Grabbing device for special-shaped workpieces

Abstract

The invention discloses a grabbing device for special-shaped workpieces, and particularly relates to the technical field of grabbing devices.The grabbing device comprises a base, a grabbing assembly is arranged on the base, the grabbing assembly comprises a limiting cylinder arranged at the bottom of the base, and a plurality of sealing guide cylinders used for guiding are distributed at the bottom of the limiting cylinder; and an air guide valve is connected in each sealed guide cylinder in a sliding manner. High-pressure airflow gathers together in the sealed flow guide cylinder to drive the air guide valve and the reinforced elastic material taking air bag to move, and the air guide valve and the reinforced elastic material taking air bag can extend out of the sealed flow guide cylinder and are continuously conveyed into the reinforced elastic material taking air bag through the airflow; the reinforced elastic material taking air bag expands and is clamped on the workpiece to achieve the function of grabbing the workpiece, by means of the mode that the reinforced elastic material taking air bag expands, the reinforced elastic material taking air bag can be tightly clamped on the inner wall of the special-shaped workpiece easily when deforming, indentation is avoided when the workpiece is grabbed, and meanwhile the grabbing stability can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of gripping devices, and more specifically, to a gripping device for special-shaped workpieces. Background Art

[0002] In mechanical equipment, it is often necessary to use a gripping device to grab materials to achieve the movement of materials in space. In the current manufacturing industry, automated production lines are gradually popularized. Especially in the field of automotive manufacturing technology, a well-designed production line can reduce a large amount of costs, which is also the reason why Tesla can reduce prices many times. In the automotive manufacturing production line, there are many transfer and installation processes for special-shaped workpieces. For example, various special-shaped water pipe joints on cars have various types, different shapes, and different sizes. Due to their variable shapes, when being conveyed on the conveyor belt, the orientation, position, etc. of the special-shaped parts cannot be kept constant due to various reasons, which brings great difficulties to the gripping of robots on the production line.

[0003] Among them, the patent with the publication number CN221758809U discloses a gripping device, including: a base, a driving mechanism, a transmission component, and a gripping component. The base includes a bottom plate and side plates, and the side plates and the bottom plate jointly enclose a receiving cavity. The driving mechanism is arranged on the bottom plate. The transmission component includes a guide rail, a support plate, and a connecting seat. The guide rail extends along the length direction of the bottom plate and is fixedly arranged on the outer side of the side plate; the support plate is slidably arranged on the side of the guide rail away from the side plate and is connected to the driving mechanism through the connecting seat, and the gripping component is arranged on the support plate and is located on one side of the base; When this structure is in use, by arranging the gripping component on the support plate, located on one side of the base, and driving the gripping component to move along the guide rail through the driving mechanism, the movement range of the gripping component is increased. However, when gripping the workpiece, it is not easy to achieve the function of fully wrapping the workpiece, resulting in the workpiece being easily detached, and indentations are also likely to appear on the surface of the workpiece. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a gripping device for special-shaped workpieces, aiming to solve the problems raised in the above background art.

