Flange plate grabbing manipulator

Abstract

The invention provides a flange plate grabbing manipulator and belongs to the technical field of manipulators, the flange plate grabbing manipulator comprises a gripper and a turnover assembly, the gripper comprises a fixed disc and two first clamping assemblies, each first clamping assembly comprises a first clamping plate, and a storage groove is formed in the end, away from the fixed disc, of each first clamping plate; the turn-over assembly comprises a connecting block located in the containing groove, a mounting hole with the axis extending in the length direction of the guide rod and used for mounting the rotating shaft is formed in the connecting block, two through grooves corresponding to the two first sliding grooves are formed in the connecting block, and a ratchet mechanism used for driving the rotating shaft to rotate in the single direction is mounted in the mounting hole. A first connecting rod and a second connecting rod are slidably sleeved with the two first sliding grooves correspondingly, the synchronous toothed belt surrounds the outer wall of the ratchet mechanism, and the two ends of the synchronous toothed belt penetrate through the two through grooves correspondingly and then are fixedly connected with the first connecting rod and the second connecting rod. And the manipulator can automatically turn over the flange plate when the flange plate is transferred.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a flange gripping manipulator. Background Art

[0002] A flange gripping manipulator is an automated device specifically designed for gripping and transporting flanges. In existing flange production lines, flanges are usually processed through an assembly line composed of multiple machine tools. Each machine tool is responsible for one process, and the flanges are transferred between multiple processes by a flange gripping manipulator.

[0003] A Chinese patent with the authorization announcement number CN117103233B discloses an adjustable manipulator for machining, which includes a manipulator connected by a flange at the movable end of a robotic arm. The manipulator includes a carrier plate and an orientation adjustment ring sleeved outside the carrier plate through a bearing. According to the workpiece to be gripped, the position of the claw hand on the mounting ring is adjusted.

[0004] When machining a flange, it is usually necessary to machine both end faces of the flange. Therefore, when it is necessary to machine different end faces of the flange, the manipulator removes the flange from the machine tool fixture and places it on a turning device located between this machine tool and the machine tool responsible for the next process. After the turning device turns the flange over, it is then gripped by the manipulator and transferred to the machine tool fixture responsible for the next process.

[0005] Existing flange gripping manipulators cannot automatically turn over the flange during the transfer process. It is necessary to rely on a separately provided turning device or alternately grip and hold the flange by two sets of robotic arms to complete the turning of the flange, which increases the travel of the actions of the gripping manipulator, increases the operating area occupied by the overall equipment, reduces the efficiency of flange machining, and increases the equipment and costs required for flange machining. Summary of the Invention

[0006] The purpose of the present invention is to provide a flange gripping manipulator, aiming to solve the problem that existing gripping manipulators cannot automatically turn over the flange during the transfer process and need to rely on a separately provided turning device or alternately grip and hold the flange by two sets of robotic arms to complete the turning of the flange.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A flange gripping manipulator includes a robotic arm and a gripper. The gripper includes a fixed plate and two first clamping components, and further includes a turning component.

[0008] The first clamping assembly includes a first clamping plate and a first clamping block. The turning-over assembly is mounted on the first clamping plate. The turning-over assembly includes a connecting block, an electric telescopic rod for driving the connecting block to move along the axis direction of the fixed disk, and a synchronous toothed belt. An installation hole with an axis extending along the length direction of the guide rod is formed in the connecting block. A ratchet mechanism for driving the first clamping block to rotate unidirectionally is installed in the installation hole. The synchronous toothed belt surrounds the outer wall of the ratchet mechanism and is meshed and connected with the outer wall thereof. Both ends of the synchronous toothed belt extend upward along the telescopic direction of the electric telescopic rod and slide through the connecting block. A driving member for controlling the synchronous toothed belt to drive the ratchet mechanism to move is provided on the connecting block.

[0009] The beneficial effects of the present invention are as follows: By providing a synchronous toothed belt and a ratchet mechanism, the extension of the telescopic end of the electric telescopic rod can control the connecting block to drive the flange away from the fixed disk. At the same time, during the process of moving away from the fixed disk, the synchronous toothed belt can be controlled to move around the outer wall of the ratchet mechanism, thereby driving the ratchet mechanism to rotate 180 degrees, and then completing the turning-over of the flange. By retracting the telescopic end of the electric telescopic rod, the connecting block is controlled to drive the flange to approach the fixed disk for resetting. At this time, the synchronous toothed belt moves reversely around the outer wall of the ratchet mechanism. Since the ratchet mechanism can only transmit unidirectionally, the flange will not be turned over during the resetting process. Thus, the manipulator can automatically turn over the flange when transporting the flange, without the need to rely on a separately provided turning-over device or alternately grasping and clamping the flange by two sets of robotic arms to complete the turning-over of the flange, improving the turning-over efficiency of the grasping manipulator, reducing the operation area occupied by the overall equipment, improving the processing efficiency of the flange, and reducing the number of equipment required for flange processing and the equipment procurement cost.

