Multifunctional workpiece grabbing device

Abstract

The invention provides a multifunctional workpiece grabbing device. The multifunctional workpiece grabbing device comprises a fixed part, a first grabbing part, a second grabbing part, a rotating part and a processor. The first grabbing part is connected with the fixing part, and the second grabbing part is connected with the fixing part; the rotating part is connected with the fixed part; the first grabbing part is used for grabbing a blank workpiece on the feeding position, and the rotating part drives the first grabbing part to rotate through the fixed part, so that the first grabbing part moves the blank workpiece from the feeding position to a machine tool; the second grabbing part is used for grabbing a finished workpiece on the machine tool, and the rotating part drives the second grabbing part to rotate through the fixed part, so that the second grabbing part moves the finished workpiece to a discharging position; the processor is connected with the first grabbing part, the second grabbing part and the rotating part. According to the feeding and discharging device, the technical effect that feeding operation and discharging operation can be achieved through one device is achieved, the structural compactness of feeding operation and discharging operation of the machine tool is guaranteed, and the arrangement number of machines for feeding and discharging of the machine tool is reduced.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a multifunctional workpiece grasping device. Background Art

[0002] Traditional workpiece (e.g. tool disc) grasping mainly relies on manual picking and placing. However, manual grasping is too labor-intensive and has too long a cycle, which leads to increased personnel costs and reduced production efficiency.

[0003] With the development and progress of society, in order to improve the production efficiency of workpieces, improve the automation level of production lines, and reduce labor costs, machine grippers are used to replace manual handling on the premise that the requirements of process and automation are met.

[0004] However, the inventors have found that the current way of grabbing workpieces by machine grippers is usually to use two or even more independent mechanisms for loading and unloading operations of the workpieces, resulting in a large number of machines arranged in the production line and poor structural compactness. Summary of the invention

[0005] The present application provides a multifunctional workpiece gripping device to solve the problem that current machine grippers use two or even more independent mechanisms for loading and unloading operations of workpieces, resulting in a large number of production line machines and poor structural compactness.

[0006] The present application provides a multifunctional workpiece grasping device, comprising: a fixing portion, a first grasping portion, a second grasping portion, a rotating portion and a processor;

[0007] The first grasping portion is connected to the fixing portion, and the second grasping portion is connected to the fixing portion;

[0008] The rotating part is connected to the fixed part;

[0009] The first gripping part is used to grip the blank workpiece at the loading position, and the rotating part drives the first gripping part to rotate through the fixed part, so that the first gripping part moves the blank workpiece from the loading position to the machine tool;

[0010] The second gripping part is used to grip the finished workpiece on the machine tool, and the rotating part drives the second gripping part to rotate through the fixed part, so that the second gripping part moves the finished workpiece to the unloading position;

[0011] The processor is connected to the first grasping part, the second grasping part and the rotating part respectively.

[0012] In the above scheme, the first grasping part includes: a first manipulator and a positioning mechanism; wherein the first manipulator and the positioning mechanism are respectively fixed on the fixing part, and the first manipulator is connected to the positioning mechanism;

[0013] The first manipulator has a plurality of first gripper fingers, the blank workpiece is located on the axis of the first manipulator, and the plurality of first gripper fingers respectively move toward the axis of the manipulator, so that the plurality of first gripper fingers grip the blank workpiece;

[0014] The positioning mechanism is connected to a target finger; wherein the target finger is one of the plurality of first gripper fingers;

[0015] The positioning mechanism is used to monitor the displacement signal and status signal of the target finger; wherein the displacement signal represents the displacement distance of the target finger, and the displacement distance represents the distance that the target finger moves from the outer edge of the first manipulator toward the axis of the first manipulator; the status signal represents whether the current movement state of the target finger is moving or still; when the movement state of the target finger is still and the displacement distance is non-zero, the displacement distance of the target finger is used to represent the workpiece model of the blank workpiece.

[0016] In the above scheme, the positioning mechanism includes a detection bracket, a sensing head and a displacement sensor; wherein the displacement sensor is fixed on the fixing part;

[0017] One end of the detection bracket is connected to the target finger, and the other end of the detection bracket is connected to one end of the sensor head;

[0018] One end of the sensing head away from the detection bracket is connected to or in contact with the displacement sensor;

[0019] When the target finger moves, the sensing head is driven to move through the detection bracket, and the one-bit sensor generates a displacement signal and a state signal according to the movement of the sensing head.

