A double-sided clamping and position-adjustable multi-workpiece manipulator grabbing device

Abstract

This invention provides a multi-workpiece gripper device with double-sided clamping and position adjustment, belonging to the technical field of gripper devices for robotic arms. It includes a robotic arm interface, a rotating part, a clamping opening and closing module, an elastic balancing part, a first clamping part, a second clamping part, and a cleaning air blowing assembly. The robotic arm interface achieves lateral position adjustment via a translational mounting base. The rotating part drives the clamping opening and closing module to rotate and adjust as a whole. The clamping opening and closing module drives the first and second sliding plates to open and close, exhibiting two actions: first, the clamping plate flips to its position and locks, achieving rigid clamping through the opening and closing of the sliding plates; second, the opening and closing of the sliding plates and the flipping of the clamping plates are synchronously linked, with the clamping plate flipping outwards to avoid obstruction when opening and inwards to conform to the curved surface when closing. The inner side of the clamping plate integrates front and back clamping blocks, allowing for rapid switching as needed. The elastic balancing part provides opening and closing buffers and automatically blows air to clean debris through the cleaning air blowing assembly, achieving flexible adjustment across multiple workstations and rapid switching between front and back sides.

Description

Technical Field

[0001] This invention relates to the field of gripping devices for robotic arms, and particularly to a multi-workpiece gripping device for robotic arms that can grip on both sides and adjust its position. Background Technology

[0002] As a core component in automated production lines, robotic gripper devices are widely used in workpiece handling, assembly, and loading / unloading processes. With the development of intelligent manufacturing, the requirements for the flexibility, multi-station operation capability, and gripping accuracy of gripper devices are increasing.

[0003] Existing robotic gripper devices have the following shortcomings in application: First, when gripping multiple workpieces, the initial center distance between each workpiece and the target station's positioning center distance are often inconsistent. Fixed-space grippers cannot adapt to the variable distance requirements between different processes, leading to low production efficiency or requiring manual adjustments. Second, workpieces often require front and back side processing. Existing devices typically require manual workpiece flipping or fixture replacement when switching between front and back sides, making it impossible to quickly switch between front and back sides at the same station, thus affecting production efficiency. Third, traditional grippers have a single gripping mode, mostly using a parallel opening and closing method. While this is suitable for regular planar workpieces, it is difficult to achieve a close, wrapping grip for irregularly shaped curved workpieces, easily leading to unstable gripping or damage to the workpiece surface. Fourth, in machining environments, workpiece surfaces often have chips or impurities attached. Existing grippers lack effective online cleaning functions, and chips are easily squeezed against the gripping surface during clamping, causing indentation damage to the workpiece surface and affecting the accuracy of clamping positioning. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-workpiece robotic gripper device with double-sided clamping and position adjustment to solve the technical problems in the prior art, such as the inability to adjust the clamping distance, inconvenience in switching between front and back clamping, poor adaptability to irregularly shaped workpieces, and the easy impact of debris on clamping accuracy. It realizes the functions of flexible adjustment of multiple stations, rapid switching between front and back, adaptive wrapping and clamping of irregular curved surfaces, and automatic cleaning of the clamping surface.

[0005] The objective of this invention is achieved through the following technical solution: a multi-workpiece gripping device with double-sided clamping and position adjustment, comprising a gripper interface, a rotating part, a clamping opening and closing module, an elastic balancing part, a first clamping part, a second clamping part, and a cleaning air blowing assembly.

[0006] The robot interface includes a central mounting base, which is fixedly located at the bottom center of the robot interface. Both sides of the central mounting base are provided with translational mounting bases, which are slidably connected to the robot interface. Rotating parts are installed at the bottom of both the central mounting base and the translational mounting bases.

[0007] The rotating part includes a pneumatic rotating device and a base plate. The pneumatic rotating device is fixedly installed at the bottom of the central mounting base or the translational mounting base, and the top center of the base plate is connected to the output shaft of the pneumatic rotating device.

[0008] The base plate is provided with a clamping opening and closing module, which includes a first sliding plate and a second sliding plate that are driven by the same driving mechanism and can move in opposite directions;

[0009] A first clamping part is installed at the lower outer end of the first sliding plate, and a second clamping part is installed at the lower outer end of the second sliding plate. The first clamping part includes a first clamping plate, and the second clamping part includes a second clamping plate. The top end of the first clamping plate is screwed to the lower outer end of the first sliding plate, and the top end of the second clamping plate is screwed to the lower outer end of the second sliding plate.

[0010] The inner side of the first clamping plate is equipped with a first front clamping block and a first back clamping block, and the inner side of the second clamping plate is equipped with a second front clamping block and a second back clamping block.

