A self-adaptive clamping device for workpieces with multiple specifications

Abstract

The present invention relates to the field of workpiece movement technology, specifically to an adaptive clamping device for workpieces of multiple specifications, which includes: a loading roller, including a roller mechanism and a lifting mechanism; a clamping jaw, including a clamping jaw base, two clamping bodies slidably arranged on the clamping jaw base and multiple groups of lifting pin mechanisms, each group of lifting pin mechanisms includes two lifting pin modules and two limiters symmetrically arranged on the clamping jaw base, and the lifting pin modules are provided with multiple liftable lifting pins corresponding to the hole positions on the upper end surface of the workpiece, and the limiters are used to limit the descending distance of the lifting pins; multiple support blocks are provided at the lower part of the clamping body; the workpiece is conveyed to a preset position by the roller mechanism, and the lifting mechanism lifts the workpiece between the two clamping bodies, and after the lifting pins of one group of lifting pin mechanisms descend and are inserted into the hole positions of the workpiece, the two clamping bodies slide toward each other to make the support blocks abut against the lower end surface of the workpiece and thus lift the workpiece, and adaptive clamping of workpieces of different specifications can be achieved by using different groups of lifting pin mechanisms.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece movement, and in particular to a self-adaptive clamping device for workpieces of multiple specifications. Background Art

[0002] Engine cylinder cleaning lines often require clamping and transporting cylinders to the desired workstation for cleaning. This process is automated and efficient using a gripper, robotic arm, and loading roller conveyor. During production, the gripper structure must be replaced to match the cylinder model. This replacement process requires manual downtime and is cumbersome and inefficient. Therefore, a gripper structure that can automatically adjust to accommodate multiple cylinder models is needed, reducing downtime for replacement and increasing line efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is how to provide a multi-specification workpiece adaptive clamping device to achieve automatic adjustment of the clamping jaw structure.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] A multi-specification workpiece adaptive clamping device, comprising:

[0006] A loading roller conveyor, comprising a roller conveyor mechanism and a lifting mechanism provided on the roller conveyor mechanism;

[0007] A clamping jaw provided on a robotic arm comprises a clamping jaw base, two clamping bodies slidably provided on the clamping jaw base, and a plurality of lifting pin mechanisms, each of the lifting pin mechanisms comprising two lifting pin modules symmetrically provided on the clamping jaw base and two limiters, the lifting pin modules being provided with a plurality of liftable lifting pins corresponding to the holes on the upper end surface of the workpiece, the limiters being used to limit the descending distance of the lifting pins; a plurality of support blocks being provided at the lower portion of the clamping body;

[0008] The workpiece is conveyed to a preset position by the roller mechanism, the lifting mechanism lifts the workpiece, and after a set of lifting pins of the lifting pin mechanism descend and insert into the holes of the workpiece, the two clamps slide toward each other so that the support block contacts the lower end surface of the workpiece to lift the workpiece.

[0009] As an embodiment of the present invention, two clamping body guide rails are arranged opposite to each other on the lower end surface of the clamping jaw base, and two clamping body sliders are arranged opposite to each other on the upper end of the clamping body, and the clamping body sliders are slidably arranged on the clamping body guide rails;

[0010] The clamp base is provided with a clamp driving mechanism for driving the clamp to slide;

[0011] The upper end of the clamp body is provided with a socket, and three pin holes are provided on the socket at intervals. The clamp base is provided with a latch mechanism corresponding to the socket, and the latch mechanism includes a latch drive cylinder and a latch provided on the piston rod of the latch drive cylinder;

[0012] After the clamp body slides to a preset position, the latch pin is inserted into the pin hole to lock the clamp body.

[0013] As an embodiment of the present invention, the clamp body driving mechanism includes a first driving cylinder provided on the clamping jaw base and a second driving cylinder provided on the end of the piston rod of the first driving cylinder, wherein the end of the piston rod of the second driving cylinder is connected to the upper end of the clamp body;

[0014] When the piston rods of the first driving cylinder and the second driving cylinder are fully extended, the distance between the two clamps is the largest, and they are in a fully opened state;

[0015] When the piston rods of the first driving cylinder and the second driving cylinder are fully retracted, the pin hole on the outer side of the socket corresponds to the latch of the latch mechanism;

[0016] When the piston rod of the first driving cylinder is extended and the piston rod of the second driving cylinder is fully retracted, the pin hole inside the socket corresponds to the latch pin of the latch mechanism;

[0017] When the piston rod of the second driving cylinder is fully retracted and the piston rod of the first driving cylinder is partially retracted, the pin hole in the middle of the socket corresponds to the latch of the latch mechanism.

[0018] As an embodiment of the present invention, the lifting pin module includes a lifting cylinder provided on the clamping jaw base, a lifting plate provided on the end of the piston rod of the lifting cylinder, a plurality of positioning pins provided on the lower end surface of the lifting plate, and a sensor assembly provided on the lifting plate; the piston rod of the lifting cylinder passes through the clamping jaw base; when the lifting plate is lowered into position, the positioning pins are inserted into the holes of the workpiece;

[0019] A displacement blocking rod is provided inside the clamp body, and the displacement blocking rod corresponds to the position of the lifting plate after it is lowered into place. The displacement blocking rod abuts against the lifting plate to stop the clamp body at a preset position.