[0010] A receiving groove for receiving the connecting block is formed at one end of the first clamping plate away from the fixed disk. First sliding grooves extending along the axis direction of the fixed disk are formed on both sides of the top of the receiving groove. The driving member includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are respectively slidably sleeved in the two first sliding grooves and have different sliding distances. Two through grooves corresponding to the two first sliding grooves are formed on the top surface of the connecting block. Both through grooves communicate with the installation hole. Both ends of the synchronous toothed belt respectively pass through the two through grooves and are fixedly connected with the first connecting rod and the second connecting rod.

[0011] Second sliding grooves extending along the axis direction of the fixed disk are formed on one side of the two first sliding grooves away from the connecting block. The length of one of the second sliding grooves close to the second connecting rod is less than that of the other second sliding groove. Connecting shafts with axes extending along the axis direction of the fixed disk are installed in the two second sliding grooves. Sliders sleeved on the outer walls of the connecting shafts are slidably installed in the two second sliding grooves. The two sliders are respectively fixedly connected with the first connecting rod and the second connecting rod. An elastic resetting member is sleeved on the outer wall of the connecting shaft.

[0012] The effect is that by setting two second sliding grooves with different lengths and an elastic reset member, the synchronous toothed belt can be automatically driven to drive the ratchet mechanism to rotate 180 degrees during the process of the connecting block driving the flange plate away from the fixed plate, without adding an additional driving source.

[0013] The first clamping block is fixedly installed at one end of the rotating shaft away from the connecting block. The ratchet mechanism includes a ratchet and a ratchet shaft that are rotatably installed in the installation hole, coaxially arranged with it and cooperating with each other. One end of the ratchet shaft is fixedly connected to the rotating shaft, and the outer wall of the ratchet is provided with transmission teeth for meshing with the synchronous toothed belt.

[0014] The effect is that by setting the ratchet mechanism, the ratchet mechanism can only drive the rotating shaft to rotate in a single direction, avoiding the situation that the rotating shaft can rotate reversely when the connecting block drives the flange plate to approach the fixed plate after the synchronous toothed belt drives the rotating shaft to rotate 180 degrees.

[0015] On the outer wall of one end of the rotating shaft located in the installation hole, two first clamping grooves and two second clamping grooves that are symmetrically arranged with the axis of the rotating shaft as the center are provided. A transmission groove extending along the axis direction of the fixed plate and communicating with one of the through grooves is provided in the connecting block. At both ends of the side of the transmission groove close to the rotating shaft, limiting grooves are provided. The turning-over assembly further includes a transmission rod slidably installed in the transmission groove along the axis direction of the fixed plate. A first clamping block and a second clamping block are respectively provided in the two limiting grooves and are both fixedly connected to the transmission rod. One group of adjacent first clamping grooves and second clamping grooves are respectively communicated with the two limiting grooves. A pressing block fixedly connected to the synchronous toothed belt is provided on the side of the transmission rod close to the through groove.

[0016] The length of the first clamping groove along the axis direction of the rotating shaft is less than that of the second clamping groove, and the length of the first clamping block along the axis direction of the rotating shaft is less than that of the second clamping block. Among them, the first clamping groove is communicated with the limiting groove provided with the first clamping block, and the second clamping groove is communicated with the limiting groove provided with the second clamping block.

[0017] A fixed column with an axis extending along the axis direction of the fixed plate is fixedly installed on the inner wall of the end of the transmission groove away from the through groove. One end of the fixed column slidably extends into the transmission rod, and an elastic ejecting member is sleeved on the outer wall of the fixed column.

[0018] The effect is that by setting the transmission rod, the first clamping block, the second clamping block, the first clamping groove and the second clamping groove, the rotation of the rotating shaft can be restricted before and after the flange plate is turned over, avoiding the situation that the flange plate deflects due to the vibration generated during the transportation process.