[0011] The elastic balance part is installed between the top surface of the base plate and the second sliding plate. It includes a telescopic airbag, which can play an elastic buffer support role. The telescopic airbag also has an air intake and air blowing function. When the second sliding plate moves, it can automatically blow air between the first front clamping block and the first back clamping block in the first clamping part and between the second front clamping block and the second back clamping block in the second clamping part through the connected cleaning air blowing assembly.

[0012] The process of using the technical solution of the present invention is as follows:

[0013] The robot arm interface is connected to the external robot arm. The central mounting base is fixed at the bottom center of the robot arm interface. The translational mounting bases are located on both sides of the central mounting base and can be adjusted laterally along the crossbeam according to the workpiece spacing requirements.

[0014] The translational mounting base moves laterally with the robot arm interface as the reference, adjusting the distance between the gripping devices on both sides to adapt to the layout size of different workpieces. The central mounting base and the rotating part at the bottom of the translational mounting base move synchronously with the translational mounting base.

[0015] The pneumatic rotating device drives the base plate to rotate around the output shaft of the pneumatic rotating device, adjusting the angle and posture of the clamping opening and closing module so that the first clamping part and the second clamping part can adapt to different gripping directions.

[0016] The opening and closing actions of the first and second sliding plates, combined with the flipping action of the first clamping plate with the first sliding plate as a reference and the flipping action of the second clamping plate with the second sliding plate as a reference, can achieve the following two different clamping actions on the workpiece:

[0017] Action 1: When both the first clamping plate and the second clamping plate are flipped inward into place, it is equivalent to the first clamping plate and the first sliding plate being a whole, and the second clamping plate and the second sliding plate being a whole. At this time, the workpiece can be clamped by controlling the opening and closing of the first sliding plate and the second sliding plate.

[0018] Action 2: While the first and second sliding plates are opening and closing, the first clamping plate rotates synchronously with respect to the first sliding plate, and the second clamping plate rotates synchronously with respect to the second sliding plate. This is so that when the first and second sliding plates move away from each other and open, the first and second clamping plates rotate outwards synchronously. Conversely, when the first and second sliding plates move closer to each other and close, the first and second clamping plates rotate inwards synchronously. When the first and second sliding plates move closer to each other and move to a position where they can clamp the workpiece, the first and second clamping plates also rotate inwards to a position where they can clamp the workpiece.

[0019] Based on the clamping requirements for the front and back sides of the workpiece, the first front clamping block and the second front clamping block are used to clamp the front side of the workpiece, or the first back clamping block and the second back clamping block are used to clamp the back side of the workpiece.

[0020] The elastic balancing part provides elastic buffer support while the first and second sliding plates are opening and closing;

[0021] When the second sliding plate opens and closes, it can release and compress the telescopic airbag. During the telescopic process, the telescopic airbag generates inhalation and exhalation functions. Through the connected cleaning and blowing assembly, it automatically blows air between the first front clamping block and the first back clamping block in the first clamping part and between the second front clamping block and the second back clamping block in the second clamping part.

[0022] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0023] (1) The present invention can flexibly adjust the relative position of the two sets of clamping units according to the actual spacing requirements of the workpiece by adjusting the lateral translation of the translation mounting seats on both sides of the central mounting seat, so as to adapt to the layout of workpieces of different sizes; at the same time, the pneumatic rotating device drives the base plate to rotate, so that the clamping opening and closing module can adjust the angle and posture according to the workpiece placement direction, so that the robot can accurately position and grasp workpieces with multiple positions and multiple orientations, greatly improving the adaptability of the production line to changes in product specifications and reducing the equipment adjustment time during production changeover.

[0024] (2) The opening and closing action of the first sliding plate and the second sliding plate of the present invention, together with the flipping action of the first clamping plate based on the first sliding plate and the flipping action of the second clamping plate based on the second sliding plate, can form two different clamping actions for the workpiece to meet different working conditions. After the first clamping plate and the second clamping plate are flipped inward and locked, they form a rigid whole with the first sliding plate and the second sliding plate. In this mode, the clamping force is directly transmitted and the anti-eccentric load capacity is strong. It can provide a stable clamping torque and is suitable for clamping heavy regular workpieces. The linkage formed by the opening and closing action of the first sliding plate and the second sliding plate and the synchronous flipping action of the first clamping plate based on the first sliding plate and the synchronous flipping action of the second clamping plate based on the second sliding plate can make the first clamping plate and the second clamping plate flip outward to form an avoidance space when the first sliding plate and the second sliding plate are opened outward, preventing interference with the workpiece, and forming an adaptive wrapping clamping for irregular curved surfaces.

