Multifunctional gripper device for workpieces

Abstract

The invention belongs to the technical field of workpiece grabbing, and particularly relates to a workpiece multifunctional gripper device which comprises a carrying frame, a pneumatic three-jaw chuck is fixed to one side wall of the carrying frame, a first air cylinder is fixedly installed at the bottom of the carrying frame and is a double-push-rod air cylinder, and connecting plates are fixed to the two ends of the first air cylinder correspondingly; main paws are fixedly connected to the two sides of the outer wall of the connecting plate, second air cylinders are fixed to the two sides of the top of the carrying frame, the two second air cylinders are oppositely arranged, and the outer ends of push rods of the second air cylinders are fixedly connected with material frame paws. The pneumatic three-jaw chuck, the main paw and the material frame paw are integrated on the same carrying frame, the carrying frame is driven by the mechanical arm to move, and therefore the thin-wall workpiece and the material frame can be rapidly grabbed under the condition that the angle is changed by starting the three-jaw chuck, the main paw and the material frame paw; and therefore, the functions of the gripper are diversified, the grabbing efficiency is improved, meanwhile, multiple mechanisms do not need to be matched for operation, and the use cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece grasping, and particularly to a multifunctional workpiece gripper device. Background Art

[0002] Thin-walled workpieces refer to mechanical parts with a wall thickness relatively small compared to their diameter or length, and are widely used in multiple fields such as aerospace, automotive manufacturing, electronic devices, medical devices, etc.;

[0003] With the development of the automation industry, the functions integrated in the manipulator are also increasing. Light and thin workpieces also start to adopt the automated production mode. The existing grippers in the market have strong functional singularity and need to cooperate with multiple mechanisms to complete the palletizing of workpieces. The coordination requirements for each supporting mechanism are very high, and thus the corresponding cost will also be higher. Therefore, new technical solutions need to be designed to solve this problem. Summary of the Invention

[0004] The purpose of the present invention is to provide a multifunctional workpiece gripper device, which solves the problems raised in the background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A multifunctional workpiece gripper device, including a carrier. A pneumatic three-jaw chuck is fixed on one side wall of the carrier. A first cylinder is fixedly installed at the bottom of the carrier. The first cylinder is a double-push rod cylinder. Both ends of the first cylinder are fixed with connecting plates. Both sides of the outer wall of the connecting plate are fixedly connected with main grippers. Both sides of the top of the carrier are fixed with second cylinders. The two second cylinders are arranged facing each other. The outer end of the push rod of the second cylinder is fixedly connected with a material frame gripper.

[0006] By adopting the above technical solution, the main grippers, the pneumatic three-jaw chuck and the material frame grippers are integrated on the carrier, so that the functions of the device are diversified. When in use, the carrier is connected to the manipulator, and the manipulator drives the carrier to move. Thus, after the manipulator receives the material taking signal, the manipulator drives the main grippers to move to the workpiece. The main grippers first grasp the workpiece and place the workpiece on the waiting material table. Then the manipulator drives the carrier to move, so that the pneumatic three-jaw chuck is aligned with the material head, inserts into the inner cavity of the remaining material head, uses the pneumatic three-jaw chuck to internally support and position the pipe fitting, and thus takes out the remaining material head in the machine tool. After placing the material head in the waste material frame, then use the pneumatic three-jaw chuck to internally support and grasp the workpiece on the waiting material table, thus completing the posture transformation of the workpiece and placing it into the material frame. Then use the second cylinder to drive the material frame grippers to move, and then use the material frame grippers on both sides to move inward to grasp the material frame, and then transfer the material frame to the palletizing place for palletizing, realizing the diversification of functions, which is beneficial to improving the operation convenience. At the same time, there is no need for multiple mechanisms to cooperate, which is beneficial to reducing the operation cost.

[0007] As a preferred embodiment of the present invention, an air spray head is fixed to the bottom of the carrier. There are two air spray heads, which are respectively located on both sides of the middle of the bottom of the carrier.

[0008] By adopting the above technical solution, when the main gripper is used to grab the workpiece and transfer it to the waiting table, the air nozzle can be used to blow air onto the surface of the workpiece, so as to blow away the debris on the surface, thereby cleaning the workpiece, which is beneficial to avoid residual debris on the surface of the workpiece affecting subsequent use.