[0020] As an embodiment of the present invention, the limiter includes a limit rod provided on the lifting plate, a limit slider driving cylinder fixed on the clamping jaw base, a limit slider and a slide seat connected to the end of the piston rod of the limit slider driving cylinder, and the limit slider is slidably provided on the slide seat;

[0021] The limiting rod includes a lifting portion vertically passing through the clamping claw base, a connecting portion provided at the lower end of the lifting portion, and a limiting portion provided at the upper end of the lifting portion, wherein the connecting portion is provided with an annular groove, the lifting plate is provided in the groove, and the cross-sectional dimension of the lifting portion is smaller than the cross-sectional dimension of the limiting portion;

[0022] The limiting slider is provided with a vertically long slot, one end of which is provided with a large hole, the lifting portion is passed through the slot, and the cross-sectional size of the large hole is larger than the cross-sectional size of the limiting portion;

[0023] The lifting portion descends along with the lifting plate so that the limiting portion abuts against two sides of the slot hole to stop the lifting plate at a preset position;

[0024] The limit slider slides under the driving of the limit slider driving cylinder, so that the limit portion is opposite to the large hole, thereby releasing the restriction on the descending stroke of the lifting plate.

[0025] As an embodiment of the present invention, the slide seat includes two slides arranged on both sides of the limit rod, a guide groove is provided on the slide, the limit slider is slidably arranged in the guide groove, and a pressure plate is provided on the slide, and the pressure plate is used to limit the vertical displacement of the limit slider.

[0026] As an embodiment of the present invention, two transverse reinforcement plates and two longitudinal reinforcement plates are symmetrically arranged on the gripper base, and the two transverse reinforcement plates and the two longitudinal reinforcement plates are arranged in a crisscross pattern. A connecting plate is centrally provided on the two transverse reinforcement plates for connecting to the robotic arm;

[0027] The two transverse reinforcing plates are divided into two inner cavities and two outer cavities by the connecting plate and the two longitudinal reinforcing plates. The inner cavity is provided with an inner lifting pin module and an inner limiter, and the outer cavity is provided with an outer lifting pin module and an outer limiter. The inner limiter and the outer limiter's limit slider driving cylinder are mirror-imaged and fixed on the longitudinal reinforcing plate.

[0028] As an embodiment of the present invention, the roller mechanism includes a roller support seat, a plurality of conveying rollers arranged at intervals on the roller support seat, and two sets of stopper assemblies symmetrically arranged on the roller support seat, wherein the two stopper assemblies are used to stop the workpiece conveyed on the conveying roller at a preset position;

[0029] The block assembly includes a block mounting seat arranged on the edge of the roller support seat and a plurality of block driving cylinders arranged at intervals on the block mounting seat. A block mounting shaft is connected to the piston rod of the block driving cylinder, and a block is provided at the end of the block mounting shaft facing the conveying direction of the conveying roller.

[0030] As an embodiment of the present invention, a plurality of positioning pin driving cylinders are provided on the lower end surface of the roller support seat, the extension direction of the piston rod of the positioning pin driving cylinder is vertically downward, and the lower end of the piston rod of the positioning pin driving cylinder is provided with an adapter plate, and one end of the adapter plate is provided with a loading positioning pin, and the loading positioning pin passes through the roller support seat;

[0031] The positioning pin driving cylinder drives the loading positioning pin to rise so that the loading positioning pin is inserted into the hole on the lower end surface of the workpiece.

[0032] As an embodiment of the present invention, the lifting mechanism includes two symmetrically arranged lifting components, two supporting plates arranged on the two lifting components, and two supporting rods arranged on the two supporting plates;

[0033] The lifting assembly includes a bidirectional driving cylinder arranged on the roller support seat and two pad guide rail components arranged on both sides of the bidirectional driving cylinder; the pad guide rail component includes a feeding guide rail and a pad slidably arranged on the feeding guide rail, and the pad is provided with two groups of pad low parts and two groups of pad high parts, and the pad low parts and pad high parts are connected by an inclined surface;

[0034] The four corners of the lower end surface of the support plate are respectively provided with a pulley, and the pulley is slidably arranged on the pad. The lower end surface of the support plate is provided with a lifting plate guide column, and the roller support seat is provided with a lifting guide hole corresponding to the lifting plate guide column. The lifting plate guide column is slidably arranged in the lifting guide hole.

[0035] The pad is connected to the piston rod of the bidirectional drive cylinder, and the bidirectional drive cylinder drives the pads on both sides to slide synchronously. The sliding of the pad causes the pulley to slide between the lower part and the upper part of the pad, thereby causing the pallet to rise or fall.