[0025] (3) The telescopic airbag provided in the elastic balance part of the present invention provides elastic buffer when the first sliding plate and the second sliding plate open and close, so that the opening and closing action is smooth and stable, avoiding jamming or workpiece damage caused by rigid impact; at the same time, the telescopic airbag automatically generates suction and blowing functions during the extension and retraction process, and blows air in a directional manner between the first front clamping block and the first back clamping block and between the second front clamping block and the second back clamping block through the connected cleaning blowing component, effectively removing processing debris, preventing debris from sticking to the clamping surface, avoiding positioning deviation caused by debris accumulation, and ensuring that the clamping system maintains a high precision and high reliability working state for a long time;

[0026] (4) At the same time, in the non-clamping working state, the present invention, in conjunction with the elastic balance part and the cleaning air blowing assembly, performs air blowing treatment between the first front clamping block and the first back clamping block and between the second front clamping block and the second back clamping block. By utilizing the reciprocating flipping of the first clamping plate with the first sliding plate as the reference within a certain range and the flipping of the second clamping plate with the second sliding plate as the reference within a certain range, it can also form the effect of blowing air and shaking at the same time, thereby improving the cleaning efficiency. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a first-view structural schematic diagram of the robotic arm interface of the present invention;

[0030] Figure 3 This is a schematic diagram of the robot arm interface section from a second perspective of the present invention;

[0031] Figure 4 This is a schematic diagram of the rotating part of the present invention;

[0032] Figure 5 This is a schematic diagram showing the installation positions of the clamping opening and closing module, the elastic balance part, the first clamping part, the second clamping part, and the cleaning air blowing assembly relative to the base plate of the present invention.

[0033] Figure 6 This is a schematic diagram of the clamping and opening module of the present invention from a first perspective;

[0034] Figure 7 This is a schematic diagram of the clamping and opening module of the present invention from a second perspective;

[0035] Figure 8 This is a first-view exploded structural diagram of the elastic balance part of the present invention;

[0036] Figure 9 This is a second-view exploded structural diagram of the elastic balance part of the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of the first clamping part of the present invention from a first perspective;

[0038] Figure 11 This is a schematic diagram of the first clamping part of the present invention from a second perspective;

[0039] Figure 12 This is a schematic diagram of the second clamping part of the present invention from a first perspective;

[0040] Figure 13 This is a schematic diagram of the second clamping part of the present invention from a second perspective;

[0041] Figure 14 This is a schematic diagram of the installation of the cleaning air blowing assembly of the present invention;

[0042] Figure 15 This is a schematic diagram of the piping arrangement of the cleaning air blowing assembly of the present invention;

[0043] Figure 16 This is a schematic diagram of the structure of the second dual-headed air blowing tube of the present invention;

[0044] Figure 17 This is a schematic diagram of the structure of the first bidirectional air blowing channel portion of the present invention;

[0045] Figure 18 This is a cross-sectional schematic diagram of the first bidirectional air blowing channel portion of the present invention.

[0046] Figure label:

[0047] 1. Robotic arm interface; 2. Rotating part; 3. Clamping opening and closing module; 4. Elastic balancing part; 5. First clamping part; 6. Second clamping part; 7. Cleaning air blowing assembly; 101. Crossbeam; 102. Central mounting base; 103. Translation mounting base; 104. Translation cylinder; 105. Limiting backrest; 106. Stand; 107. Translation distance sensor; 108. Translation linear slide rail; 109. Translation linear slider; 201. Pneumatic rotating device; 202. Gantry frame; 203. Base plate; 30 1. Opening and closing linear slide rail; 302. Opening and closing linear slider; 303. First sliding plate; 304. Second sliding plate; 305. First upright plate; 306. Second upright plate; 307. Opening and closing cylinder; 308. Active arm; 309. Passive arm; 310. Central rotating base; 311. Rotating arm; 312. First connecting rod; 313. Second connecting rod; 314. Opening and closing distance sensor; 401. Reference base; 402. Slide base; 403. Moving connecting base; 404. Telescopic airbag; 405. Sealing base; 406. Sliding column; 407. Balance spring; 408. One-way air inlet pipe; 409. One-way air outlet pipe; 501. First fixed inclined seat; 502. First tilting cylinder; 503. First tilting shaft; 504. First clamping plate; 505. First front clamping block; 506. First back clamping block; 507. First rolling seat; 508. First rolling wheel; 509. First rolling groove; 510. First limiting block; 511. Elastic connecting piece; 601. Second fixed inclined seat; 602. Second tilting cylinder ; 603, Second flipping shaft; 604, Second clamping plate; 605, Second front clamping block; 606, Second back clamping block; 607, Second rolling seat; 608, Second rolling wheel; 609, Second rolling groove; 610, Second limiting block; 701, Four-way connector; 702, External air inlet pipe; 703, Air inlet valve; 704, Second air blowing pipe; 705, First air blowing pipe; 706, Internal air inlet pipe; 707, Second double-ended air blowing pipe; 708, Connecting elbow; 709, First bidirectional air blowing channel. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] Example 1:

[0051] Examples of the present invention that achieve multi-station flexible adjustment, rapid switching between front and back sides, and adaptive wrapping and clamping of irregular curved surfaces. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown;

[0052] A central mounting base 102 is fixedly connected to the middle of the bottom end of the robot interface 1. A translation mounting base 103 is provided on both sides of the central mounting base 102. The translation mounting base 103 is slidably connected to the robot interface 1. The translation mounting base 103 can be translated laterally with the robot interface 1 as a reference. A rotating part 2 is installed at the bottom end of both the central mounting base 102 and the translation mounting base 103.

[0053] The pneumatic rotating device 201 is fixedly installed at the bottom of the central mounting base 102 or the translational mounting base 103. The top center of the base plate 203 is connected to the output shaft of the pneumatic rotating device 201. The base plate 203 can rotate with the pneumatic rotating device 201 as a reference.

[0054] The base plate 203 is provided with a clamping opening and closing module 3. The clamping opening and closing module 3 includes a first sliding plate 303 and a second sliding plate 304 that can move in opposite directions and are driven by the same driving mechanism. The top end of the first clamping plate 504 is screwed to the lower outer end of the first sliding plate 303. The first clamping plate 504 can rotate within a certain range with the first sliding plate 303 as the reference. The top end of the second clamping plate 604 is screwed to the lower outer end of the second sliding plate 304. The second clamping plate 604 can rotate within a certain range with the second sliding plate 304 as the reference. The number of the first clamping plate 504 and the second clamping plate 604 is determined according to the clamping requirements, with the standard being to be able to firmly clamp the workpiece.

[0055] The inner side of the first clamping plate 504 is equipped with a first front clamping block 505 and a first back clamping block 506, and the inner side of the second clamping plate 604 is equipped with a second front clamping block 605 and a second back clamping block 606. The first front clamping block 505 and the second front clamping block 605 are used as a set, and they have curved surfaces corresponding to the front clamping position of the workpiece, so as to clamp the front of the workpiece. The first back clamping block 506 and the second back clamping block 606 are used as a set, and they have curved surfaces corresponding to the side clamping position of the workpiece, so as to clamp the side of the workpiece.

[0056] When the first sliding plate 303 and the second sliding plate 304 are in place and the first clamping plate 504 and the second clamping plate 604 are flipped inward, the workpiece placed on the front can be clamped by the cooperation of the first front clamping block 505 and the second front clamping block 605, and the workpiece placed on the back can be clamped by the cooperation of the first back clamping block 506 and the second back clamping block 606.

[0057] The elastic balancing part 4 is installed between the top surface of the base plate 203 and the second sliding plate 304, and can play an elastic buffering and supporting role.

[0058] The working principle is as follows:

[0059] The robot interface 1 is connected to an external robot. The central mounting base 102 is fixed at the middle of the bottom end of the robot interface 1. The translation mounting bases 103 are located on both sides of the central mounting base 102 and can be adjusted laterally along the crossbeam 101 according to the workpiece spacing requirements.

[0060] The translational mounting base 103 moves laterally with the robot interface 1 as a reference, adjusting the distance between the gripping devices on both sides to adapt to the layout size of different workpieces. The center mounting base 102 and the rotating part 2 at the bottom of the translational mounting base 103 move synchronously with the translational mounting base 103.

[0061] The pneumatic rotating device 201 drives the base plate 203 to rotate with the output shaft of the pneumatic rotating device 201 as the reference, adjusting the angle and posture of the clamping opening and closing module 3 so that the first clamping part 5 and the second clamping part 6 can adapt to different gripping directions.

[0062] The opening and closing actions of the first sliding plate 303 and the second sliding plate 304, combined with the flipping action of the first clamping plate 504 with the first sliding plate 303 as the reference and the flipping action of the second clamping plate 604 with the second sliding plate 304 as the reference, can achieve the following two different clamping actions on the workpiece:

[0063] Action 1: When the first clamping plate 504 and the second clamping plate 604 are both flipped inward to their positions, it is equivalent to the first clamping plate 504 and the first sliding plate 303 as a whole, and the second clamping plate 604 and the second sliding plate 304 as a whole. At this time, the workpiece can be clamped by controlling the opening and closing of the first sliding plate 303 and the second sliding plate 304.