[0020] In the above solution, the processor is connected to the positioning mechanism;

[0021] The processor receives the displacement signal and the status signal sent by the positioning mechanism, and determines the workpiece model of the blank workpiece grasped by the first manipulator according to the displacement signal and the status signal; wherein, if the processor determines that the moving state of the target finger in the first grasping part is stationary and the displacement distance is non-zero, it determines that the first manipulator of the first grasping part grasps the blank workpiece, and determines that the model information corresponding to the displacement distance is the workpiece model of the blank workpiece; at least one model information for describing the blank workpiece is predefined in the processor, and each model information corresponds to a displacement distance.

[0022] The above scheme also includes: a camera, a lens and a camera bracket;

[0023] The camera is fixed on the fixing part through the camera bracket;

[0024] The camera is fixed to the fixed part through the camera bracket, the lens is connected to the camera, and the camera collects the working process of the first grasping part through the lens and generates image information; wherein, the working process includes the process of the first manipulator grasping the blank workpiece at the loading position, the process of the rotating part rotating the first manipulator to the machine tool, and the process of the first manipulator placing the blank workpiece in the machine tool and loosening the blank workpiece.

[0025] The above scheme also includes: a mounting seat, a mounting plate, an air knife, an air blowing bracket and a light source module;

[0026] The mounting seat is fixed on the fixing part, and the camera, the lens and the camera bracket are located inside the mounting seat;

[0027] The mounting plate is fixed to a side of the mounting seat away from the fixing portion;

[0028] The mounting plate has an opening, wherein the opening is used to connect the inside and the outside of the mounting seat, the lens faces the opening, and collects the external image through the opening;

[0029] The air knife is fixed to the mounting plate via the air blowing bracket, and the air knife is used to generate an airflow on the opening, and the airflow is used to prevent external contaminants from contacting the lens through the opening;

[0030] The side edge of the mounting plate is provided with an annular groove, and the light source module is arranged in the annular groove.

[0031] In the above scheme, the second grasping part includes a second manipulator, the second manipulator has a plurality of second gripper fingers, the finished workpiece is located on the axis position of the second manipulator, and the plurality of second gripper fingers move toward the axis of the manipulator respectively so that the plurality of second gripper fingers grip the finished workpiece.

[0032] In the above solution, the fixing portion includes a fixing plate;

[0033] The first manipulator of the first grasping part is connected to a side surface of the fixing plate;

[0034] The second manipulator of the second grasping portion is connected to the other side surface of the fixing plate;

[0035] The axis of the first manipulator and the axis of the second manipulator are perpendicular to each other.

[0036] In the above solution, it is characterized in that the fixing portion further includes a first reinforcing plate;

[0037] The first reinforcing plate is fixed to a side of the fixing plate away from the first manipulator;

[0038] The positioning mechanism of the first gripping portion is fixed on a side of the fixing plate away from the first manipulator;

[0039] The stopper in the positioning mechanism is connected to the first reinforcing plate, and the displacement sensor in the positioning mechanism is connected to the fixing plate.

[0040] In the above scheme, the rotating part includes: a truss mounting plate, a swing cylinder and a connecting plate;

[0041] The truss mounting plate is fixed on the truss heightening plate, and the truss heightening plate is used to fix the multifunctional workpiece grasping device at a specified position;

[0042] The swing cylinder is fixed on the truss mounting plate, the connecting plate is connected to the cylinder shaft of the swing cylinder, and the connecting plate is also connected to the fixing part. The swing cylinder drives the fixing part to rotate by rotating the connecting plate, so that the fixing part drives the first grabbing part and the second grabbing part to rotate.

[0043] The present application provides a multifunctional workpiece grasping device, which integrates a first grasping part and a second grasping part on a fixed part, and realizes the operation of the first grasping part and the second grasping part simultaneously through a rotating part, thereby achieving the technical effect of realizing loading and unloading operations with one device, ensuring the structural compactness of loading and unloading operations for machine tools, and reducing the number of machines arranged for loading and unloading of machine tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] Figure 1 A front structural schematic diagram of a multifunctional workpiece grasping device provided in this application;

[0046] Figure 2 A schematic diagram of the top view of a multifunctional workpiece grasping device provided in this application;

[0047] Figure 3 A schematic diagram of the three-dimensional structure of a multifunctional workpiece grasping device provided in this application;

[0048] Figure 4 A schematic structural block diagram of a multifunctional workpiece grasping device provided in this application.