[0005] The present invention provides the following technical solutions: A gripping device for special-shaped workpieces, including a base, and a gripping component is arranged on the base; The gripping component includes a limiting cylinder arranged at the bottom of the base. A plurality of sealing and guiding cylinders for guiding are distributed at the bottom of the limiting cylinder, and an air guiding valve is slidably connected in each of the sealing and guiding cylinders. A reinforced elastic material-taking airbag is arranged in each of the plurality of air guiding valves, and an electromagnetic valve is arranged inside the limiting cylinder; Both sides of the base are provided with offset slots, and both sides of the bottom of each offset slot are provided with first pin seats. A limiting plate is rotatably connected between the two first pin seats. Both sides of the limiting plate are fixedly provided with reinforced material-taking clamping arm rods, and anti-slip pads are fixedly provided at the bottoms of the reinforced material-taking clamping arm rods. A plurality of offset holes are penetrated through the bottom of the inner wall of the limiting cylinder, and each sealed diversion cylinder body is located in the corresponding offset hole and is connected to the solenoid valve; It can be seen that in the above technical solution, the high-pressure air flow is conveyed to the quick-connect joint through the conduit, and the air flow is conveyed to the sealed diversion cylinder body through the solenoid valve. The high-pressure air flow gathers in the sealed diversion cylinder body to drive the air guide valve and the reinforced elastic material-taking air bag to displace, and enables the air guide valve and the reinforced elastic material-taking air bag to extend out of the sealed diversion cylinder body, and is continuously conveyed to the reinforced elastic material-taking air bag through the air flow, so that the reinforced elastic material-taking air bag expands and clamps on the workpiece to realize the function of grasping the workpiece. Through the expansion mode of the reinforced elastic material-taking air bag, it is easy for the reinforced elastic material-taking air bag to be tightly clamped on the inner wall of the special-shaped workpiece when deforming, avoiding indentation when the workpiece is grasped and ensuring the stability during grasping; Optionally, in a possible implementation manner, a reinforcing vertical plate is arranged on one side of the surface of the offset slot. The reinforcing vertical plate is fixed on the upper surface of the base. The first pin seat is fixed at the bottom of the base. A second pin seat is arranged on one side of the reinforcing vertical plate. The second pin seat is fixed on the base. A first electric telescopic rod is hinged on the second pin seat. The output end of the first electric telescopic rod is provided with a pin member. The pin member extends into the reinforcing vertical plate, and the bottom of the pin member extends to one side of the limiting plate and is rotatably connected to the limiting plate. A baffle is clamped on the reinforcing vertical plate. The bottom of the baffle extends to the limiting plate and is hinged to the limiting plate. A quick-connect joint for diversion is threadedly connected to the solenoid valve. A top plate is arranged on the top of the base. A plurality of second electric telescopic rods are distributed at the bottom of the top plate. The output ends of the plurality of second electric telescopic rods all extend to the base and are detachably connected to the base through bolts. A guide sleeve is arranged on one side of each of the plurality of second electric telescopic rods. The guide sleeve is fixed at the bottom of the top plate, and a guide rod is slidably connected in each guide sleeve. The bottom of the guide rod is fixed on the base. A rotating cylinder is rotatably connected to the top of the top plate. A driving motor for driving the top plate to rotate is installed in the rotating cylinder through bolts; It can be seen that in the above technical solution, the displacement of the shaft pin part is driven by the first electric telescopic rod, so that the limiting plate drives the reinforcing material taking clamp arm rod and the anti-slip pad to deflect between the two first shaft pin seats, realizing the method of adjusting the positions of the reinforcing material taking clamp arm rod and the anti-slip pad, so that the reinforcing material taking clamp arm rod can be clamped outside the workpiece, or the reinforcing material taking clamp arm rod can also be clamped on the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation. The rotating cylinder is installed on the robotic arm as a support point, which facilitates the driving motor to drive the top plate to drive the structures on the base and the limiting cylinder to rotate. At the same time, the base can also be driven by the second electric telescopic rod to drive the limiting cylinder to displace, while the guide sleeve and the guide rod can guide the displacement of the limiting cylinder and the base, and by adjusting the positions of the structures on the base and the limiting cylinder, it is convenient to grasp the workpiece.

[0006] Technical effects and advantages of the present invention: In the present invention, the high-pressure air flow is conveyed through the conduit into the quick-connect joint, and the air flow is conveyed through the solenoid valve into the sealed diversion cylinder body. The high-pressure air flow converges in the sealed diversion cylinder body to drive the air guide valve and the reinforced elastic material taking airbag to displace, and enables the air guide valve and the reinforced elastic material taking airbag to extend out of the sealed diversion cylinder body, and the air flow is continuously conveyed into the reinforced elastic material taking airbag, making the reinforced elastic material taking airbag expand and clamp on the workpiece to realize the function of grasping the workpiece. By the way of the expansion of the reinforced elastic material taking airbag, it is easy for the reinforced elastic material taking airbag to be tightly clamped on the inner wall of the special-shaped workpiece when deforming, avoiding indentation during workpiece grasping and ensuring the stability during grasping at the same time; In the present invention, the rotating cylinder is installed on the robotic arm as a support point, which facilitates the driving motor to drive the top plate to drive the structures on the base and the limiting cylinder to rotate. At the same time, the base can also be driven by the second electric telescopic rod to drive the limiting cylinder to displace, while the guide sleeve and the guide rod can guide the displacement of the limiting cylinder and the base, and by adjusting the positions of the structures on the base and the limiting cylinder, it is convenient to grasp the workpiece; In the present invention, the displacement of the shaft pin part is driven by the first electric telescopic rod, so that the limiting plate drives the reinforcing material taking clamp arm rod and the anti-slip pad to deflect between the two first shaft pin seats, realizing the method of adjusting the positions of the reinforcing material taking clamp arm rod and the anti-slip pad, so that the reinforcing material taking clamp arm rod can be clamped outside the workpiece, or the reinforcing material taking clamp arm rod can also be clamped on the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation; In summary, through the corresponding cooperation of each structure, the solenoid valve conveys the air flow into the sealed diversion cylinder body. The high-pressure air flow converges in the sealed diversion cylinder body to drive the displacement of the air guide valve and the reinforced elastic material-taking airbag, and enables the air guide valve and the reinforced elastic material-taking airbag to extend out of the sealed diversion cylinder body, and is continuously conveyed into the reinforced elastic material-taking airbag by the air flow, so that the reinforced elastic material-taking airbag expands and clamps on the workpiece to realize the function of grasping the workpiece. Through the expansion mode of the reinforced elastic material-taking airbag, it is easy for the reinforced elastic material-taking airbag to tightly clamp on the inner wall of the special-shaped workpiece when deforming, avoiding indentation when grasping the workpiece and ensuring the stability during grasping. And by adjusting the positions of the reinforced material-taking clamp arm rod and the anti-slip pad, the reinforced material-taking clamp arm rod can be clamped on the outside of the workpiece, or the reinforced material-taking clamp arm rod can also be clamped on the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the present disclosure, the following will briefly introduce the drawings required for use in some embodiments. Obviously, the drawings in the following description are only the drawings of some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings. In addition, the drawings in the following description can be regarded as schematic diagrams, and are not limitations on the actual sizes of the products, the actual processes of the methods, the actual timings of the signals, etc. involved in the embodiments of the present disclosure.