[0064] Action 2: While the first sliding plate 303 and the second sliding plate 304 are opening and closing, the first clamping plate 504 and the second clamping plate 604 are simultaneously flipped with respect to the first sliding plate 303 and the second sliding plate 304, respectively. This is such that when the first sliding plate 303 and the second sliding plate 304 are opening away from each other, the first clamping plate 504 and the second clamping plate 604 are simultaneously flipped outwards. Conversely, when the first sliding plate 303 and the second sliding plate 304 are closing away from each other, the first clamping plate 504 and the second clamping plate 604 are simultaneously flipped inwards. When the first sliding plate 303 and the second sliding plate 304 move closer to each other to a position where they can clamp the workpiece, the first clamping plate 504 and the second clamping plate 604 are also flipped inwards to a position where they can clamp the workpiece.

[0065] Based on the clamping requirements of the front and back sides of the workpiece, the first front clamping block 505 and the second front clamping block 605 are used to clamp the front side of the workpiece, or the first back clamping block 506 and the second back clamping block 606 are used to clamp the back side of the workpiece.

[0066] The elastic balance part 4 provides elastic buffer support while the first sliding plate 303 and the second sliding plate 304 are opening and closing, which makes the opening and closing of the first sliding plate 303 and the second sliding plate 304 under a single drive smoother and avoids jamming.

[0067] The specific structures of the robotic arm interface 1, rotating part 2, and clamping opening and closing module 3 are as follows: Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the center mounting base 102 is fixed to the middle of the bottom end of the crossbeam 101. A translation linear slide rail 108 is fixedly installed parallel to the bottom end of the crossbeam 101. The translation linear slider 109 is slidably installed on the translation linear slide rail 108 and connected to the translation mounting base 103.

[0068] The main body of the translation cylinder 104 is fixed to the bottom end of the crossbeam 101 via the stand 106. The piston rod of the translation cylinder 104 is connected to one side of the translation mounting base 103. The limiting backrest 105 is set at both ends of the crossbeam 101 to limit the movement range of the translation mounting base 103. The translation distance sensor 107 is installed between the stand 106 and the side end of the translation mounting base 103 to detect the translation distance of the translation mounting base 103.

[0069] The distance between the two translational mounting bases 103 and the central mounting base 102 can be precisely controlled by the translational distance sensor 107, achieving millimeter-level precision adjustment; the limit support 105 prevents excessive movement from causing equipment damage.

[0070] The portal frame 202 is fixedly installed between the output shaft of the pneumatic rotating device 201 and the base plate 203. The pneumatic rotating device 201 can drive the portal frame 202 to rotate 0-360 degrees with the axis of the pneumatic rotating device 201 as the reference. The base plate 203 is fixedly installed at the bottom end of the portal frame 202.

[0071] The gantry frame 202 has a stable structure, providing a reliable installation base for the lower clamping and opening module 3. Its 360-degree rotation capability allows the device to adapt to workpiece gripping needs at various angles, improving its versatility.

[0072] The opening and closing linear slide rail 301 is fixedly installed parallel to the top surface of the base plate 203. The opening and closing linear slide rail 301 is slidably connected to the opening and closing linear slider 302. The first sliding plate 303 and the second sliding plate 304 are respectively installed on the opening and closing linear slider 302 on both sides. The lower outer end of the first sliding plate 303 is fixed with a first vertical plate 305, and the lower outer end of the second sliding plate 304 is fixed with multiple sets of second vertical plates 306.

[0073] A central pivot 310 is fixedly installed in the middle of the top surface of the base plate 203. A rotating arm 311 is screwed into the central pivot 310. A first connecting rod 312 and a second connecting rod 313 are screwed to both ends of the rotating arm 311, respectively. An active arm 308 is fixed to one side of the top end of the first sliding plate 303, and a passive arm 309 is fixed to the other side of the top end of the second sliding plate 304. The other end of the first connecting rod 312 is screwed to the active arm 308, and the other end of the second connecting rod 313 is screwed to the passive arm 309.

[0074] The opening and closing cylinder 307 is installed and fixed on one side of the top surface of the base plate 203, and its piston rod is fixedly connected to the first sliding plate 303.

[0075] The opening and closing cylinder 307 drives the first sliding plate 303 and the second sliding plate 304 to move towards or away from each other through a linkage mechanism consisting of the active arm 308, the passive arm 309, the central rotating seat 310, the rotating arm 311, the first connecting rod 312, and the second connecting rod 313.

[0076] The opening and closing distance sensor 314 is installed between the bottom surface of the base plate 203 and the first upright plate 305 to detect the opening and closing distance of the first sliding plate 303 and the second sliding plate 304.