[0049] Reference numerals:

[0050] 10: fixed part;

[0051] 20: first grabbing part;

[0052] 30: second grabbing part;

[0053] 40: rotating part;

[0054] 50: processor;

[0055] 60: Camera;

[0056] 70: Lens;

[0057] 80: Camera bracket;

[0058] 90: mounting seat;

[0059] 100: mounting plate;

[0060] 110: air knife;

[0061] 120: Inflatable bracket;

[0062] 130: light source module;

[0063] 101: fixed plate;

[0064] 102: first reinforcement plate;

[0065] 103: second reinforcement plate;

[0066] 104: third reinforcement plate;

[0067] 201: First manipulator;

[0068] 202: positioning mechanism;

[0069] 203: first gripper finger;

[0070] 301: second manipulator;

[0071] 302: second gripper finger;

[0072] 401: Truss mounting plate;

[0073] 402: Swing cylinder;

[0074] 403: Connecting plate;

[0075] 1001: Opening;

[0076] 1002: annular groove;

[0077] 1101: air knife block;

[0078] 1102: air knife cover;

[0079] 2021: Testing stents;

[0080] 2022: Sensor head;

[0081] 2023: Displacement sensor;

[0082] 2024: threaded sleeve;

[0083] 2025: Block;

[0084] 2031: first clamping jaw block;

[0085] 2032: first gripper cylinder;

[0086] 3021: second clamping jaw block;

[0087] 3022: Second gripper cylinder.

[0088] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0089] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0090] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0091] See also Figure 1-Figure 4 , the embodiment of the present application provides a multifunctional workpiece grasping device, including: a fixing part 10, a first grasping part 20, a second grasping part 30, a rotating part 40 and a processor 50;

[0092] The first gripping portion 20 is connected to the fixing portion 10 , and the second gripping portion 30 is connected to the fixing portion 10 ;

[0093] The rotating part 40 is connected to the fixed part 10;

[0094] The first gripping part 20 is used to grip the blank workpiece at the loading position, and the rotating part 40 drives the first gripping part 20 to rotate through the fixing part 10, so that the first gripping part 20 moves the blank workpiece from the loading position to the machine tool;

[0095] The second gripping part 30 is used to grip the finished workpiece on the machine tool, and the rotating part 40 drives the second gripping part 30 to rotate through the fixing part 10, so that the second gripping part 30 moves the finished workpiece to the unloading position;

[0096] The processor 50 is connected to the first grasping portion 20 , the second grasping portion 30 and the rotating portion 40 , respectively.

[0097] The working principle of the above technical solution is: the first gripping part 20 grabs the blank material at the loading position; if the processor 50 determines that the first gripping part 20 grabs the blank material, the processor 50 controls the rotating part 40 to drive the first gripping part 20 to rotate a preset specified angle along the first direction, so that the first gripping part 20 moves the blank material from the loading position to the machine tool; the processor 50 controls the first gripping part 20 to loosen the blank material on the machine tool; the processor 50 controls the rotating part 40 to drive the first gripping part 20 to rotate a specified angle along the second direction, so that the first gripping part 20 returns to the loading position;

[0098] The processor 50 controls the second grabbing part 30 to grab the finished material on the machine tool; if the processor 50 determines that the second grabbing part 30 grabs the finished material, the processor 50 controls the rotating part 40 to drive the second grabbing part 30 to rotate a specified angle along the first direction, so that the second grabbing part 30 moves the finished material from the machine tool to the unloading position; the processor 50 controls the second grabbing part 30 to loosen the finished material at the unloading position; the processor 50 controls the rotating part 40 to drive the second grabbing part 30 to rotate a specified angle along the second direction, so that the second grabbing part 30 returns to the machine tool; wherein the first direction and the second direction are opposite.

[0099] Furthermore, the technical effect of realizing loading and unloading operations by using one device is achieved, the compactness of the loading and unloading operations for the machine tool is ensured, and the number of machines arranged for loading and unloading the machine tool is reduced.