[0008] Figure 1 It is the front view of the overall structure of the present invention.

[0009] Figure 2 It is the side view of the overall structure of the present invention.

[0010] Figure 3 It is the three-dimensional view of the base, top plate, second electric telescopic rod, rotating cylinder, guide sleeve and first pin seat of the present invention.

[0011] Figure 4 It is the three-dimensional view of the limit cylinder, solenoid valve, sealed diversion cylinder body and reinforced elastic material-taking airbag of the present invention.

[0012] Figure 5 It is the three-dimensional view of the second pin seat, first electric telescopic rod, reinforced vertical plate, limit plate, reinforced material-taking clamp arm rod and anti-slip pad of the present invention.

[0013] Figure 6 For the present invention Figure 5 exploded view.

[0014] Figure 7 For the present invention Figure 4 exploded view.

[0015] The reference numerals are: 1, base; 2, limiting cylinder; 3, sealed diversion cylinder body; 4, reinforced elastic material-taking airbag; 5, solenoid valve; 6, misaligned hole; 7, misaligned groove; 8, first pin seat; 9, limiting plate; 10, reinforced material-taking clamp arm rod; 11, anti-slip pad; 12, reinforced vertical plate; 13, second pin seat; 14, first electric telescopic rod; 15, pin part; 16, baffle plate; 17, quick connector; 18, top plate; 19, second electric telescopic rod; 20, guide sleeve; 21, guide rod; 22, rotating cylinder; 23, drive motor; 24, air guide valve. Specific embodiments

