A grasping device for special-shaped workpieces

Abstract

The present invention discloses a grasping device for special-shaped workpieces, specifically relating to the technical field of grasping devices, including a base, on which a grasping assembly is arranged. The grasping assembly includes a limiting cylinder arranged at the bottom of the base, and a plurality of sealing and guiding cylinders for guiding are distributed at the bottom of the limiting cylinder, and a gas guiding valve is slidably connected in each sealing and guiding cylinder. Through the gathering of high-pressure air flow in the sealing and guiding cylinder to drive the displacement of the gas guiding valve and the reinforced elastic material-taking airbag, and enabling the gas guiding valve and the reinforced elastic material-taking airbag to extend out of the sealing and guiding cylinder, and continuously conveying the air flow into the reinforced elastic material-taking airbag, the reinforced elastic material-taking airbag 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, it is easy for the reinforced elastic material-taking airbag to tightly clamp on the inner wall of the special-shaped workpiece during deformation, avoiding the appearance of indentation when grasping the workpiece and ensuring the stability during grasping.

Description

Technical Field

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

[0002] In mechanical equipment, it is often necessary to use a grasping device to grasp 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 automobile manufacturing technology. With a well-designed production line, a large amount of costs can be reduced, which is also the reason why Tesla can reduce prices multiple times. In the automobile manufacturing production line, there are many transfer and installation processes for special-shaped workpieces. For example, various special-shaped water pipe joints on automobiles 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 grasping of robots on the production line.

[0003] Among them, the patent with the publication number CN221758809U discloses a grasping device, including: a base, a driving mechanism, a transmission component, and a grasping 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 grasping component is arranged on the support plate and is located on one side of the base;

[0004] When this structure is in use, by arranging the grasping component on the support plate and located on one side of the base, and driving the grasping component to move along the guide rail through the driving mechanism, the movement range of the grasping component is increased. However, when grasping the workpiece, it is not easy to achieve the function of fully wrapping the workpiece, resulting in the workpiece being prone to falling off, and indentations are also likely to appear on the surface of the workpiece. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a grasping device for special-shaped workpieces, aiming to solve the problems proposed in the above background art.

[0006] The present invention provides the following technical solutions: A grasping device for special-shaped workpieces, including a base, and a grasping component is arranged on the base;

[0007] The grasping 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 a gas guiding valve is slidably connected in each of the sealing and guiding cylinders. A reinforced elastic material-taking airbag is arranged in a plurality of the gas guiding valves, and an electromagnetic valve is arranged inside the limiting cylinder;

[0008] 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 clamp arm rods, and anti-slip pads are fixedly provided at the bottoms of the reinforced material-taking clamp 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 respectively located in the corresponding offset hole and is connected to the solenoid valve;

[0009] It can be seen that in the above technical solution, the high-pressure air flow is conveyed into the quick-connect joint through the conduit, and the air flow is conveyed into 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 into 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 on the workpiece during grasping and ensuring the stability during grasping at the same time;

[0010] 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 by 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 by bolts;

[0011] It can be seen that in the above technical solution, the first electric telescopic rod drives the displacement of the pin member, so that the limiting plate drives the reinforced material-taking clamping arm rod and the anti-slip pad to deflect between the two first pin seats, realizing the method of adjusting the positions of the reinforced material-taking clamping arm rod and the anti-slip pad, enabling the reinforced material-taking clamping arm rod to be clamped outside the workpiece, or the reinforced material-taking clamping 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, facilitating 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 second electric telescopic rod can drive the base 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.

[0012] Technical effects and advantages of the present invention:

[0013] In the present invention, the high-pressure air flow is conveyed into the quick-connect fitting through the conduit, and the air flow is conveyed into 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 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 through continuous air flow conveyance into the reinforced elastic material-taking airbag, the reinforced elastic material-taking airbag expands and is clamped on the workpiece to realize the function of grasping the workpiece. Through 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 during deformation, avoiding indentation during workpiece grasping and ensuring stability during grasping.

[0014] In the present invention, the rotating cylinder is installed on the robotic arm as a support point, facilitating 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 second electric telescopic rod can drive the base 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.

[0015] In the present invention, the first electric telescopic rod drives the displacement of the pin member, so that the limiting plate drives the reinforced material-taking clamping arm rod and the anti-slip pad to deflect between the two first pin seats, realizing the method of adjusting the positions of the reinforced material-taking clamping arm rod and the anti-slip pad, enabling the reinforced material-taking clamping arm rod to be clamped outside the workpiece, or the reinforced material-taking clamping arm rod can also be clamped on the inner wall of the cylindrical workpiece, realizing the diversity during workpiece grasping and transportation.

[0016] In summary, through the coordinated use of various structures, the solenoid valve conveys air flow into the sealed diversion cylinder body. The high-pressure air flow converges within the sealed diversion cylinder body to drive the displacement of the air guiding valve and the reinforced elastic material-taking airbag, enabling the air guiding valve and the reinforced elastic material-taking airbag to extend out of the sealed diversion cylinder body. And through continuous air flow conveyance into the reinforced elastic material-taking airbag, the reinforced elastic material-taking airbag expands and clamps onto the workpiece to achieve the function of grasping the workpiece. Through the expansion method of the reinforced elastic material-taking airbag, it is easy for the reinforced elastic material-taking airbag to tightly clamp onto the inner wall of the special-shaped workpiece during deformation, avoiding indentation on the workpiece during grasping while ensuring 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

[0017] 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 described below 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 based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not limitations on the actual dimensions of the products involved in the embodiments of the present disclosure, the actual processes of the methods, the actual timings of the signals, etc.