[0100] Preferably, the first grasping part 20 comprises: a first manipulator 201 and a positioning mechanism 202; wherein the first manipulator 201 and the positioning mechanism 202 are respectively fixed on the fixing part 10, and the first manipulator 201 is connected to the positioning mechanism 202;

[0101] The first manipulator 201 has a plurality of first gripper fingers 203. The rough workpiece is located on the axis of the first manipulator 201. The plurality of first gripper fingers 203 move toward the axis of the manipulator respectively, so that the plurality of first gripper fingers 203 grip the rough workpiece.

[0102] The positioning mechanism 202 is connected to a target finger; wherein the target finger is one of the first gripper fingers 203;

[0103] The positioning mechanism 202 is used to monitor the displacement signal and status signal of the target finger; wherein, the displacement signal represents the displacement distance of the target finger, and the displacement distance represents the distance the target finger moves from the outer edge of the first manipulator 201 toward the axis of the first manipulator 201; the status signal represents the current movement state of the target finger as motion or stillness; when the movement state of the target finger is stillness and the displacement distance is non-zero, the displacement distance of the target finger is used to represent the workpiece model of the blank workpiece.

[0104] Exemplarily, the first gripper finger 203 includes a first gripper block 2031 and a first gripper cylinder 2032, the first gripper block 2031 is connected to the first gripper cylinder 2032, and the first gripper cylinder 2032 is fixed on the fixed part 10; the first gripper cylinder 2032 controls the first gripper block 2031 to move toward or away from the axis of the first manipulator 201.

[0105] Furthermore, the positioning mechanism 202 includes a detection bracket 2021, a sensing head 2022 and a displacement sensor 2023; wherein the displacement sensor 2023 is fixed on the fixing part 10;

[0106] One end of the detection bracket 2021 is connected to the target finger, and the other end of the detection bracket 2021 is connected to one end of the sensor head 2022;

[0107] One end of the sensing head 2022 away from the detection bracket 2021 is connected or in contact with the displacement sensor 2023;

[0108] When the target finger moves, the sensing head 2022 is driven to move through the detection bracket 2021 , and a sensor generates a displacement signal and a status signal according to the movement of the sensing head 2022 .

[0109] Optionally, the positioning mechanism 202 also includes: a threaded sleeve 2024 and a stopper 2025; wherein, the stopper 2025 is located between the detection bracket 2021 and the displacement sensor 2023, and is fixed on the fixing part 10, and the threaded sleeve 2024 is connected to the side of the stopper 2025 away from the displacement sensor 2023; the stopper 2025 is used to limit the detection bracket 2021, and the threaded sleeve 2024 is used to buffer the detection bracket 2021; the end of the sensing head 2022 away from the detection bracket 2021 passes through the threaded sleeve 2024 and the stopper 2025 in sequence, and is connected or in contact with the displacement sensor 2023.

[0110] Further, the processor 50 is connected to the positioning mechanism 202;

[0111] The processor 50 receives the displacement signal and the status signal sent by the positioning mechanism 202, and determines the workpiece model of the blank workpiece grasped by the first manipulator 201 according to the displacement signal and the status signal; wherein, if the processor 50 determines that the moving state of the target finger in the first grasping part 20 is stationary and the displacement distance is non-zero, then it is determined that the first manipulator 201 of the first grasping part 20 grasps the blank workpiece, and determines that the model information corresponding to the displacement distance is the workpiece model of the blank workpiece; at least one model information for describing the blank workpiece is predefined in the processor 50, and each model information corresponds to a displacement distance.

[0112] Therefore, the processor 50 is used to determine the displacement distance of the first gripping finger on the first manipulator 201, and to determine the model of the blank workpiece gripped by the first manipulator 201 each time, so as to facilitate the management of the blank workpieces processed by the machine tool. For example, it can be set in the processor 50 that the first manipulator 201 can only provide blank workpieces of specified models to the machine tool. Then, once the first manipulator 201 finds that the model of the workpiece it grips does not belong to the specified signal, it will refuse to put the blank workpiece into the machine tool, thereby ensuring the controllability of the machine tool and its production line.

