-axis servo motor (5), and lifting the bottom of the workpiece through the gripping tongue (8), thereby achieving a clamping operation of workpieces of different shapes; 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); 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); an air distribution chamber (110) is formed inside the material pressing cylinder (9) and at the bottom of the driving piston (112), and the air flow in the air distribution chamber (110) is transported to the air joint (180) through the air flow distributor (10); 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 gripper tongue (8), and a movable magnetic block (220) which is magnetically repelled from the fixed magnetic block (22) is fixedly mounted in the material pressing seat (19); a gas relief valve rod (190) is fixedly mounted on the top of the material pressing seat (19), a gas relief valve seat (20) is fixedly mounted on the top of the gripper (7), a gas relief passage (2001) is provided on the side of the gas relief valve seat (20), the gas relief passage (2001) is communicated with the air pipe (18), and a gas vent (1901) is provided on the side of the gas relief valve rod (190); A communicating air passage (114) is provided inside the pressing rod (11), and a detecting pressing rod (13) is movably installed in the communicating air passage (114); a pressing head (12) is fixedly connected to the bottom of the detecting pressing rod (13); a detecting switch (14) is fixedly installed on the top of the detecting pressing rod (13); and a detecting spring (15) located above the detecting pressing rod (13) is fixedly installed on the inner side of the pressing rod (11).

2. The ten-axis flexible gripper according to claim 1, characterized in that: A return spring (113) is provided 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 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 top seat (19), and a tightening spring (210) is connected between the tightening push rod (21) and the material pressing top 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); The surface shape of the angled push platform (23) is a right triangle.

Images