[0036] The beneficial effects of adopting the above technical solution are:

[0037] The present application uses a loading roller to transport the workpiece to a preset position and lift it, and then uses the clamping claw at the end of the robot arm to clamp it. The workpiece can then be moved to another work station, wherein the clamping claw is provided with multiple sets of lifting pin mechanisms, and the lifting pin mechanisms include two lifting pin modules and two limiters. The lifting pins that can be automatically lifted and lowered on the two lifting pin modules correspond to the hole positions on the upper end surface of the workpiece, and the lifting pins of different sets of lifting pin mechanisms correspond to different models of workpieces. When in use, according to the models of different workpieces, the lifting pins of different lifting pin mechanisms are selected to realize automatic modification of the clamping claw to achieve positioning of workpieces of various specifications. In summary, the clamping claw of the present application can complete the change of the clamping claw model by changing the distance between the two clamping bodies and adjusting the lowering of the lifting pins at different positions, thereby increasing the non-stop modification capability of the clamping device in continuous production operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural diagram of an embodiment.

[0039] Figure 2 It is a three-dimensional schematic diagram of the upper part of the loading roller table of the embodiment.

[0040] Figure 3 It is a three-dimensional schematic diagram of the bottom of the loading roller table of the embodiment.

[0041] Figure 4 2 is a schematic structural diagram of the lifting mechanism of the embodiment.

[0042] Figure 5 2 is a schematic structural diagram of the clamping jaws of the embodiment.

[0043] Figure 6 It is a three-dimensional schematic diagram of the outer lifting pin module direction of the clamping jaw of the embodiment.

[0044] Figure 7 2 is a bottom view of the clamping jaws of the embodiment.

[0045] Figure 8 yes Figure 7 Schematic diagram of the structure at point A in the middle.

[0046] Figure 9 2 is a perspective view of the top of the clamping jaw of the embodiment.

[0047] Figure 10 It is a schematic cross-sectional view of the clamping jaws located at the latch mechanism and the socket of the embodiment.

[0048] Figure 11 Schematic diagram of the structure of the displacement blocking rod, the outer lifting pin module and the outer limiter of the embodiment.

[0049] Figure 12 2 is a schematic structural diagram of an outer lifting pin module and an outer limiter according to an embodiment.

[0050] Among them: 100 grippers;

[0051] 200 Feeding roller; 201 Roller support; 202 Conveyor roller; 203 Support rod; 204 Stopper mounting seat; 205 Stopper drive cylinder; 206 Stopper mounting shaft; 207 Stopper; 208 Feeding positioning pin; 209 Positioning pin drive cylinder; 210 Adapter plate; 211 Bidirectional drive cylinder; 212 Feeding guide rail; 213 Spacer; 213-1 Spacer lower part; 213-2 Spacer upper part; 214 Lifting plate; 215 Pulley; 216 Lifting plate guide column;

[0052] 300 cylinder block;

[0053] 1 Gripper base; 1-1 Horizontal reinforcement plate; 1-2 Longitudinal reinforcement plate; 1-3 Connecting plate; 1-4 Gripper guide rail; 1-5 Base positioning pin; 1-6 Base sensor assembly;

[0054] 2 clamp body; 2-1 clamp body top beam; 2-2 support block; 2-3 clamp body slider; 2-4 top beam slot;

[0055] 3 Outer lift pin module; 3-1 Outer lift plate; 3-2 Outer lift cylinder; 3-3 Outer lift pin; 3-4 Outer sensor assembly;

[0056] 4 Outer limiter; 4-1 Connecting part; 4-2 Lifting part; 4-3 Limiting part; 4-4 Limiting slider; 4-4-1 Large hole; 4-4-2 Slotted hole; 4-5 Slide; 4-6 Pressing piece; 4-7 Limiting slider driving cylinder; 4-8 Limiting sensor assembly; 4-9 Limiting indicator screw;

[0057] 5 Inner lift pin module; 6 Inner stopper;

[0058] 7 Latch mechanism; 7-1 Clamp sensor assembly; 7-2 Clamp indicator screw; 8 Socket;

[0059] 9 shift lever; 9-1 lever convex part;

[0060] 10 Clamp driving mechanism; 10-1 First mounting seat; 10-2 Second mounting seat; 10-3 First driving cylinder; 10-4 Second driving cylinder; 10-5 Clamping block; 10-6 Cylinder guide rod. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of the present invention more clear, the invention is clearly and completely described below in conjunction with specific embodiments.

[0062] See also Figure 1The invention relates to an adaptive clamping device for workpieces of multiple specifications, which includes a loading roller 200 and a clamping jaw 100 arranged on a robotic arm. The figure shows the state of the clamping jaw 100 when it is ready to clamp the engine cylinder block. This embodiment is mainly introduced by clamping the engine cylinder block 300. A plurality of functional holes are provided on the upper and lower end surfaces of the cylinder block 300. During the transportation process, the holes can be used to insert pins for positioning, which facilitates the positioning of the cylinder block 300. Especially during transportation, the horizontal displacement of the cylinder block 300 relative to the clamping jaw 100 can be limited by inserting the lifting pin into the hole. At this time, it is only necessary to use the support block 2-2 at the lower end of the clamping body 2 to lift and limit the displacement of the cylinder block 300 up and down to ensure that the cylinder block 300 does not separate from the clamping jaw 100 during transportation. Compared with the method of directly clamping the workpiece with the clamping body 2, this method will not damage the surfaces on both sides of the workpiece.