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0017] As shown in the attached Figure 1 - Figure 7 A grasping device for special-shaped workpieces shown in the figure. Through the grasping assembly provided on the base 1, the solenoid valve 5 conveys air flow into the sealed diversion cylinder body 3. The high-pressure air flow gathers in the sealed diversion cylinder body 3 to drive the displacement of the air guide valve 24 and the reinforced elastic material-taking airbag 4, and enables the air guide valve 24 and the reinforced elastic material-taking airbag 4 to extend out of the sealed diversion cylinder body 3, and the air flow is continuously conveyed into the reinforced elastic material-taking airbag 4, so that the reinforced elastic material-taking airbag 4 expands and clamps on the workpiece to realize the function of grasping the workpiece. By the way of the expansion of the reinforced elastic material-taking airbag 4, it is easy for the reinforced elastic material-taking airbag 4 to be tightly clamped on the inner wall of the special-shaped workpiece when deforming, avoiding indentation when grasping the workpiece and ensuring the stability during grasping. And by adjusting the positions of the reinforced material-taking clamp arm rod 10 and the anti-slip pad 11, the reinforced material-taking clamp arm rod 10 can be clamped on the outside of the workpiece, or the reinforced material-taking clamp arm rod 10 can also be clamped on the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation. And the specific structure of the assembly is as follows; The grasping assembly includes a limiting cylinder 2 provided at the bottom of the base 1. A plurality of sealed diversion cylinder bodies 3 for guiding are distributed at the bottom of the limiting cylinder 2, and an air guide valve 24 is slidably connected in each sealed diversion cylinder body 3. A reinforced elastic material-taking airbag 4 is arranged in each of the plurality of air guide valves 24, and a solenoid valve 5 is arranged inside the limiting cylinder 2; Both sides of the base 1 are provided with offset slots 7, and both sides of the bottom of each offset slot 7 are provided with first pin seats 8. A limiting plate 9 is rotatably connected between the two first pin seats 8. Both sides of the limiting plate 9 are fixedly provided with reinforced material-grabbing clamp arm rods 10, and anti-slip pads 11 are fixedly provided at the bottom of each reinforced material-grabbing clamp arm rod 10. A plurality of offset holes 6 are penetrated through the bottom inner wall of the limiting cylinder 2, and each sealing and guiding cylinder body 3 is located in the corresponding offset hole 6 and is connected to the solenoid valve 5; On one side of the surface of the offset slot 7, a reinforcing vertical plate 12 is provided. The reinforcing vertical plate 12 is fixed on the upper surface of the base 1. The first pin seat 8 is fixed at the bottom of the base 1. On one side of the reinforcing vertical plate 12, a second pin seat 13 is provided. The second pin seat 13 is fixed on the base 1. A first electric telescopic rod 14 is hinged on the second pin seat 13. The output end of the first electric telescopic rod 14 is provided with a pin member 15. The pin member 15 extends into the reinforcing vertical plate 12, and the bottom of the pin member 15 extends to one side of the limiting plate 9 and is rotatably connected to the limiting plate 9. A baffle 16 is clamped on the reinforcing vertical plate 12. The bottom of the baffle 16 extends to the limiting plate 9 and is hinged to the limiting plate 9. A quick-connect joint 17 for guiding is threadedly connected to the solenoid valve 5. The top of the base 1 is provided with a top plate 18. A plurality of second electric telescopic rods 19 are distributed at the bottom of the top plate 18. The output ends of the plurality of second electric telescopic rods 19 all extend to the base 1 and are detachably connected to the base 1 by bolts. On one side of the plurality of second electric telescopic rods 19, a guide sleeve 20 is provided. The guide sleeve 20 is fixed at the bottom of the top plate 18, and a guide rod 21 is slidably connected in each guide sleeve 20. The bottom of the guide rod 21 is fixed on the base 1. A rotating cylinder 22 is rotatably connected to the top of the top plate 18. A driving motor 23 for driving the rotation of the top plate 18 is installed in the rotating cylinder 22 by bolts.

[0018] During use according to the above structure, when grasping a workpiece, the rotating cylinder 22 is installed on the robotic arm as a support point, which is convenient for the driving motor 23 to drive the top plate 18 to drive the structures on the base 1 and the limiting cylinder 2 to rotate. At the same time, the second electric telescopic rod 19 can also be used to drive the base 1 to drive the limiting cylinder 2 to displace, while the guide sleeve 20 and the guide rod 21 can guide the displacement of the limiting cylinder 2 and the base 1, and by adjusting the positions of the structures on the base 1 and the limiting cylinder 2, it is convenient to grasp the workpiece; At the same time, when grasping, the high-pressure air flow is conveyed through the conduit into the quick-connect joint 17, and the air flow is conveyed into the sealing and guiding cylinder body 3 through the solenoid valve 5. The high-pressure air flow gathers in the sealing and guiding cylinder body 3 to drive the air guiding valve 24 and the reinforced elastic material-grabbing air bag 4 to displace, and enables the air guiding valve 24 and the reinforced elastic material-grabbing air bag 4 to extend out of the sealing and guiding cylinder body 3, and the air flow is continuously conveyed into the reinforced elastic material-grabbing air bag 4, so that the reinforced elastic material-grabbing air bag 4 expands and clamps on the workpiece to realize the function of grasping the workpiece; Moreover, through the inflation mode of the reinforced elastic material-taking airbag 4, it is easy for the reinforced elastic material-taking airbag 4 to be tightly stuck to the inner wall of the special-shaped workpiece during deformation, avoiding indentation during workpiece grasping and ensuring stability during grasping. Meanwhile, during use, the first electric telescopic rod 14 drives the displacement of the shaft pin part 15, causing the limiting plate 9 to drive the reinforced material-taking clamp arm rod 10 and the anti-slip pad 11 to deflect between the two first shaft pin seats 8, realizing the method of adjusting the positions of the reinforced material-taking clamp arm rod 10 and the anti-slip pad 11, so that the reinforced material-taking clamp arm rod 10 can be stuck outside the workpiece, or the reinforced material-taking clamp arm rod 10 can also be stuck to the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation.