[0009] As a preferred embodiment of the present invention, a fixing plate is fixedly installed in the middle of the outer wall of the first cylinder, and a limiting bolt is threaded through the fixing plate.

[0010] By adopting the above technical solution, when the first cylinder is used to drive the main claws on both sides to move inward to clamp the workpiece, the connecting plate can be limited by the limit bolt, which is beneficial to avoid excessive clamping of the workpiece by the main claw, thereby avoiding deformation of the workpiece caused by excessive clamping. At the same time, the limit bolt can be rotated to adjust the position of the limit bolt relative to the connecting plate, so as to achieve accurate limiting and adapt to the outer diameter of the workpiece.

[0011] As a preferred embodiment of the present invention, a 3D camera is fixedly mounted on the other side wall of the carrier.

[0012] By adopting the above technical solution, when the pneumatic material frame gripper is used to clamp the material frame for palletizing, the palletizing position can be photographed using a 3D camera, thereby facilitating the positioning of the palletizing position.

[0013] As a preferred embodiment of the present invention, the outer wall of the 3D camera is covered with a protective cover, and the protective cover is fixedly connected to the outer wall of the carrier.

[0014] By adopting the above technical solution and setting the protective cover, the 3D camera can be protected.

[0015] As a preferred embodiment of the present invention, a control box is fixedly mounted on one side of the top of the carrier.

[0016] By adopting the above technical solution, the signal output end of the 3D camera is connected to the signal input end of the control box, the signal output end of the control box is connected to the signal input end of the industrial control computer, and the signal output end of the control box is respectively connected to the signal input ends of the control modules of the pneumatic three-jaw chuck, the first cylinder, and the second cylinder. Thus, the industrial control computer can send control instructions to the control box, and then the control box can send control instructions to the control modules of the pneumatic three-jaw chuck, the first cylinder, and the second cylinder respectively, so as to accurately control the clamping of workpieces and the material frame. And when stacking the material frame, the 3D camera can feed back the stacking position picture to the industrial control computer, and then the industrial control computer controls the manipulator to accurately control the clamped material frame to be transferred to the specified stacking position, which is beneficial to improving the accuracy of stacking.

[0017] As a preferred embodiment of the present invention, a sector-shaped patch is detachably fixed to the outer wall of the jaw of the pneumatic three-jaw chuck.

[0018] By adopting the above technical solution, the setting of the sector-shaped patch enables it to fit the inner wall of the pipe fitting when positioning the inner support of the workpiece, which is beneficial to improving the stability of the inner support positioning.

[0019] As a preferred embodiment of the present invention, a connecting flange is fixedly connected to the middle of the top of the carrier.

[0020] By adopting the above technical solution, the setting of the connecting flange makes it convenient to connect and fix the whole device to the manipulator.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] In the present invention, the pneumatic three-jaw chuck, the main jaw, and the material frame jaw are integrated on the same carrier, and the manipulator drives the carrier to move. Thus, the pneumatic three-jaw chuck, the main jaw, and the material frame jaw can be used to quickly grasp thin-walled workpieces and the material frame at varying angles, which diversifies the functions of the jaws, is beneficial to improving the grasping efficiency, and at the same time, there is no need for multiple mechanisms to cooperate in operation, which is beneficial to reducing the use cost;

[0023] During the process of the main jaw clamping the thin-walled workpiece, the limit bolt can be used to limit the main jaw to ensure that excessive clamping can be avoided after clamping and fitting. At the same time, when the pneumatic three-jaw chuck internally braces and tightens the thin-walled workpiece, the sector-shaped patch can improve the fitting degree, and the pressure reducing valve can be used to reduce the pressure during internal bracing, which is beneficial to avoiding excessive tension and thus beneficial to avoiding deformation of the thin-walled workpiece. Description of the Drawings

[0024] Other features, objectives, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the first overall structure of a multi-functional workpiece gripper device of the present invention;

[0026] Figure 2 It is a front view structure schematic diagram of a multi-functional workpiece gripper device of the present invention;

[0027] Figure 3 It is a schematic diagram of the second overall structure of a multi-functional workpiece gripper device of the present invention;

[0028] Figure 4 It is a schematic diagram of the third overall structure of a multi-functional workpiece gripper device of the present invention;

[0029] Figure 5 It is a system operation diagram of a multi-functional workpiece gripper device of the present invention.