[0113] Preferably, it also includes: a camera 60, a lens 70 and a camera bracket 80;

[0114] The camera 60 is fixed on the fixing part 10 via a camera bracket 80;

[0115] The camera 60 is fixed on the fixed part 10 through the camera bracket 80, and the lens 70 is connected to the camera 60. The camera 60 collects the working process of the first grasping part 20 through the lens 70 and generates image information; wherein, the working process includes the process of the first manipulator 201 grasping the blank workpiece at the loading position, the process of the rotating part 40 rotating the first manipulator 201 to the machine tool, and the process of the first manipulator 201 placing the blank workpiece in the machine tool and loosening the blank workpiece.

[0116] The image information generated by the camera 60 allows the operator to observe the entire process from the blank workpiece being clamped to the blank being placed in the machine tool, ensuring that the staff can promptly discover problems that may arise during the loading process of the blank workpiece, such as: whether the first manipulator 201 accurately clamps the required blank material and whether it clamps the blank material; whether the rotating part 40 accurately rotates the first manipulator 201 to the designated position on the machine tool during the process of rotating the first manipulator 201 to the machine tool; whether the first manipulator 201 places the blank material in the machine tool and loosens the blank material during the process of loosening the blank material.

[0117] Optionally, the camera 60 is also connected to the processor 50, and a neural network for image recognition is running in the processor 50, and the neural network is used to identify whether the first manipulator 201 has clamped a blank workpiece of a specified workpiece model, and whether to put the blank workpiece into a specified position in the machine tool. A convolutional neural network can be used as the neural network. Since the training process of the convolutional neural network is a prior art, it will not be described in detail here.

[0118] Preferably, it also includes: a mounting seat 90, a mounting plate 100, an air knife 110, an air blowing bracket 120 and a light source module 130;

[0119] The mounting seat 90 is fixed on the fixing portion 10 , and the camera 60 , the lens 70 and the camera bracket 80 are located inside the mounting seat 90 ;

[0120] The mounting plate 100 is fixed to a side of the mounting seat 90 away from the fixing portion 10;

[0121] The mounting plate 100 has an opening 1001, wherein the opening 1001 is used to connect the inside and the outside of the mounting seat 90, and the lens 70 faces the opening 1001 and collects external images through the opening 1001;

[0122] The air knife 110 is fixed on the mounting plate 100 via the air blowing bracket 120 . The air knife 110 is used to generate airflow on the opening 1001 . The airflow is used to prevent external pollutants from contacting the lens 70 through the opening 1001 .

[0123] The side of the mounting plate 100 has an annular groove 1002 , and the light source module 130 is disposed in the annular groove 1002 .

[0124] Specifically, the air knife 110 includes an air knife block 1101 and an air knife cover 1102, and the air knife block 1101 is fixed on the mounting plate 100 through an air blowing bracket 120;

[0125] The air knife 110 is an annular air knife 110 , the air blowing bracket 120 is an angle iron, one side bar of the air blowing bracket 120 is connected to the side of the air knife block 1101 , and the other side bar of the air blowing bracket 120 is connected to the upper surface of the mounting plate 100 .

[0126] Exemplarily, the light source module 130 can be an LED light strip. By providing the light source module 130, the external image captured by the lens 70 is made clearer, and by providing the light source module 130 in the annular groove 1002 of the side plate of the mounting plate 100, the contaminants splashed by the machine tool toward the mounting plate 100 are prevented from being contaminated on the light source module 130, thereby ensuring the cleanliness of the light source module 130.

[0127] Preferably, the second grasping part 30 includes a second manipulator 301, the second manipulator 301 has a plurality of second gripper fingers 302, the finished workpiece is located on the axis of the second manipulator 301, and the plurality of second gripper fingers 302 respectively move toward the axis of the manipulator so that the plurality of second gripper fingers 302 grip the finished workpiece.

[0128] Exemplarily, the second gripper finger 302 includes a second gripper block 3021 and a second gripper cylinder 3022, the second gripper block 3021 is connected to the second gripper cylinder 3022, and the second gripper cylinder 3022 is fixed on the fixed part 10; the second gripper cylinder 3022 controls the second gripper block 3021 to move toward or away from the axis of the second manipulator 301.

[0129] Preferably, the fixing portion 10 includes a fixing plate 101;

[0130] The first manipulator 201 of the first grasping portion 20 is connected to a side surface of the fixing plate 101;

[0131] The second manipulator 301 of the second gripping portion 30 is connected to the other side surface of the fixing plate 101;

[0132] The axis of the first robot 201 and the axis of the second robot 301 are perpendicular to each other.