[0019] The gripper further includes a drive box and two second clamping components fixedly installed on the side of the fixed disk away from the first clamping component. The drive box is fixedly installed on the robotic arm. On the side of the fixed disk away from the drive box, four guide grooves are formed, which extend radially along the fixed disk and are evenly distributed in the circumferential direction of the fixed disk. Guide rods are slidably installed in the four guide grooves. Two first clamping components are respectively fixedly installed at the mutually remote ends of two of the guide rods located in the same straight line direction, and two second clamping components are respectively fixedly installed at the mutually remote ends of the other two guide rods located in the same straight line direction.

[0020] A lead screw with an axis extending radially along the fixed disk is rotatably installed in the guide groove. The guide rod is threadedly sleeved on the lead screw. A square groove is formed at the center of the fixed disk. A drive motor is provided in the drive box. The output shaft of the drive motor rotates through the fixed disk and extends into the square groove. Transmission components are connected between one ends of the four lead screws and the output shaft of the drive motor.

[0021] The second clamping component includes a second clamping plate fixedly installed on the guide rod. An installation groove with an axis extending along the length direction of the guide rod is formed on the second clamping plate. A sliding shaft is slidably sleeved in the installation groove. One end of the sliding shaft extends out of the installation groove and is fixedly installed with a second clamping block. An elastic support member sleeved on the outer wall of the sliding shaft is fixedly connected between the second clamping block and the second clamping plate.

[0022] The effect is that by setting the second clamping component, the gripper can ensure the stability of the flange clamping with the cooperation of the two second clamping blocks and the two first clamping blocks.

[0023] Compared with the prior art, the beneficial effects of the present invention are: By setting the synchronous toothed belt, ratchet mechanism, first connecting rod and second connecting rod, it is possible to control the connecting block to drive the flange away from the fixed disk, and during the process of moving away, the synchronous toothed belt can drive the ratchet mechanism to rotate 180 degrees, thereby completing the turning over of the flange, enabling the robotic hand to automatically turn over the flange when transporting the flange, without the need to rely on a separately set turning-over device or alternately grab and clamp the flange by two groups of robotic arms to complete the turning over of the flange, reducing the stroke of the grasping robotic hand movement and the operation area occupied by the overall equipment, improving the processing efficiency of the flange, and reducing the equipment and cost required for flange processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the grasping robotic hand in the present invention; Figure 2 is a schematic bottom view structural diagram of the gripper in the present invention; Figure 3 is a schematic partial structural diagram of the second clamping component in the present invention; Figure 4Schematic structural diagram of the first clamping assembly in the present invention; Figure 5 Front view sectional schematic diagram of the first clamping assembly and the turning-over assembly in the present invention; Figure 6 Schematic structural diagram of the turning-over assembly in the present invention; Figure 7 Schematic structural diagram of the turning-over assembly before the start of turning over in the present invention; Figure 8 Schematic structural diagram of the turning-over assembly in the initial stage of turning over in the present invention; Figure 9 Schematic structural diagram of the turning-over assembly in the middle stage of turning over in the present invention; Figure 10 Schematic structural diagram of the turning-over assembly after the completion of turning over in the present invention.

[0025] In the figure: 1, robotic arm; 2, gripper; 21, fixed disk; 211, guide groove; 212, square groove; 22, drive box; 23, guide rod; 24, first clamping assembly; 241, first clamping plate; 2411, first sliding groove; 2412, second sliding groove; 2413, connecting shaft; 242, storage groove; 243, rotating shaft; 2431, first clamping slot; 2432, second clamping slot; 244, first clamping block; 25, second clamping assembly; 251, second clamping plate; 252, mounting groove; 253, second clamping block; 254, sliding shaft; 255, elastic support member; 26, lead screw; 27, transmission member; 3, turning-over assembly; 31, connecting block; 311, mounting hole; 312, through groove; 313, transmission groove; 314, limiting groove; 32, electric telescopic rod; 33, first connecting rod; 34, second connecting rod; 35, synchronous toothed belt; 36, ratchet mechanism; 361, ratchet; 362, ratchet shaft; 37, transmission rod; 371, first clamping block; 372, second clamping block; 373, fixed column; 374, elastic ejecting member; 375, pressing block; 38, slider; 39, elastic reset member. Detailed implementation manners

[0026] 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.

[0027] Please refer to Figures 1 - 10 , the present invention provides the following technical solutions: A flange gripping robotic arm, comprising a robotic arm 1, a gripper 2 and a turning-over assembly 3.