[0030] In the figure:

[0031] 1. Carrier; 2. Pneumatic three-jaw chuck; 3. First cylinder; 4. Connecting plate; 5. Main gripper; 6. Second cylinder; 7. Material frame gripper; 8. Air nozzle; 9. Control box; 10. Connecting flange; 11. 3D camera; 12. Protective cover; 13. Limit bolt; 14. Industrial control computer. Detailed implementation manners

[0032] 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.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0034] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "setting" should be understood in a broad sense. For example, it can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The models of the electrical appliances provided in the present invention are only for reference, and different models of electrical appliances with the same function can be replaced according to actual usage conditions.

[0035] Please refer to Figures 1-5 , the present invention provides a technical solution: a multifunctional workpiece gripper device, including a carrier 1. A pneumatic three-jaw chuck 2 is fixed on one side wall of the carrier 1. A first cylinder 3 is fixedly installed at the bottom of the carrier 1. The first cylinder 3 is a double-push rod cylinder. Connecting plates 4 are fixed at both ends of the first cylinder 3. Main grippers 5 are fixedly connected to both outer sides of the outer wall of the connecting plate 4. Second cylinders 6 are fixed on both sides of the top of the carrier 1. The two second cylinders 6 are arranged facing each other. A material frame gripper 7 is fixedly connected to the outer end of the push rod of the second cylinder 6.

[0036] It should be understood that in actual use, the main gripper 5, the pneumatic three-jaw chuck 2, and the material frame gripper 7 are integrated on the carrier 1, so that the functions of the device are diversified. When in use, the carrier 1 is connected to the manipulator, and the manipulator drives the carrier 1 to move. Thus, after the manipulator receives the material taking signal, the manipulator drives the main gripper 5 to move to the workpiece. The main gripper 5 first grabs the workpiece and places the workpiece on the waiting material table. Then the manipulator drives the carrier 1 to move, so that the pneumatic three-jaw chuck 2 is aligned with the material head, and the remaining material head cavity is inserted. The pneumatic three-jaw chuck 2 is used to internally support and position the pipe fitting, so as to take out the remaining material head in the machine tool. After placing the material head in the waste material box, then the pneumatic three-jaw chuck 2 is used to internally support and grab the workpiece on the waiting material table, so as to complete the posture transformation of the workpiece and place it in the material box. Then the second cylinder 6 is used to drive the material frame gripper 7 to move, and then the two material frame grippers 7 move inward to grab the material box, and then the material box is transferred to the palletizing place for palletizing, realizing the diversification of functions, which is beneficial to improving the operation convenience. At the same time, multiple mechanisms do not need to cooperate, which is beneficial to reducing the operation cost.

[0037] Furthermore, a connecting flange 10 is fixedly connected to the middle of the top of the carrier 1. The setting of the connecting flange 10 makes it convenient to connect and fix the whole device to the manipulator.

[0038] Even further, a sector-shaped patch is detachably fixed on the outer wall of the jaw of the pneumatic three-jaw chuck 2. The setting of the sector-shaped patch enables it to fit the inner wall of the pipe fitting when internally supporting and positioning the workpiece, which is beneficial to improving the stability of the internal support and positioning.

[0039] Such asFigure 1 and 2 As shown in 2 ; an air nozzle 8 is fixedly installed at the bottom of the carrier 1, and the number of the air nozzles 8 is two. The two air nozzles 8 are respectively located on both sides of the middle of the bottom of the carrier 1;

[0040] It should be understood that when using the main gripper 5 to grasp the workpiece and transfer it to the waiting material table, the air nozzle 8 can be used to blow air on the surface of the workpiece, so that the debris on its surface can be blown off, thereby realizing the cleaning of the workpiece, which is beneficial to avoiding the influence of residual debris on the surface of the workpiece on subsequent use.

[0041] Such as Figure 1 and 4 As shown in 4 ; a fixing plate is fixedly installed at the middle of the outer wall of the first cylinder 3, and a limit bolt 13 is threadedly penetrated through the fixing plate.

[0042] It should be understood that when using the first cylinder 3 to drive the main grippers 5 on both sides to move inward to clamp the workpiece, the limit bolt 13 can be used to limit the connecting plate 4, which is beneficial to avoiding excessive clamping of the workpiece by the main grippers 5, and thus beneficial to avoiding the situation of workpiece deformation caused by excessive clamping of the workpiece. At the same time, the limit bolt 13 can be rotated to adjust the position of the limit bolt 13 relative to the connecting plate 4, so as to achieve accurate limiting and adapt to the outer diameter of the workpiece.