[0063] The specific introduction of the loading roller 200 is as follows:

[0064] See also Figures 2 to 4 The loading roller 200 includes a roller mechanism and a lifting mechanism arranged on the roller mechanism. The roller mechanism includes a roller support seat 201, a plurality of conveying rollers 202 arranged at intervals on the roller support seat 201, and two groups of stopper assemblies symmetrically arranged on the roller support seat 201. The two stopper assemblies are used to stop the workpiece conveyed on the conveying roller 202 at a preset position. The stopper assembly includes a stopper mounting seat 204 arranged on the edge of the roller support seat 201 and a plurality of stopper driving cylinders 205 arranged at intervals on the stopper mounting seat 204. A stopper mounting shaft 206 is connected to the piston rod of the stopper driving cylinder 205. A copper stopper 207 is provided at the end of the stopper mounting shaft 206 facing the conveying direction of the conveying roller 202 to reduce damage to the cylinder body 300 during stopping.

[0065] See also Figure 3 Several positioning pin driving cylinders 209 are provided on the lower end surface of the roller support seat 201. The extension direction of the piston rod of the positioning pin driving cylinder 209 is vertically downward. The lower end of the piston rod of the positioning pin driving cylinder 209 is provided with an adapter plate 210. One end of the adapter plate 210 is provided with a loading positioning pin 208, and the loading positioning pin 208 passes through the roller support seat 201.

[0066] The positioning pin driving cylinder 209 drives the loading positioning pin 208 to rise so that the loading positioning pin 208 is inserted into the hole on the lower end surface of the workpiece. In this embodiment, different types of workpieces are abutted against the stoppers 207 at different positions, so that after the workpiece stops, the hole on the lower end surface is aligned with the corresponding roller positioning pin 208 below. Figure 2As shown, after the block 207 located at the rear side of the conveying direction stops a type of cylinder 300, the loading positioning pin 208 corresponding to the type rises and inserts into the empty space at the lower end surface of the cylinder 300 to realize the cylinder positioning operation on the roller.

[0067] See also Figure 3 and Figure 4 The lifting mechanism includes two symmetrically arranged lifting components, two supporting plates 214 arranged on the two lifting components, and two supporting rods 203 arranged on the two supporting plates 214. The supporting rod 203 in this embodiment is in the shape of an elongated strip, and its length direction is consistent with the conveying direction of the roller. The lifting component includes a bidirectional driving cylinder 211 arranged on the roller support seat 201 and two pad guide rail components arranged on both sides of the bidirectional driving cylinder 211; the pad guide rail component includes a loading guide rail 212 and a pad 213 slidingly arranged on the loading guide rail 212, and the pad 213 is provided with two groups of pad low parts 213-1 and two groups of pad high parts 213-2, and the pad low part 213-1 and the pad high part 213-2 are connected by an inclined surface.

[0068] See Figure 4 The four corners of the lower end surface of the support plate 214 are each provided with a pulley 215, which is slidably mounted on the pad 213. A lifting plate guide column 216 is provided on the lower end surface of the support plate 214. Lifting guide holes are provided on the roller support seat 201 corresponding to the lifting plate guide columns 216. The lifting plate guide columns 216 slide up and down within the lifting guide holes. The pad 213 is connected to the piston rod of the bidirectional drive cylinder 211. The bidirectional drive cylinder 211 drives the pads 213 on both sides to slide synchronously. The sliding of the pad 213 causes the pulley 215 to slide between the lower portion 213-1 and the upper portion 213-2 of the pad, thereby causing the support plate 214 to rise or fall. The two supporting plates 214 rise synchronously to lift the workpiece along the loading positioning pin 208 through the two supporting rods 203, so that the supporting blocks 2-2 at the lower part of the clamping body 2 can enter the lower end of the workpiece from both sides and abut against the lower end surface of the workpiece.

[0069] The specific structure of the clamping jaw 100 can be referred to Figures 5 to 12 , introduced as follows:

[0070] See Figure 5 、 Figure 6 and Figure 10The clamp 100 includes a clamp base 1, two clamping bodies 2 slidingly arranged on the clamp base 1 and multiple groups of lifting pin mechanisms, each group of the lifting pin mechanisms includes two lifting pin modules and two limiters symmetrically arranged on the clamp base 1, and the lifting pin modules are provided with multiple liftable lifting pins corresponding to the holes on the upper end surface of the workpiece. The limiter is used to limit the descending distance of the lifting pins, and multiple support blocks 2-2 are provided at the lower part of the clamp body 2.

[0071] The cylinder body 300 is conveyed to a preset position by the roller mechanism, and is positioned by inserting the loading positioning pin 208 into the lower end surface of the cylinder body 300. After that, the lifting mechanism lifts the cylinder body 300 along the loading positioning pin 208. After a set of lifting pins of the lifting pin mechanism descend and are inserted into the holes on the upper end surface of the cylinder body 300, the two clamps 2 slide toward each other so that the support block 2-2 abuts against the lower end surface of the workpiece, thereby lifting the cylinder body 300. In actual use, in order to prevent the support block 2-2 from scratching the lower end surface of the cylinder body 300 during movement, a gap is left between the upper end surface of the support block 2-2 and the lower end surface of the cylinder body 300 when the two clamps 2 slide toward each other. When the lifting pin descends and is inserted into the hole, the clamp 100 rises as a whole, so that the support block 2-2 lifts the cylinder body 300 and operates.