[0028] Refer to Figures 2 - 5 As shown, the gripper 2 includes a fixed disk 21, a drive box 22, a guide rod 23, a first clamping assembly 24, a second clamping assembly 25, a lead screw 26 and a transmission member 27.

[0029] Refer to Figure 2As shown, the drive box 22 is installed at one end of the fixed disk 21 and fixedly connected to the fixed disk 21. Four guide grooves 211 extending radially along the fixed disk 21 and evenly distributed along the circumferential direction of the fixed disk 21 are provided on the side of the fixed disk 21 away from the drive box 22. The fixed disk 21 is also provided with a square groove 212 located at the center thereof. A drive motor is provided in the drive box 22, and the output shaft of the drive motor rotates through the fixed disk 21 and extends into the square groove 212.

[0030] refer to Figure 2 As shown, there are four guide rods 23 and they are respectively slidably sleeved in four guide grooves 211 along the radial direction of the fixed disk 21, there are four lead screws 26 and they are respectively rotatably installed in the four guide grooves 211, the axis of the lead screw 26 extends along the radial direction of the fixed disk 21, the guide rod 23 is threadedly sleeved on the lead screw 26, one end of the four lead screws 26 are all extended into the square groove 212 and are connected to the output shaft of the driving motor through the transmission member 27, the transmission member 27 includes a driving bevel gear installed on the output shaft of the driving motor and four driven bevel gears respectively installed on the four lead screws 26, and the four driven bevel gears are all meshed with the driving bevel gear.

[0031] refer to Figure 2 As shown, there are two first clamping assemblies 24 and two second clamping assemblies 25. The two first clamping assemblies 24 are respectively fixedly mounted on one end of two guide rods 23 located in the same straight line direction and away from each other, and the two second clamping assemblies 25 are respectively fixedly mounted on one end of the other two guide rods 23 located in the same straight line direction and away from each other.

[0032] refer to Figure 2 , Figure 4 and Figure 5 As shown, the first clamping assembly 24 includes a first clamping plate 241, a rotating shaft 243 and a first clamping block 244. The first clamping plate 241 extends along the axial direction of the fixed disk 21. One end of the first clamping plate 241 is fixedly installed on the guide rod 23. The other end of the first clamping plate 241 is provided with a receiving groove 242 for installing the flip assembly 3. The axis of the rotating shaft 243 extends along the length direction of the guide rod 23. One end of the rotating shaft 243 is connected to the first clamping plate 241, and the other end of the rotating shaft 243 is fixedly connected to the first clamping block 244.

[0033] refer to Figure 2 and Figure 3As shown, the second clamping assembly 25 includes a second clamping plate 251 fixedly installed on the guide rod 23. An installation groove 252 with an axis extending along the length direction of the guide rod 23 is formed on the second clamping plate 251. A sliding shaft 254 is slidably sleeved in the installation groove 252. One end of the sliding shaft 254 extends out of the installation groove 252 and is fixedly installed with a second clamping block 253. An elastic support member 255 sleeved on the outer wall of the sliding shaft 254 is fixedly connected between the second clamping block 253 and the second clamping plate 251. The side of the second clamping block 253 away from the fixed disk 21 is an inclined surface, and the included angle between this inclined surface and the second clamping plate 251 is less than 90 degrees.

[0034] Reference Figure 2 、 Figures 5 - 10 As shown, the turning-over assembly 3 includes a connecting block 31, an electric telescopic rod 32, a driving member, a synchronous toothed belt 35, a ratchet mechanism 36, a transmission rod 37, a slider 38 and an elastic reset member 39.

[0035] Reference Figure 5 As shown, the connecting block 31 is located in the storage groove 242. An installation hole 311 with an axis extending along the length direction of the guide rod 23 is formed on the connecting block 31. The rotating shaft 243 is rotatably installed in the installation hole 311.

[0036] The electric telescopic rod 32 is installed inside the first clamping plate 241, and its telescopic end extends and retracts along the axis direction of the fixed disk 21. The telescopic end of the electric telescopic rod 32 is fixedly connected to the top of the connecting block 31, and is used to drive the connecting block 31 to move along the axis direction of the fixed disk 21.

[0037] On both sides of the top of the storage groove 242, first sliding grooves 2411 extending along the axis direction of the fixed disk 21 are formed. The driving member includes a first connecting rod 33 and a second connecting rod 34. The first connecting rod 33 and the second connecting rod 34 are respectively slidably sleeved in the two first sliding grooves 2411.