[0018] Figure 1 It is the front view of the overall structure of the present invention.

[0019] Figure 2 It is the side view of the overall structure of the present invention.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Figure 6 For the present invention Figure 5 exploded view.

[0024] Figure 7 For the present invention Figure 4 exploded view.

[0025] The reference numerals are: 1, base; 2, limiting cylinder; 3, sealed diversion cylinder body; 4, reinforced elastic material-taking airbag; 5, solenoid valve; 6, dislocation hole; 7, dislocation 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 member; 16, baffle; 17, quick-insert joint; 18, top plate; 19, second electric telescopic rod; 20, guide sleeve; 21, guide rod; 22, rotating cylinder; 23, drive motor; 24, air guide valve. Detailed implementation manner

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] As shown in the attached Figure 1 - Figure 7 A grasping device for special-shaped workpieces shown, through the grasping assembly arranged on the base 1, the solenoid valve 5 conveys air flow into the sealed diversion cylinder body 3, and the high-pressure air flow gathers 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 is continuously conveyed into the reinforced elastic material-taking airbag 4 by air flow, 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 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 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;

[0028] The grasping assembly includes a limiting cylinder 2 arranged 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;

[0029] 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-taking clamp arms 10, and anti-slip pads 11 are fixedly provided at the bottom of each reinforced material-taking clamp arm 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 respectively located in the corresponding offset hole 6 and is connected to the solenoid valve 5;

[0030] On one side of the surface of the offset slot 7, there is a reinforced vertical plate 12. The reinforced 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 reinforced vertical plate 12, there is a second pin seat 13. 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 reinforced 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 reinforced 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, there is a guide sleeve 20. 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.

[0031] When in 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 base 1 can also be driven by the second electric telescopic rod 19 to drive the limiting cylinder 2 to displace. 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;

[0032] When grasping, high-pressure air flow is conveyed through a catheter to the quick-connect fitting 17, and 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 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 is continuously conveyed into the reinforced elastic material-taking airbag 4 through the air flow, so that the reinforced elastic material-taking airbag 4 expands and clamps on the workpiece to realize the function of grasping the workpiece;

[0033] And through the expansion mode 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 on the workpiece during grasping and ensuring the stability during grasping at the same time;

[0034] Meanwhile, during use, the driving shaft pin part 15 is displaced by the first electric telescopic rod 14, so that the limiting plate 9 drives 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 way 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 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.

[0035] 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 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 is continuously conveyed into the reinforced elastic material-taking airbag 4 through the air flow, so that the reinforced elastic material-taking airbag 4 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 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 on the workpiece during grasping and ensuring the stability during grasping at the same time. 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.

[0036] 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 grasping device for special-shaped workpieces, comprising a base (1), characterized in that: A grasping component is arranged on the base (1). The grasping component includes a limiting cylinder (2) arranged at the bottom of the base (1). A plurality of sealing and guiding cylinders (3) for guiding are distributed at the bottom of the limiting cylinder (2). An air guiding valve (24) is slidably connected in each of the sealing and guiding cylinders (3). A reinforced elastic material-taking airbag (4) is arranged in each of the plurality of air guiding valves (24). An electromagnetic valve (5) is arranged inside the limiting cylinder (2). Dislocation grooves (7) are formed on both sides of the base (1). First pin seats (8) are arranged on both sides of the bottom of each of the dislocation grooves (7). A limiting plate (9) is rotatably connected between the two first pin seats (8). Reinforced material-taking clamp arm rods (10) are fixedly arranged on both sides of the limiting plate (9). Anti-slip pads (11) are fixedly arranged at the bottom of each of the reinforced material-taking clamp arm rods (10).

2. The gripping device for special-shaped workpieces according to claim 1, wherein: A plurality of dislocation holes (6) are formed through the bottom of the inner wall of the limiting cylinder (2). Each of the sealing and guiding cylinders (3) is respectively located in the corresponding dislocation hole (6) and is connected to the electromagnetic valve (5).

3. The gripping device for a special-shaped workpiece according to claim 1, wherein: A reinforcing vertical plate (12) is arranged on one side of the surface of the dislocation groove (7). 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).

4. The gripping device for special-shaped workpieces according to claim 3, wherein: A second pin seat (13) is arranged on one side of the reinforcing vertical plate (12). 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).

5. The gripping device for a special-shaped workpiece according to claim 4, characterized in that: An end of the output 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). 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).

6. The gripping device for a special-shaped workpiece according to claim 3, characterized in that: 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).

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

8. The gripping device for a special-shaped workpiece according to claim 7, wherein: 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. Guide sleeves (20) are arranged on one side of the plurality of second electric telescopic rods (19).

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

10. The gripping device for a special-shaped workpiece according to claim 7, wherein: A rotating cylinder (22) is rotatably connected to the top of the top plate (18). A driving motor (23) for driving the top plate (18) to rotate is installed in the rotating cylinder (22) by bolts.

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