[0072] The gripper base 1 of this embodiment is symmetrically provided with two transverse reinforcing plates 1-1 and two longitudinal reinforcing plates 1-2. The two transverse reinforcing plates 1-1 and the two longitudinal reinforcing plates 1-2 are arranged in a crisscross pattern. A connecting plate 1-3 is centrally provided on the two transverse reinforcing plates 1-1 for connection to the robotic arm. The connecting plate 1-3 and the two longitudinal reinforcing plates 1-2 separate the two transverse reinforcing plates 1-1 into two inner and outer cavities. The inner cavity is provided with an inner lift pin module 5 and an inner stopper 6, while the outer cavity is provided with an outer lift pin module 3 and an outer stopper 4. The inner stopper 6 and the limit slider drive cylinder 4-7 of the outer stopper 4 are fixed to the longitudinal reinforcing plates 1-2 in a mirrored manner. This design increases the space utilization of the gripper base 1, enabling the installation of two sets of stoppers within a limited space.

[0073] See also Figure 5 and Figure 6 Two clamping guide rails 1-4 are disposed opposite to each other on the lower end surface of the clamping jaw base 1, and two clamping sliders 2-3 are disposed opposite to each other on the upper end of the clamping body 2. The clamping sliders 2-3 are slidably disposed on the clamping guide rails 1-4. A clamping driving mechanism 10 is disposed on the clamping jaw base 1 for driving the clamping body 2 to slide.

[0074] The upper end of the clamp body 2 is provided with a clamp body top beam 2-1, on which a socket 8 and a clamp body slider 2-3 are provided. The socket 8 is provided with three pin holes spaced apart. The clamp base 1 is provided with a latch mechanism 7 corresponding to the socket 8. The latch mechanism 7 includes a latch drive cylinder and a latch provided on the piston rod of the latch drive cylinder. After the clamp body 2 slides to a preset position, the latch is inserted into the pin hole to lock the clamp body 2, thereby ensuring that the clamp body 2 will not be displaced due to factors such as inertia during the process of transporting the cylinder body 300, causing the cylinder body 300 to fall off the clamp 100.

[0075] See Figure 7 、 Figure 8 and Figure 10 The clamping body driving mechanism 10 includes a first driving cylinder 10-3 provided on the clamping jaw base 1 and a second driving cylinder 10-4 provided on the end of the piston rod of the first driving cylinder 10-3, and the end of the piston rod of the second driving cylinder 10-4 is connected to the upper end of the clamping body 2. A first mounting seat 10-1 is provided on the lower end surface of the clamping jaw base 1, and the first driving cylinder 10-3 is mounted on the first mounting seat 10-1. The end of the piston rod of the first driving cylinder 10-3 is fixed with a second mounting seat 10-2, and the second driving cylinder 10-4 is mounted on the second mounting seat 10-2. A long cylinder guide rod 10-6 is provided on the second mounting seat 10-2 along the extension and contraction direction of the piston rod, and a guide rod through hole is opened on the first mounting seat 10-1 corresponding to the cylinder guide rod 10-6. The cylinder guide rod 10-6 is slidably provided in the guide rod through hole to guide the displacement of the second mounting seat 10-2. The end of the piston rod of the second mounting seat 10-2 is provided with a block 10-5 with a convex cross-section, and the upper end of the clamp body 2 is provided with a convex top beam slot 2-4 corresponding to the block 10-5. The block 10-5 is clamped in the top beam slot 2-4 to realize the rapid installation of the clamp body driving mechanism 10 and the clamp body 2.

[0076] In this embodiment, when the piston rods of the first driving cylinder 10-3 and the second driving cylinder 10-4 are fully extended, the distance between the two clamps 2 is the largest and they are in a fully opened state, which is used to quickly place the two clamps 2 on both sides of the cylinder body 300;

[0077] When the piston rods of the first driving cylinder 10-3 and the second driving cylinder 10-4 are fully retracted, the pin hole on the outer side of the socket 8 corresponds to the latch of the latch mechanism 7;

[0078] When the piston rod of the first driving cylinder 10-3 is extended and the piston rod of the second driving cylinder 10-4 is fully retracted, the pin hole inside the socket 8 corresponds to the pin of the latch mechanism 7;

[0079] When the piston rod of the second driving cylinder 10 - 4 is fully retracted and the piston rod of the first driving cylinder 10 - 3 is partially retracted, the pin hole in the middle of the socket 8 corresponds to the pin of the latch mechanism 7 .

[0080] Thereby, three-speed displacement of the clamping body 2 is achieved, which can correspond to the three pin holes on the socket 8 and cooperate with the clamping of the cylinder bodies 300 with three different longitudinal widths.

[0081] See also Figure 9 and Figure 10 A clamping body sensing component 7-1 (an in-position sensor can be used) is provided on the clamping jaw base 1, and three clamping body indicating screws 7-2 arranged at intervals are provided on the clamping body top beam 2-1. When the clamping body 2 slides into position, the clamping body sensing component 7-1 collects the signal of the clamping body indicating screw 7-2 corresponding to the position, and the pin of the pin assembly 7 automatically drops.