[0038] Reference Figure 5 As shown, the ratchet mechanism 36 is installed in the installation hole 311 and is used to drive the rotating shaft 243 to rotate unidirectionally. The ratchet mechanism 36 includes a ratchet wheel 361 and a ratchet shaft 362 that are rotatably installed in the installation hole 311 and are coaxially arranged and cooperate with each other. One end of the ratchet shaft 362 is fixedly connected to the rotating shaft 243. The outer wall of the ratchet wheel 361 is provided with transmission teeth for meshing with the synchronous toothed belt 35. The outer wall of the ratchet shaft 362 is provided with uniformly distributed ratchet claws along its axial direction, and the ratchet claws are made of elastic sheets, so that when the ratchet wheel 361 rotates clockwise, it can drive the ratchet shaft 362 to rotate synchronously clockwise through the ratchet claws. When the ratchet wheel 361 rotates counterclockwise, the ratchet claws made of elastic sheets are pressed by the inner ratchet teeth of the ratchet wheel 361 towards the ratchet shaft 362, so that the ratchet wheel 361 cannot drive the ratchet shaft 362 to rotate synchronously counterclockwise through the ratchet claws.

[0039] The connecting block 31 is also provided with two through slots 312 respectively corresponding to the two first sliding slots 2411. Both of the two through slots 312 communicate with the mounting hole 311. The synchronous toothed belt 35 surrounds the outer wall of the ratchet mechanism 36 and its two ends respectively pass through the two through slots 312 and are fixedly connected to the first connecting rod 33 and the second connecting rod 34.

[0040] On one side of the two first sliding slots 2411 away from the connecting block 31, two second sliding slots 2412 extending along the axis direction of the fixed disk 21 are provided. The length of one second sliding slot 2412 close to the second connecting rod 34 is less than that of the other second sliding slot 2412. Connecting shafts 2413 with axes extending along the axis direction of the fixed disk 21 are installed in both of the two second sliding slots 2412. There are two sliding blocks 38 which are respectively slidably installed on the outer walls of the connecting shafts 2413 in the two second sliding slots 2412. The two sliding blocks 38 are respectively fixedly connected to the first connecting rod 33 and the second connecting rod 34. The elastic resetting member 39 is sleeved on the outer wall of the connecting shaft 2413.

[0041] Reference Figure 6 and Figure 7 As shown in the figure, on the outer wall of one end of the rotating shaft 243 located in the mounting hole 311, two first clamping slots 2431 and two second clamping slots 2432 symmetrical about the axis of the rotating shaft 243 are provided. The length of the first clamping slot 2431 along the axis direction of the rotating shaft 243 is less than that of the second clamping slot 2432. A transmission slot 313 extending along the axis direction of the fixed disk 21 and communicating with one of the through slots 312 is provided in the connecting block 31. The transmission rod 37 is slidably installed in the transmission slot 313 along the axis direction of the fixed disk 21.

[0042] At both ends of one side of the transmission slot 313 close to the rotating shaft 243, limiting slots 314 are provided. A first clamping block 371 and a second clamping block 372 are respectively arranged in the two limiting slots 314 and are both fixedly connected to the transmission rod 37. One group of adjacent first clamping slots 2431 and second clamping slots 2432 respectively communicate with the two limiting slots 314. The length of the first clamping block 371 along the axis direction of the rotating shaft 243 is less than that of the second clamping block 372. The length of the first clamping block 371 along the axis direction of the rotating shaft 243 is equal to that of the first clamping slot 2431. The length of the second clamping block 372 along the axis direction of the rotating shaft 243 is equal to that of the second clamping slot 2432. The first clamping slot 2431 communicates with the limiting slot 314 provided with the first clamping block 371, and the second clamping slot 2432 communicates with the limiting slot 314 provided with the second clamping block 372. A pressing block 375 fixedly connected to the synchronous toothed belt 35 is provided on one side of the transmission rod 37 close to the through slot 312. A fixing column 373 with an axis extending along the axis direction of the fixed disk 21 is fixedly installed on the inner wall of one end of the transmission slot 313 away from the through slot 312. One end of the fixing column 373 slides into the transmission rod 37, and an elastic ejecting member 374 is sleeved on the outer wall of the fixing column 373.