[0019] Different from the prior art, the present application discloses a grasping device for special-shaped workpieces. The air flow is conveyed into the sealed diversion cylinder body 3 through the solenoid valve 5. The high-pressure air flow converges in the sealed diversion cylinder body 3 to drive the air guide valve 24 and the reinforced elastic material-taking airbag 4 to displace, and enables the air guide valve 24 and the reinforced elastic material-taking airbag 4 to extend out of the sealed diversion cylinder body 3. And through continuous air flow conveyance into the reinforced elastic material-taking airbag 4, the reinforced elastic material-taking airbag 4 is inflated and stuck to the workpiece to realize the function of grasping the workpiece. Through the inflation mode of the reinforced elastic material-taking airbag 4, it is easy for the reinforced elastic material-taking airbag 4 to be tightly stuck to the inner wall of the special-shaped workpiece during deformation, avoiding indentation during workpiece grasping and ensuring stability during grasping. And by adjusting the positions of the reinforced material-taking clamp arm rod 10 and the anti-slip pad 11, the reinforced material-taking clamp arm rod 10 can be stuck outside the workpiece, or the reinforced material-taking clamp arm rod 10 can also be stuck to the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation.

[0020] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A gripping device for a special-shaped workpiece, comprising a base (1), characterized in that: The base (1) is provided with a grabbing component; The grabbing assembly comprises a limiting cylinder (2) arranged at the bottom of the base (1), a plurality of sealed flow-guiding cylinders (3) are distributed at the bottom of the limiting cylinder (2) and are used for guiding, and each of the sealed flow-guiding cylinders (3) is slidably connected with an air guide valve (24), and a plurality of the air guide valves (24) are provided with a reinforced elastic material-taking air bag (4), and a solenoid valve (5) is provided inside the limiting cylinder (2); Dislocation grooves (7) are provided on both sides of the base (1), and first axle pin seats (8) are provided on both sides of the bottom of each of the dislocation grooves (7). A limit plate (9) is rotatably connected between the two first axle pin seats (8). Reinforced material grabbing clamp arm rods (10) are fixedly provided on both sides of the limit plate (9), and an anti-slip pad (11) is fixedly provided on the bottom of each of the reinforced material grabbing clamp arm rods (10).

2. The gripping device for special-shaped workpieces according to claim 1, characterized in that: A plurality of offset holes (6) are provided through the bottom of the inner wall of the limiting cylinder (2), and each of the sealing flow guiding cylinder bodies (3) is located in a corresponding offset hole (6) and is connected to the solenoid valve (5).

3. The gripping device for special-shaped workpieces according to claim 1, characterized in that: A reinforcing vertical plate (12) is provided on one side of the surface of the dislocation groove (7), the reinforcing vertical plate (12) is fixed to the upper surface of the base (1), and the first shaft pin seat (8) is fixed to the bottom of the base (1).

4. The gripping device for special-shaped workpieces according to claim 3, characterized in that: A second axle pin seat (13) is provided on one side of the reinforced vertical plate (12); the second axle pin seat (13) is fixed on the base (1); and a first electric telescopic rod (14) is hingedly connected to the second axle pin seat (13).

5. The gripping device for special-shaped workpieces according to claim 4, characterized in that: The output end of the first electric telescopic rod (14) is provided with an axle pin (15), the axle pin (15) extending into the reinforcing vertical plate (12), and the bottom of the axle pin (15) extending to one side of the limit plate (9) and being rotatably connected to the limit plate (9).

6. The gripping device for special-shaped workpieces according to claim 3, characterized in that: A baffle plate (16) is clamped onto the reinforcing vertical plate (12), and the bottom of the baffle plate (16) extends to the limiting plate (9) and is hinged to the limiting plate (9).

7. The gripping device for special-shaped workpieces according to claim 1, characterized in that: A quick-connect connector (17) for guiding flow is threadedly connected to the solenoid valve (5), a top plate (18) is arranged on the top of the base (1), and a plurality of second electric telescopic rods (19) are distributed at the bottom of the top plate (18).

8. The gripping device for special-shaped workpieces according to claim 7, characterized in that: The output ends of the plurality of second electric telescopic rods (19) all extend to the base (1) and are detachably connected to the base (1) via bolts, and a guide sleeve (20) is provided on one side of the plurality of second electric telescopic rods (19).

9. The gripping device for special-shaped workpieces according to claim 8, characterized in that: The guide sleeves (20) are fixed to the bottom of the top plate (18), and each guide sleeve (20) is slidably connected to a guide rod (21), and the bottom of the guide rod (21) is fixed to the base (1).

10. The gripping device for special-shaped workpieces according to claim 7, characterized in that: The top of the top plate (18) is rotatably connected to a rotating drum (22), and a driving motor (23) for driving the top plate (18) to rotate is installed in the rotating drum (22) via bolts.

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