[0082] This embodiment introduces the lift pin module by taking the outer lift pin module 3 in the outer cavity as an example. It should be noted that the structural principle of the inner lift pin module 5 is the same as that of the outer lift pin module 3. The difference lies in that the model, size and relative position of the lift pins on the inner lift pin module 5 are different from those of the outer lift pin module 3.

[0083] See Figure 11 and Figure 12 The outer lifting pin module 3 includes an outer lifting cylinder 3-2 provided on the clamping jaw base 1, an outer lifting plate 3-1 provided on the end of the piston rod of the outer lifting cylinder 3-2, a plurality of outer lifting pins 3-3 provided on the lower end surface of the outer lifting plate 3-1, and an outer sensor assembly 3-4 provided on the lifting plate (a contact sensor is used, which abuts against the upper end surface of the cylinder body 300 to determine whether the outer lifting pins 3-3 have fallen into place). The piston rod of the outer lifting cylinder 3-2 passes through the clamping jaw base 1. After the outer lifting plate 3-2 has fallen into place, the outer positioning pins 3-3 are inserted into the holes on the upper end surface of the cylinder body 300. A displacement stop rod 9 is provided on the inner side of the clamping body 2. The displacement stop rod 9 corresponds to the position of the outer lifting plate 3-1 after it has fallen into place. The displacement stop rod 9 abuts against the outer lifting plate 3-1 to stop the clamping body 2 at a preset position.

[0084] In this embodiment, the displacement lever 9 corresponds to the position of the outer lifting plate 3-1 after it is lowered into place, and the longitudinal width of the cylinder body 300 corresponding to the lifting pin on the outer lifting plate 3-1 corresponds to the distance between the two clamps 2 corresponding to the pin inserted into the middle pin hole on the socket 8, so that after the outer lifting plate 3-1 is lowered, the movement of the clamp 2 is restricted to form a dead stop, and the auxiliary clamp driving cylinder is used to accurately position the clamp 2, avoiding the difficulty of inserting the pin into the pin hole due to the rapid expansion and contraction speed of the cylinder telescopic rod, and facilitating the rapid insertion of the pin into the clamp.

[0085] The outer limiter 4 and the inner limiter 6 of this embodiment have the same structural principle, and the limit rod model of the inner limiter 6 is slightly different from that of the outer limiter 4. This embodiment is described by taking the outer limiter 4 as an example.

[0086] See also Figure 11 and Figure 12 The outer limiter 4 includes a limit rod provided on the lifting plate, a limit slider driving cylinder 4-7 fixed to the clamping jaw base 1, a limit slider 4-4 connected to the end of the piston rod of the limit slider driving cylinder 4-7, and a slide. The limit slider 4-4 is slidably provided on the slide. The slide includes two slides 4-5 arranged on opposite sides of the limit rod. The slides 4-5 are provided with guide grooves. The limit slider 4-4 is slidably provided in the guide grooves. The slides 4-5 are provided with a pressure piece 4-6. The pressure piece 4-6 is used to limit the vertical displacement of the limit slider 4-4.

[0087] The limiting rod includes a lifting part 4-2 that vertically passes through the clamp base 1, a connecting part 4-1 arranged at the lower end of the lifting part 4-2, and a limiting part 4-3 arranged at the upper end of the lifting part 4-2. An annular groove is provided on the connecting part 4-1, and the lifting plate is arranged in the groove. The cross-sectional size of the lifting part 4-2 is smaller than the cross-sectional size of the limiting part 4-3.

[0088] The limiting slider 4-4 is vertically provided with a long slot 4-4-2, one end of which is provided with a large hole 4-4-1, and the lifting part 4-2 is passed through the slot 4-4-2, and the cross-sectional size of the large hole 4-4-1 is larger than the cross-sectional size of the limiting part 4-3.

[0089] The lifting portion 4-2 descends along with the lifting plate so that the limiting portion 4-3 abuts against both sides of the slot 4-4-2 to stop the lifting plate at a preset position.

[0090] The limit slider 4-4 slides under the drive of the limit slider driving cylinder 4-7, so that the limit part 4-3 is opposite to the large hole 4-4-1, thereby releasing the restriction on the descending stroke of the lifting plate.

[0091] In this embodiment, a limit indicating screw 4-9 is provided on one side of the limit slider 4-4, and two limit sensing components 4-8 (using in-position sensors) are provided on the transverse reinforcing plate 1-1 corresponding to the limit indicating screw 4-9. The displacement signals of the limit indicating screw 4-9 are respectively collected by the two limit sensing components 4-8, and the displacement information of the limit slider 4-4 can be obtained.

[0092] During production, cylinder bodies 300 may have the same longitudinal width and upper end surface position, but different heights. This requires the lift pin module's lift cylinder piston rod to stop mid-stroke. In this case, the stopper can precisely stop the lift plate mid-stroke by limiting the limiter rod's downward travel. This prevents the lift pin or lift plate from damaging the cylinder body 300 due to errors in the lift cylinder rod's extension and retraction or excessively rapid extension and retraction. In this embodiment, the limiter rod's connecting portion 4-1 and the lift portion 4-2 are threadedly connected. The lift plate's descending height can be adjusted by replacing the lift portion 4-2 and the limiter 4-3.