[0077] The linkage mechanism consisting of active arm 308, passive arm 309, central pivot 310, rotating arm 311, first link 312, and second link 313 ensures that the first sliding plate 303 and the second sliding plate 304 on both sides open and close synchronously with consistent opening and closing accuracy; the opening and closing distance sensor 314 can accurately detect the opening and closing stroke to achieve precise control of the clamping force.

[0078] The specific structures of the first clamping part 5 and the second clamping part 6 are as follows: Figure 10 , Figure 11 , Figure 12 and Figure 13 As shown, the first fixed inclined seat 501 is fixedly installed on the outer side of the first upright plate 305. The first flipping shaft 503 is fixed in the gap at the bottom of the first upright plate 305. The top of the first clamping plate 504 is screwed to the first flipping shaft 503. The first reverse clamping block 506 and the first front clamping block 505 are respectively installed and fixed at the upper and lower positions of the inner side of the first clamping plate 504. The number and position of the first front clamping block 505 and the first reverse clamping block 506 are based on the standard of firmly clamping the workpiece.

[0079] The main body of the first tilting cylinder 502 is fixedly installed on the outer side of the first fixed inclined seat 501, so that the extension and retraction direction of the piston rod of the first tilting cylinder 502 maintains a certain angle with the first vertical plate 305, which is beneficial to pushing the first clamping plate 504.

[0080] The piston rod of the first tilting cylinder 502 is fixedly mounted with a first rolling seat 507. A first rolling wheel 508 is screwed into the first rolling seat 507. A first rolling groove 509 is opened on the outer side of the first clamping plate 504. The first rolling wheel 508 is tumbled in the first rolling groove 509.

[0081] The first limiting block 510 is installed and fixed at the top of the first clamping plate 504 to limit the flipping angle of the first clamping plate 504.

[0082] The first tilting cylinder 502 can drive the first clamping plate 504 to tilt inward with the first tilting shaft 503 as the reference. The rolling guide mechanism formed by the first rolling wheel 508 and the first rolling groove 509 can reduce frictional resistance and make the tilting action more stable and smooth.

[0083] The first limiting block 510 is used to limit the position of the first clamping plate 504 flipped inward to prevent excessive flipping.

[0084] The second fixed inclined seat 601 is fixedly installed on the outer side of the second vertical plate 306. The second flip shaft 603 is fixed in the gap at the bottom of the second vertical plate 306. The top of the second clamping plate 604 is screwed to the second flip shaft 603. The second reverse clamping block 606 and the second front clamping block 605 are respectively installed and fixed at the upper and lower positions of the inner side of the second clamping plate 604. The number and position of the second front clamping block 605 and the second reverse clamping block 606 are based on the standard of firmly clamping the workpiece.

[0085] The main body of the second tilting cylinder 602 is fixedly installed on the outer side of the second fixed inclined seat 601. Similarly, the extension and retraction direction of the piston rod of the second tilting cylinder 602 can be kept at a certain angle with the second vertical plate 306, which is beneficial to pushing the second clamping plate 604.

[0086] The piston rod of the second tilting cylinder 602 is fixedly mounted with a second rolling seat 607. A second rolling wheel 608 is screwed into the second rolling seat 607. A second rolling groove 609 is opened on the outer side of the second clamping plate 604. The second rolling wheel 608 is tumbledly connected in the second rolling groove 609.

[0087] The second limiting block 610 is installed and fixed at the top of the second clamping plate 604, and similarly, it is used to limit the flipping angle of the first clamping plate 504.

[0088] Elastic connecting pieces 511 are installed between the outer side of the first upright plate 305 and the outer side of the first clamping plate 504, and between the outer side of the second upright plate 306 and the outer side of the second clamping plate 604. These allow the first clamping plate 504 to flip outward under the action of elastic force after the piston rod of the first tilting cylinder 502 is retracted.

[0089] After the piston rod of the second tilting cylinder 602 is retracted, the second clamping plate 604 can also tilt outward under the action of elastic force, actively forming an avoidance mechanism.

[0090] In this embodiment, the first clamping part 5 and the second clamping part 6 are designed based on the same technical concept, both used to clamp the side of the workpiece; in order to adapt to the gripping needs of workpieces of different sizes, quantities or arrangements, this application provides two optional structural layout forms, which can be selected or combined by those skilled in the art according to actual working conditions:

[0091] Form 1: The first clamping plate 504 is a single structure, on which multiple clamping pairs consisting of first front clamping blocks 505 and first back clamping blocks 506 are directly integrated along the length direction. This type of structure has strong rigidity and is suitable for synchronous clamping of standard arrayed workpieces.