[0133] Therefore, when the first gripping part 20 moves the rough material from the loading position to the machine tool, the second gripping part 30 can move the finished material on the machine tool to the unloading position, making the loading and unloading rhythm of the material more compact and improving the loading and unloading efficiency.

[0134] Preferably, the fixing portion 10 further includes a first reinforcing plate 102;

[0135] The first reinforcing plate 102 is fixed to a side of the fixing plate 101 away from the first manipulator 201;

[0136] The positioning mechanism 202 of the first gripping portion 20 is fixed to a side of the fixing plate 101 away from the first manipulator 201;

[0137] The stopper 2025 in the positioning mechanism 202 is connected to the first reinforcing plate 102 , and the displacement sensor 2023 in the positioning mechanism 202 is connected to the fixing plate 101 .

[0138] Optionally, the fixing portion 10 also includes a second reinforcing plate 103 and a third reinforcing plate 104; the second reinforcing plate 103 and the third reinforcing plate 104 are respectively perpendicular to the first reinforcing plate 102, the second reinforcing plate 103 and the third reinforcing plate 104 are respectively located at both ends of the first reinforcing plate 102, and are respectively connected to the fixing plate 101 on a side surface of the first manipulator 201 away from the first grasping portion 20.

[0139] Preferably, the rotating part 40 comprises: a truss mounting plate 401, a swing cylinder 402 and a connecting plate 403;

[0140] The truss mounting plate 401 is fixed on the truss heightening plate, and the truss heightening plate is used to fix the multifunctional workpiece grasping device at a specified position;

[0141] The swing cylinder 402 is fixed on the truss mounting plate 401, the connecting plate 403 is connected to the cylinder shaft of the swing cylinder 402, and the connecting plate 403 is also connected to the fixed part 10. The swing cylinder 402 drives the fixed part 10 to rotate by rotating the connecting plate 403, so that the fixed part 10 drives the first grabbing part 20 and the second grabbing part 30 to rotate.

[0142] Therefore, the swing cylinder 402 enables the fixed part 10 to drive the first grasping part 20 and the second grasping part 30 to perform loading and unloading operations on the blank workpiece and the finished workpiece respectively through the connecting plate 403, thereby achieving the technical effect of ensuring the structural compactness of the loading and unloading operations for the machine tool and reducing the number of machines arranged for loading and unloading the machine tool.

[0143] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0144] Those skilled in the art will readily come to other embodiments of the present application embodiments after considering the specification and practicing the invention disclosed herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not disclosed in the present application embodiments. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0145] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A multifunctional workpiece grasping device, characterized in that: include: A fixing portion, a first grasping portion, a second grasping portion, a rotating portion, and a processor; The first grasping portion is connected to the fixing portion, and the second grasping portion is connected to the fixing portion; The rotating part is connected to the fixed part; The first gripping part is used to grip the blank workpiece at the loading position, and the rotating part drives the first gripping part to rotate through the fixed part, so that the first gripping part moves the blank workpiece from the loading position to the machine tool; The second gripping part is used to grip the finished workpiece on the machine tool, and the rotating part drives the second gripping part to rotate through the fixed part, so that the second gripping part moves the finished workpiece to the unloading position; The processor is connected to the first grasping part, the second grasping part and the rotating part respectively.

2. The multifunctional workpiece grasping device according to claim 1, characterized in that: The first grasping part comprises: a first manipulator and a positioning mechanism; wherein the first manipulator and the positioning mechanism are respectively fixed on the fixing part, and the first manipulator is connected to the positioning mechanism; The first manipulator has a plurality of first gripper fingers, the blank workpiece is located on the axis of the first manipulator, and the plurality of first gripper fingers respectively move toward the axis of the manipulator, so that the plurality of first gripper fingers grip the blank workpiece; The positioning mechanism is connected to a target finger; wherein the target finger is one of the plurality of first gripper fingers; The positioning mechanism is used to monitor the displacement signal and status signal of the target finger; wherein the displacement signal represents the displacement distance of the target finger, and the displacement distance represents the distance that the target finger moves from the outer edge of the first manipulator toward the axis of the first manipulator; the status signal represents whether the current movement state of the target finger is moving or still; when the movement state of the target finger is still and the displacement distance is non-zero, the displacement distance of the target finger is used to represent the workpiece model of the blank workpiece.