[0043] The implementation principle of the embodiment of the present invention is as follows: When grasping the flange, the manipulator 1 moves the gripper 2 to directly above the flange, and then drives the gripper 2 to descend, so that the first clamping block 244 and the second clamping block 253 are in the same horizontal plane as the flange. The driving motor is started, and it drives the four lead screws 26 to rotate synchronously through the transmission member 27. The lead screws 26 drive the first clamping block 244 and the second clamping block 253 to move synchronously towards the flange through the threaded connection with the guide rod 23, so that the two first clamping blocks 244 and the two second clamping blocks 253 cooperate with each other to clamp the flange. Finally, the manipulator 1 drives the gripper 2 to transfer the flange.

[0044] When the flange needs to be turned over, during the process of the manipulator 1 transferring the flange, two electric telescopic rods 32 are started, and their telescopic ends are ejected, driving the two connecting blocks 31 and the flange to move away from the fixed disk 21 (refer to Figure 5 shown). At this time, as the connecting block 31 descends, the connecting block 31 drives the first connecting rod 33 and the second connecting rod 34 to descend synchronously through the synchronous toothed belt 35. At this time, the first connecting rod 33 and the second connecting rod 34 compress the elastic reset member 39 through the slider 38. Since the length of the second chute 2412 at the second connecting rod 34 is less than that of the other second chute 2412, as the first connecting rod 33 and the second connecting rod 34 descend, the slider 38 on the second connecting rod 34 first descends to the lowest position and cannot descend any further. At this time, the first connecting rod 33 can still continue to descend. As the connecting block 31 continues to descend, the synchronous toothed belt 35 starts to move around the outer wall of the ratchet 361 under the action of the second connecting rod 34 and the first connecting rod 33, and drives the ratchet 361 to rotate. The ratchet 361 drives the ratchet shaft 362 to rotate through the action of the pawl. When the slider 38 on the first connecting rod 33 descends to the lowest position, the ratchet 361 drives the ratchet shaft 362 to just rotate 180 degrees. At this time, the connecting block 31 stops descending (refer to Figure 4 shown). While the ratchet shaft 362 rotates, it also drives the rotating shaft 243 and the first clamping block 244 to rotate synchronously, so as to complete the turning over of the flange through the cooperation of the two first clamping blocks 244. After the turning over is completed, the telescopic ends of the electric telescopic rods 32 are controlled to retract, so that the connecting block 31 drives the rotating shaft 243, the first clamping block 244 and the flange to move towards the fixed disk 21. At this time, the first connecting rod 33 and the second connecting rod 34 are synchronously reset under the action of the elastic reset member 39, and drive the synchronous toothed belt 35 to reset. At this time, the synchronous toothed belt 35 drives the ratchet 361 to rotate in the reverse direction. At this time, the ratchet 361 cannot drive the ratchet shaft 362 to rotate in the reverse direction through the pawl.

[0045] When the connecting block 31 drives the rotating shaft 243, the first clamping block 244 and the flange plate away from the fixed plate 21, since the two second clamping blocks 253 also clamp the flange plate at this time, when the flange plate moves, the flange plate will press the second clamping block 253 and the sliding shaft 254 against the second clamping plate 251 and compress the elastic support member 255, so that the flange plate can descend smoothly. After the flange plate disengages from the second clamping block 253, the second clamping block 253 and the sliding shaft 254 reset under the action of the elastic support member 255. When the connecting block 31 drives the rotating shaft 243, the first clamping block 244 and the flange plate to move towards the fixed plate 21, the flange plate will first contact the inclined surface of the second clamping block 253. As the flange plate moves, the flange plate presses the second clamping block 253 and the sliding shaft 254 against the second clamping plate 251 and compresses the elastic support member 255 through the inclined surface. When the flange plate moves between the two second clamping blocks 253, the two second clamping blocks 253 re-clamp the flange plate under the action of the elastic support member 255.