[0043] Such as Figure 1 and 3 As shown in 3 ; a 3D camera 11 is fixedly installed on another side wall of the carrier 1.

[0044] It should be understood that when using the pneumatic material frame gripper 7 to clamp the material frame for palletizing, the 3D camera 11 can be used to take pictures of the palletizing position, so as to facilitate the positioning of the palletizing position.

[0045] Furthermore, a protective cover 12 is sleeved on the outer wall of the 3D camera 11. The protective cover 12 is fixedly connected to the outer wall of the carrier 1. The setting of the protective cover 12 can protect the 3D camera 11.

[0046] It should be noted that a control box 9 is fixedly installed on one side of the top of the carrier 1.

[0047] It should be understood that the signal output end of the 3D camera 11 is connected to the signal input end of the control box 9, the signal output end of the control box 9 is connected to the signal input end of the industrial control computer 14, and the signal output end of the control box 9 is respectively connected to the signal input ends of the control modules of the pneumatic three-jaw chuck 2, the first cylinder 3, and the second cylinder 6. Thus, the industrial control computer 14 can issue control instructions to the control box 9, and then the control box 9 can issue control instructions to the control modules of the pneumatic three-jaw chuck 2, the first cylinder 3, and the second cylinder 6 respectively, so as to accurately control the clamping of workpieces and the material box. When palletizing the material box, the 3D camera 11 can feed back the palletizing position picture to the industrial control computer 14, and then the industrial control computer 14 controls the manipulator to accurately transfer the clamped material box to the specified palletizing position, which is beneficial to improving the accuracy of palletizing.

[0048] In addition, all components included in the multifunctional workpiece gripper device of the present invention are common standard components or components known to those skilled in the art. Its structure and principle can be known by those skilled in the art through technical manuals or by conventional experimental methods. At the idle place of this device, all the above-mentioned electrical components, which refer to power elements, electrical components, and the adapted monitoring computer and power supply, are connected by wires, and the electrical connection is completed in the order of the working sequence of each electrical component. The detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and no further description of electrical control will be made.

[0049] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0050] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-functional workpiece gripper device, comprising a carrier (1), characterized in that: One side wall of the carrier (1) is fixedly provided with a pneumatic three-jaw chuck (2). The bottom of the carrier (1) is fixedly installed with a first cylinder (3). The first cylinder (3) is a double-push-rod cylinder. Both ends of the first cylinder (3) are fixedly provided with connecting plates (4). Both sides of the outer wall of the connecting plate (4) are fixedly connected with main pawls (5). Both sides of the top of the carrier (1) are fixedly provided with second cylinders (6). The two second cylinders (6) are arranged facing each other. The outer end of the push rod of the second cylinder (6) is fixedly connected with a material frame pawl (7).

2. The multifunctional workpiece gripper device according to claim 1, characterized in that: The bottom of the carrier (1) is fixedly provided with air nozzles (8). The number of the air nozzles (8) is two. The two air nozzles (8) are respectively located on both sides of the middle of the bottom of the carrier (1).

3. The multifunctional workpiece gripper device according to claim 1, wherein: The middle of the outer wall of the first cylinder (3) is fixedly installed with a fixing plate. A limit bolt (13) is threadedly penetrated through the fixing plate.

4. A multifunctional workpiece gripper device according to claim 1, characterized in that: Another side wall of the carrier (1) is fixedly installed with a 3D camera (11).

5. The multi-functional workpiece gripper device according to claim 4, characterized in that: A protective cover (12) is sleeved on the outer wall of the 3D camera (11). The protective cover (12) is fixedly connected with the outer wall of the carrier (1).

6. The multifunctional workpiece gripper device according to claim 1, characterized in that: One side of the top of the carrier (1) is fixedly installed with a control box (9).

7. A multifunctional workpiece gripper device according to claim 1, characterized in that: Sector-shaped patches are detachably fixed on the outer walls of the jaws of the pneumatic three-jaw chuck (2).

8. The multifunctional workpiece gripper device according to claim 1, characterized in that: A connecting flange (10) is fixedly connected to the middle of the top of the carrier (1).

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