[0093] Also, see Figure 7 A plurality of base positioning pins 1-5 and corresponding base sensor components 1-6 (using the same sensors as the outer sensor components 3-4) are provided on the lower end surface of the clamping jaw base 1, which can realize the insertion positioning of the hole on the upper end surface of the cylinder body 300 when any lifting pin is lowered, and is used for clamping the cylinder body 300 with a larger height.

[0094] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-specification workpiece adaptive clamping device, characterized in that: It includes: A loading roller conveyor (200), comprising a roller conveyor mechanism and a lifting mechanism arranged on the roller conveyor mechanism; A clamping jaw (100) is provided on a robotic arm, comprising a clamping jaw base (1), two clamping bodies (2) slidably provided on the clamping jaw base (1), and a plurality of lifting pin mechanisms, each of the lifting pin mechanisms comprising two lifting pin modules and two limiters symmetrically provided on the clamping jaw base (1), the lifting pin modules being provided with a plurality of liftable lifting pins corresponding to holes on the upper end surface of a workpiece, the limiters being used to limit the descending distance of the lifting pins; a plurality of support blocks (2-2) are provided at the lower portion of the clamping body (2); The workpiece is conveyed to a preset position by the roller mechanism, the lifting mechanism lifts the workpiece, and after a set of lifting pins of the lifting pin mechanism descend and are inserted into the holes of the workpiece, the two clamps (2) slide toward each other so that the support block (2-2) abuts against the lower end surface of the workpiece, thereby lifting the workpiece.

2. The adaptive clamping device for multi-specification workpieces according to claim 1, characterized in that: Two clamping body guide rails (1-4) are arranged opposite to each other on the lower end surface of the clamping claw base (1), and two opposite clamping body sliders (2-3) are arranged on the upper end of the clamping body (2), and the clamping body sliders (2-3) are slidably arranged on the clamping body guide rails (1-4); The clamping jaw base (1) is provided with a clamping body driving mechanism (10) for driving the clamping body (2) to slide; The upper end of the clamp body (2) is provided with a socket (8), and three pin holes are provided on the socket (8) at intervals. The clamp base (1) is provided with a latch mechanism (7) corresponding to the socket (8), and the latch mechanism (7) includes a latch driving cylinder and a latch provided on the piston rod of the latch driving cylinder; After the clamp body (2) slides to a preset position, the latch pin is inserted into the pin hole to lock the clamp body (2).

3. The adaptive clamping device for multi-specification workpieces according to claim 2, characterized in that: The clamp body driving mechanism (10) comprises a first driving cylinder (10-3) arranged on the clamping claw base (1) and a second driving cylinder (10-4) arranged on the end of the piston rod of the first driving cylinder (10-3), and the end of the piston rod of the second driving cylinder (10-4) is connected to the upper end of the clamp body (2); When the piston rods of the first driving cylinder (10-3) and the second driving cylinder (10-4) are fully extended, the distance between the two clamps (2) is the largest and they are in a fully opened state; When the piston rods of the first driving cylinder (10-3) and the second driving cylinder (10-4) are fully retracted, the pin hole on the outside of the socket (8) corresponds to the latch pin of the latch mechanism (7); When the piston rod of the first driving cylinder (10-3) is extended and the piston rod of the second driving cylinder (10-4) is fully retracted, the pin hole inside the socket (8) corresponds to the pin of the pin mechanism (7); When the piston rod of the second driving cylinder (10-4) is fully retracted and the piston rod of the first driving cylinder (10-3) is partially retracted, the pin hole in the middle of the socket (8) corresponds to the latch of the latch mechanism (7).

4. The adaptive clamping device for multi-specification workpieces according to claim 3, characterized in that: The lifting pin module comprises a lifting cylinder arranged on the clamping claw base (1), a lifting plate arranged on the end of the piston rod of the lifting cylinder, a plurality of positioning pins arranged on the lower end surface of the lifting plate, and a sensor assembly arranged on the lifting plate; the piston rod of the lifting cylinder passes through the clamping claw base (1); after the lifting plate is lowered into position, the positioning pin is inserted into the hole of the workpiece; A displacement blocking rod (9) is provided inside the clamp body (2), and the displacement blocking rod (9) corresponds to the position of the lifting plate after it is lowered into place. The displacement blocking rod (9) abuts against the lifting plate to stop the clamp body (2) at a preset position.