[0092] Form 2: The second clamping plate 604 is composed of multiple independent sub-units. Each sub-unit is equipped with a clamping pair consisting of a second reverse clamping block 606, a first clamping part 5, and a second reverse clamping block 606. This form is highly flexible and supports adjusting the position of the sub-units according to the actual spacing of the workpiece, or increasing or decreasing the number of sub-units as needed. It is suitable for non-standard or sparsely arranged workpieces.

[0093] Example 2:

[0094] Based on Embodiment 1, examples of the present invention that achieve automatic cleaning function of the clamping surface include... Figure 1 , Figure 8 , Figure 9 , Figure 14 , Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown, the reference seat 401 in the elastic balance part 4 is fixedly installed on the top surface of the base plate 203, and the top surface of the second sliding plate 304 is fixed with a movable connecting seat 403. One end of the telescopic airbag 404 is fixed to the movable connecting seat 403, and the other end is fixed to the reference seat 401.

[0095] A slide block 402 is fixedly installed in the middle of the reference base 401. A sealing seat 405 is fixedly installed in the middle of one end of the telescopic airbag 404. The slide column 406 passes through the sealing seat 405 and is fixed to the bottom surface of the inner cavity of the telescopic airbag 404. The balance spring 407 is sleeved on the slide column 406, and one end of the balance spring 407 is fixed to the bottom surface of the inner cavity of the telescopic airbag 404, and the other end is fixed to the end face of the sealing seat 405.

[0096] One end of the telescopic airbag 404 is connected to a one-way air inlet pipe 408, and the other end is connected to a one-way air outlet pipe 409. The outer wall of the one-way air inlet pipe 408 is fixedly connected to the movable connecting seat 403, and the outer wall of the one-way air outlet pipe 409 is fixedly connected to the reference seat 401. When the telescopic airbag 404 is compressed and released, gas is only allowed to enter the telescopic airbag 404 from the one-way air inlet pipe 408 and to be discharged from the one-way air outlet pipe 409.

[0097] When the telescopic airbag 404 is compressed, it exhausts air through the one-way exhaust pipe 409 and inhales air through the one-way intake pipe 408, thus realizing one-way circulation of gas flow; the balance spring 407 provides a reset force and works in conjunction with the telescopic airbag 404 to achieve the dual functions of elastic buffering and air source drive.

[0098] The inlet on one side of the four-way 701 is connected to the outlet of the one-way air outlet 409 through the internal air inlet pipe 706. The inlet on the other side of the four-way 701 is connected to the external air inlet pipe 702. An air inlet valve 703 is installed in the external air inlet pipe 702. The outlets on both sides of the four-way 701 are respectively connected to the second air blowing pipe 704 and the first air blowing pipe 705.

[0099] The first air blowing pipe 705 is connected to the first bidirectional air blowing channel 709 via a connecting elbow 708. The first bidirectional air blowing channel 709 has a one-inlet-two-outlet structure and is located in the main body of the first clamping plate 504. Its outlet faces the clamping surfaces of the first front clamping block 505 and the first back clamping block 506. The outlet of the second air blowing pipe 704 is connected to the inlet of the second double-headed air blowing pipe 707. Similarly, the second double-headed air blowing pipe 707 also has a one-inlet-two-outlet structure. It is fixedly installed inside the second clamping plate 604, and its outlet faces the clamping surfaces of the second front clamping block 605 and the second back clamping block 606, respectively.

[0100] The external air intake pipe 702 is connected to the four-way valve 701 and can be connected to an external air source. The air intake valve 703 controls the opening and closing of the external air intake pipe 702.

[0101] In the cleaning air blowing assembly 7, all pipes except for the external air inlet pipe 702, the second double-headed air blowing pipe 707 and the connecting elbow 708 are flexible hoses. During the arrangement of the flexible hoses, the device is fixed with pipe clamps at appropriate positions along the flexible hoses, and the outer wall of the flexible hoses is secured in the pipe clamps.

[0102] In this embodiment, the core function of the cleaning air blowing assembly 7 is to distribute airflow to the first clamping part 5 and the second clamping part 6 on both sides. To adapt to different installation spaces and sealing requirements, this application provides two airflow channel implementation forms, which are functionally equivalent and interchangeable:

[0103] Option 1: An independent second double-ended air pipe 707 is used. This pipe is installed as an independent component on the outside or inside cavity of the second clamping plate 604 and is connected to the main air circuit through the second air pipe 704. Its advantage is that it is easy to process, replace and maintain.

[0104] Form 2: A first bidirectional air blowing channel 709 is directly opened inside the first clamping plate 504. The inlet of the first bidirectional air blowing channel 709 is connected to the main air passage through the connecting elbow 708 and the first air blowing pipe 705. This channel uses the material of the clamping plate body to form a flow channel without additional pipes.