3. The multifunctional workpiece grasping device according to claim 2, characterized in that: The positioning mechanism includes a detection bracket, a sensing head and a displacement sensor; wherein the displacement sensor is fixed on the fixing part; One end of the detection bracket is connected to the target finger, and the other end of the detection bracket is connected to one end of the sensor head; One end of the sensing head away from the detection bracket is connected to or in contact with the displacement sensor; When the target finger moves, the sensing head is driven to move through the detection bracket, and the one-bit sensor generates a displacement signal and a state signal according to the movement of the sensing head.

4. The multifunctional workpiece grasping device according to claim 2, characterized in that: The processor is connected to the positioning mechanism; The processor receives the displacement signal and the status signal sent by the positioning mechanism, and determines the workpiece model of the blank workpiece grasped by the first manipulator according to the displacement signal and the status signal; wherein, if the processor determines that the moving state of the target finger in the first grasping part is stationary and the displacement distance is non-zero, it determines that the first manipulator of the first grasping part grasps the blank workpiece, and determines that the model information corresponding to the displacement distance is the workpiece model of the blank workpiece; at least one model information for describing the blank workpiece is predefined in the processor, and each model information corresponds to a displacement distance.

5. The multifunctional workpiece grasping device according to claim 1, characterized in that: Also includes: Cameras, lenses and camera stands; The camera is fixed on the fixing part through the camera bracket; The camera is fixed to the fixed part through the camera bracket, the lens is connected to the camera, and the camera collects the working process of the first grasping part through the lens and generates image information; wherein, the working process includes the process of the first manipulator grasping the blank workpiece at the loading position, the process of the rotating part rotating the first manipulator to the machine tool, and the process of the first manipulator placing the blank workpiece in the machine tool and loosening the blank workpiece.

6. The multifunctional workpiece grasping device according to claim 5, characterized in that: Also includes: Mounting base, mounting plate, air knife, air blowing bracket and light source module; The mounting seat is fixed on the fixing part, and the camera, the lens and the camera bracket are located inside the mounting seat; The mounting plate is fixed to a side of the mounting seat away from the fixing portion; The mounting plate has an opening, wherein the opening is used to connect the inside and the outside of the mounting seat, the lens faces the opening, and collects the external image through the opening; The air knife is fixed to the mounting plate via the air blowing bracket, and the air knife is used to generate an airflow on the opening, and the airflow is used to prevent external contaminants from contacting the lens through the opening; The side edge of the mounting plate is provided with an annular groove, and the light source module is arranged in the annular groove.

7. The multifunctional workpiece grasping device according to claim 1, characterized in that: The second grasping part includes a second manipulator, which has a plurality of second gripper fingers. The finished workpiece is located on the axis of the second manipulator, and the plurality of second gripper fingers move toward the axis of the manipulator respectively so that the plurality of second gripper fingers grip the finished workpiece.

8. The multifunctional workpiece grasping device according to claim 1, characterized in that: The fixing portion includes a fixing plate; The first manipulator of the first grasping part is connected to a side surface of the fixing plate; The second manipulator of the second grasping portion is connected to the other side surface of the fixing plate; The axis of the first manipulator and the axis of the second manipulator are perpendicular to each other.

9. The multifunctional workpiece grasping device according to claim 8, characterized in that: The fixing portion further includes a first reinforcing plate; The first reinforcing plate is fixed to a side of the fixing plate away from the first manipulator; The positioning mechanism of the first gripping portion is fixed on a side of the fixing plate away from the first manipulator; The stopper in the positioning mechanism is connected to the first reinforcing plate, and the displacement sensor in the positioning mechanism is connected to the fixing plate.

10. The multifunctional workpiece grasping device according to claim 1, characterized in that: The rotating part comprises: a truss mounting plate, a swing cylinder and a connecting plate; The truss mounting plate is fixed on the truss heightening plate, and the truss heightening plate is used to fix the multifunctional workpiece grasping device at a specified position; The swing cylinder is fixed on the truss mounting plate, the connecting plate is connected to the cylinder shaft of the swing cylinder, and the connecting plate is also connected to the fixing part. The swing cylinder drives the fixing part to rotate by rotating the connecting plate, so that the fixing part drives the first grabbing part and the second grabbing part to rotate.

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