[0046] Reference Figure 5 As shown, when the connecting block 31 descends and drives the slider 38 on the second connecting rod 34 to descend to the lowest point, at this time, the end of the synchronous belt 35 connected to the second connecting rod 34 starts to rise relative to the connecting block 31. (Reference Figure 6 As shown) As the second connecting rod 34 drives one end of the synchronous belt 35 to rise, the pressing block 375 rises synchronously with the synchronous belt 35, and the pressing block 375 no longer applies pressure to the transmission rod 37. (Reference Figure 7 As shown) At this time, the elastic ejecting member 374 can eject the transmission rod 37 upwards, so that the first clamping block 371 at the top of the transmission rod 37 rises. (Reference Figure 8 As shown) So that the first clamping block 371 gradually disengages from the first clamping groove 2431 clamped together with it. At this time, the rotating shaft 243 can rotate, so that the flange plate can be turned over. (Reference Figure 9 As shown) As the rotating shaft 243 rotates, another first clamping groove 2431 will rotate to the second clamping block 372. At this time, since the length of the first clamping groove 2431 along the axis of the rotating shaft 243 is less than that of the second clamping block 372, the second clamping block 372 cannot be clamped with the first clamping groove 2431, so that the rotating shaft 243 can continue to rotate. (Reference Figure 10As shown in the figure), after the rotating shaft 243 rotates to 180 degrees, at this time, one of the second card slots 2432 just rotates to the second card block 372. Since the length of the second card block 372 along the axis direction of the rotating shaft 243 is equal to that of the second card slot 2432, the elastic ejecting member 374 can drive the transmission rod 37 and the second card block 372 to continue rising, so that the second card block 372 can be clamped into the second card slot 2432, avoiding the flange from deflecting due to the vibration generated during the rising process after rotating 180 degrees to complete the turning over. When the flange moves to contact with the second clamping block 253, at this time, the flange can ensure the clamping stability under the action of the two second clamping blocks 253 and the two first clamping blocks 244 (reference Figure 6 As shown in the figure), at the same time, the second connecting rod 34 also drives the synchronous toothed belt 35 to reset, so that the pressing block 375 presses the transmission rod 37 towards the bottom of the transmission groove 313 and compresses the elastic ejecting member 374, so that the second card block 372 descends and disengages from the clamping with the second card slot 2432, and the first card block 371 descends and is clamped with the first card slot 2431.

[0047] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention.

Claims

1. A flange gripping manipulator, comprising a robotic arm (1) and a gripper (2), the gripper (2) comprising a fixed disk (21) and two first clamping assemblies (24), characterized in that, It further includes a turning-over component (3); The first clamping component (24) includes a first clamping plate (241) and a first clamping block (244), and the turning-over component (3) is installed on the first clamping plate (241); The turning-over component (3) includes a connecting block (31), an electric telescopic rod (32) for driving the connecting block (31) to move along the axis direction of the fixed disk (21), and a synchronous toothed belt (35). An installation hole (311) with an axis extending along the length direction of the guide rod (23) is formed in the connecting block (31). A ratchet mechanism (36) for driving the first clamping block (244) to rotate unidirectionally is installed in the installation hole (311). The synchronous toothed belt (35) surrounds the outer wall of the ratchet mechanism (36) and is meshed and connected with the outer wall thereof. Both ends of the synchronous toothed belt (35) extend upward along the telescopic direction of the electric telescopic rod (32) and slide through the connecting block (31). A driving member for controlling the synchronous toothed belt (35) to drive the ratchet mechanism (36) to move is provided on the connecting block (31).

2. The flange gripper manipulator according to claim 1, wherein: A receiving groove (242) for receiving the connecting block (31) is formed at one end of the first clamping plate (241) away from the fixed disk (21). First sliding grooves (2411) extending along the axis direction of the fixed disk (21) are formed on both sides of the top of the receiving groove (242). The driving member includes a first connecting rod (33) and a second connecting rod (34). The first connecting rod (33) and the second connecting rod (34) are respectively slidably sleeved in the two first sliding grooves (2411) and their sliding distances are different. Two through grooves (312) corresponding to the two first sliding grooves (2411) are formed on the top surface of the connecting block (31). Both of the two through grooves (312) communicate with the installation hole (311). Both ends of the synchronous toothed belt (35) respectively pass through the two through grooves (312) and are fixedly connected to the first connecting rod (33) and the second connecting rod (34).

3. The flange gripping manipulator according to claim 2, characterized in that: Second sliding grooves (2412) extending along the axis direction of the fixed disk (21) are formed on one side of the two first sliding grooves (2411) away from the connecting block (31). The length of one second sliding groove (2412) close to the second connecting rod (34) is less than that of the other second sliding groove (2412). Connecting shafts (2413) with axes extending along the axis direction of the fixed disk (21) are installed in both of the two second sliding grooves (2412). Sliders (38) sleeved on the outer walls of the connecting shafts (2413) are slidably installed in both of the two second sliding grooves (2412). The two sliders (38) are respectively fixedly connected to the first connecting rod (33) and the second connecting rod (34). An elastic resetting member (39) is sleeved on the outer wall of the connecting shaft (2413).