5. The adaptive clamping device for multi-specification workpieces according to claim 4, characterized in that: The limiter comprises a limit rod arranged on the lifting plate, a limit slider driving cylinder (4-7) fixed on the clamping claw base (1), a limit slider (4-4) connected to the end of the piston rod of the limit slider driving cylinder (4-7) and a slide seat, and the limit slider (4-4) is slidably arranged on the slide seat; The limiting rod comprises a lifting portion (4-2) vertically penetrating the clamping claw base (1), a connecting portion (4-1) arranged at the lower end of the lifting portion (4-2), and a limiting portion (4-3) arranged at the upper end of the lifting portion (4-2); an annular groove is clamped on the connecting portion (4-1), and the lifting plate is clamped in the groove; the cross-sectional size of the lifting portion (4-2) is smaller than the cross-sectional size of the limiting portion (4-3); A long slot (4-4-2) is vertically provided on the limiting slider (4-4), a large hole (4-4-1) is provided at one end of the slot (4-4-2), the lifting portion (4-2) is passed through the slot (4-4-2), and the cross-sectional dimension of the large hole (4-4-1) is larger than the cross-sectional dimension of the limiting portion (4-3); The lifting portion (4-2) descends along with the lifting plate so that the limiting portion (4-3) abuts against both sides of the slot hole (4-4-2) to stop the lifting plate at a preset position; The limiting slider (4-4) slides under the drive of the limiting slider driving cylinder (4-7), so that the limiting portion (4-3) is opposite to the large hole (4-4-1), thereby releasing the restriction on the descending stroke of the lifting plate.

6. The adaptive clamping device for multi-specification workpieces according to claim 5, characterized in that: The slide seat comprises two slides (4-5) arranged on both sides of the limit rod relative to each other, the slides (4-5) are provided with guide grooves, the limit slider (4-4) is slidably arranged in the guide grooves, and the slides (4-5) are provided with a pressing piece (4-6), and the pressing piece (4-6) is used to limit the displacement of the limit slider (4-4) in the vertical direction.

7. The adaptive clamping device for multi-specification workpieces according to claim 5, characterized in that: Two transverse reinforcing plates (1-1) and two longitudinal reinforcing plates (1-2) are symmetrically arranged on the gripper base (1), the two transverse reinforcing plates (1-1) and the two longitudinal reinforcing plates (1-2) are arranged in a well shape, and a connecting plate (1-3) is centrally arranged on the two transverse reinforcing plates (1-1) for connecting to the robot arm; The two transverse reinforcing plates (1-1) are divided into two inner cavities and two outer cavities by the connecting plate (1-3) and the two longitudinal reinforcing plates (1-2); the inner cavity is provided with an inner lifting pin module (5) and an inner limiter (6); the outer cavity is provided with an outer lifting pin module (3) and an outer limiter (4); the inner limiter (6) and the limit slider driving cylinder (4-7) of the outer limiter (4) are fixed on the longitudinal reinforcing plate (1-2) in a mirror-image manner.

8. The adaptive clamping device for multi-specification workpieces according to claim 1, characterized in that: The roller mechanism comprises a roller support seat (201), a plurality of conveying rollers (202) arranged at intervals on the roller support seat (201), and two groups of stopper assemblies symmetrically arranged on the roller support seat (201), wherein the two stopper assemblies are used to stop the workpiece conveyed on the conveying rollers (202) at a preset position; The stopper assembly comprises a stopper mounting seat (204) arranged on the edge of the roller support seat (201) and a plurality of stopper driving cylinders (205) arranged at intervals on the stopper mounting seat (204); a stopper mounting shaft (206) is connected to the piston rod of the stopper driving cylinder (205); and a stopper (207) is provided at the end of the stopper mounting shaft (206) facing the conveying direction of the conveying roller (202).

9. The adaptive clamping device for multi-specification workpieces according to claim 8, characterized in that: A plurality of positioning pin driving cylinders (209) are provided on the lower end surface of the roller support seat (201), the extension direction of the piston rod of the positioning pin driving cylinder (209) is vertically downward, and an adapter plate (210) is provided at the lower end of the piston rod of the positioning pin driving cylinder (209), and a loading positioning pin (208) is provided at one end of the adapter plate (210), and the loading positioning pin (208) passes through the roller support seat (201); The positioning pin driving cylinder (209) drives the loading positioning pin (208) to rise, so that the loading positioning pin (208) is inserted into the hole on the lower end surface of the workpiece.

10. The adaptive clamping device for multi-specification workpieces according to claim 9, characterized in that: The lifting mechanism comprises two symmetrically arranged lifting assemblies, two supporting plates (214) arranged on the two lifting assemblies, and two supporting rods (203) arranged on the two supporting plates (214); The lifting assembly comprises a bidirectional driving cylinder (211) arranged on the roller support seat (201) and two pad guide rail components arranged on both sides of the bidirectional driving cylinder (211); the pad guide rail component comprises a feeding guide rail (212) and a pad (213) slidably arranged on the feeding guide rail (212); the pad (213) is provided with two groups of pad lower parts (213-1) and two groups of pad upper parts (213-2); the pad lower parts (213-1) and the pad upper parts (213-2) are connected by an inclined plane; A pulley (215) is provided at each of the four corners of the lower end surface of the support plate (214), and the pulley (215) is slidably provided on the pad (213). A lifting plate guide column (216) is provided on the lower end surface of the support plate (214), and a lifting guide hole is provided on the roller support seat (201) corresponding to the lifting plate guide column (216). The lifting plate guide column (216) is slidably provided in the lifting guide hole. The pad (213) is connected to the piston rod of the bidirectional driving cylinder (211), and the bidirectional driving cylinder (211) drives the pads (213) on both sides to slide synchronously. The pad (213) slides to make the pulley (215) slide between the lower part (213-1) of the pad and the upper part (213-2) of the pad, thereby making the support plate (214) rise or fall.

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