4. A flange gripper manipulator according to claim 1, characterized in that: The first clamping component (24) further includes a rotating shaft (243) rotatably installed at one end in the installation hole (311). The first clamping block (244) is fixedly installed at the end of the rotating shaft (243) away from the connecting block (31); The ratchet mechanism (36) includes a ratchet wheel (361) and a ratchet shaft (362) that are rotatably installed in the mounting hole (311), coaxially arranged with and cooperating with each other. One end of the ratchet shaft (362) is fixedly connected to one end of the rotating shaft (243) located inside the mounting hole (311). The outer wall of the ratchet wheel (361) is provided with transmission teeth for meshing with the synchronous toothed belt (35).

5. The flange gripping manipulator according to claim 2, characterized in that: On the outer wall of one end of the rotating shaft (243) located inside the mounting hole (311), two first clamping grooves (2431) and two second clamping grooves (2432) that are symmetric about the axis of the rotating shaft (243) are formed. A transmission groove (313) extending along the axis direction of the fixed disk (21) and communicating with one of the through grooves (312) is formed in the connecting block (31). At both ends of the side of the transmission groove (313) close to the rotating shaft (243), limiting grooves (314) are formed; The turning-over assembly (3) further includes a transmission rod (37) that is slidably installed in the transmission groove (313) along the axis direction of the fixed disk (21). A first clamping block (371) and a second clamping block (372) are respectively arranged in the two limiting grooves (314) and are both fixedly connected to the transmission rod (37). One group of adjacent first clamping grooves (2431) and second clamping grooves (2432) communicate with the two limiting grooves (314) respectively. On the side of the transmission rod (37) close to the through groove (312), a pressing block (375) fixedly connected to the synchronous toothed belt (35) is provided.

6. The flange gripping manipulator according to claim 5, characterized in that: The length of the first clamping groove (2431) along the axis direction of the rotating shaft (243) is less than that of the second clamping groove (2432), and the length of the first clamping block (371) along the axis direction of the rotating shaft (243) is less than that of the second clamping block (372). The first clamping groove (2431) communicates with the limiting groove (314) provided with the first clamping block (371), and the second clamping groove (2432) communicates with the limiting groove (314) provided with the second clamping block (372).

7. The flange gripper manipulator according to claim 6, characterized in that: At the inner wall of one end of the transmission groove (313) far from the through groove (312), a fixed column (373) with an axis extending along the axis direction of the fixed disk (21) is fixedly installed. One end of the fixed column (373) slidably extends into the transmission rod (37), and an elastic ejecting member (374) is sleeved on the outer wall of the fixed column (373).

8. A flange gripping manipulator according to claim 1, characterized in that: The gripper (2) further includes a driving box (22) fixedly installed on the side of the fixed disk (21) away from the first clamping assembly (24) and two second clamping assemblies (25). The driving box (22) is fixedly installed on the robotic arm (1). On the side of the fixed disk (21) away from the driving box (22), four guide grooves (211) extending along the radial direction of the fixed disk (21) and evenly distributed along the circumferential direction of the fixed disk (21) are formed. Guide rods (23) are slidably installed in the four guide grooves (211). Two first clamping assemblies (24) are respectively fixedly installed on two of the guide rods (23) located in the same straight line direction, and two second clamping assemblies (25) are respectively fixedly installed on the other two guide rods (23) located in the same straight line direction.

9. The flange gripping manipulator according to claim 8, characterized in that: A lead screw (26) with an axis extending along the radial direction of the fixed disk (21) is rotatably installed in the guide groove (211). A guide rod (23) is threadedly sleeved on the lead screw (26). A square groove (212) is formed in the center of the fixed disk (21). A driving motor is provided in the driving box (22). The output shaft of the driving motor rotates through the fixed disk (21) and extends into the square groove (212). One ends of the four lead screws (26) all extend into the square groove (212), and a transmission member (27) is connected between the one ends of the four lead screws (26) and the output shaft of the driving motor.

10. The flange gripping manipulator according to claim 8, wherein: The second clamping assembly (25) includes a second clamping plate (251) fixedly installed on the guide rod (23). An installation groove (252) with an axis extending along the length direction of the guide rod (23) is formed in the second clamping plate (251). A sliding shaft (254) is slidably sleeved in the installation groove (252). One end of the sliding shaft (254) extends out of the installation groove (252) and is fixedly installed with a second clamping block (253). An elastic support member (255) sleeved on the outer wall of the sliding shaft (254) is fixedly connected between the second clamping block (253) and the second clamping plate (251).

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