[0105] Furthermore, the initial position recognition and positioning of the workpiece in this device are achieved using existing mature technologies such as industrial vision recognition or laser scanning. After acquiring the workpiece coordinates, the external detection system feeds them back to the robot control system to drive the device to move to the gripping position. This positioning method is common knowledge in the field and is not the core improvement of this invention; this invention mainly focuses on the functions of multi-station flexible adjustment for workpiece clamping, rapid switching between front and back sides, adaptive wrapping and clamping of irregular curved surfaces, and automatic cleaning of the clamping surface.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-workpiece gripping device with double-sided clamping and position adjustment, comprising a gripper interface (1) and a rotating part (2), characterized in that: It also includes a clamping opening and closing module (3), an elastic balance part (4), a first clamping part (5), a second clamping part (6), and a cleaning air blowing assembly (7); The robotic arm interface (1) includes a central mounting base (102), and the rotating part (2) includes a base plate (203). The central mounting base (102) is fixed in the middle of the bottom end of the robotic arm interface (1). Both sides of the central mounting base (102) are provided with translational mounting bases (103) that are slidably connected to the robotic arm interface (1). Pneumatic rotating devices (201) are installed at the bottom ends of the central mounting base (102) and the translational mounting bases (103). The top end of the base plate (203) is connected to the output shaft of the pneumatic rotating device (201). The clamping opening and closing module (3) is provided on the base plate (203) and includes a first sliding plate (303) and a second sliding plate (304) that are driven by the same driving mechanism and can move in opposite directions. The first clamping part (5) includes a first clamping plate (504), and the second clamping part (6) includes a second clamping plate (604). The top end of the first clamping plate (504) is screwed to the lower outer end of the first sliding plate (303), and the top end of the second clamping plate (604) is screwed to the lower outer end of the second sliding plate (304). A first front clamping block (505) and a first back clamping block (506) are installed on the inner side of the first clamping plate (504), and the inner side of the second clamping plate (604) is installed with... There are a second front clamping block (605) and a second back clamping block (606). An elastic balance part (4) is installed between the base plate (203) and the second sliding plate (304). It includes a telescopic airbag (404) that can blow air between the first front clamping block (505) and the first back clamping block (506) and between the second front clamping block (605) and the second back clamping block (606) when the second sliding plate (304) moves. The cleaning air blowing assembly (7) includes a second double-headed air blowing pipe (707) and a first bidirectional air blowing channel (709). The first bidirectional air blowing channel (709) is opened in the body of the first clamping plate (504), and its outlet faces the clamping surfaces of the first front clamping block (505) and the first back clamping block (506). The second double-headed air blowing pipe (707) is fixedly disposed inside the second clamping plate (604), and its outlet faces the clamping surfaces of the second front clamping block (605) and the second back clamping block (606) respectively. The opening and closing actions of the first sliding plate (303) and the second sliding plate (304), combined with the flipping action of the first clamping plate (504) based on the first sliding plate (303) and the flipping action of the second clamping plate (604) based on the second sliding plate (304), can achieve the following two different clamping actions on the workpiece: Action 1: When the first clamping plate (504) and the second clamping plate (604) are both flipped inward to their positions, the first clamping plate (504) and the first sliding plate (303) are as a whole, and the second clamping plate (604) and the second sliding plate (304) are as a whole. At this time, the workpiece can be clamped by controlling the opening and closing action of the first sliding plate (303) and the second sliding plate (304). Action 2: While the first sliding plate (303) and the second sliding plate (304) are opening and closing, the first clamping plate (504) is synchronously flipped with respect to the first sliding plate (303), and the second clamping plate (604) is synchronously flipped with respect to the second sliding plate (304). When the first sliding plate (303) and the second sliding plate (304) are opening away from each other, the first clamping plate (504) and the second clamping plate (604) are synchronously flipped outward. Conversely, when the first sliding plate (303) and the second sliding plate (304) are closing close together, the first clamping plate (504) and the second clamping plate (604) are synchronously flipped inward. When the first sliding plate (303) and the second sliding plate (304) move close together to a position where they can clamp the workpiece, the first clamping plate (504) and the second clamping plate (604) also flip inward to a position where they can clamp the workpiece. Based on the clamping requirements of the front and back sides of the workpiece, the first front clamping block (505) and the second front clamping block (605) are used to clamp the front side of the workpiece, or the first back clamping block (506) and the second back clamping block (606) are used to clamp the back side of the workpiece. In the non-clamping working state, the elastic balance part (4) and the cleaning air blowing assembly (7) perform air blowing treatment between the first front clamping block (505) and the first back clamping block (506) and between the second front clamping block (605) and the second back clamping block (606). By utilizing the reciprocating rotation of the first clamping plate (504) with the first sliding plate (303) as the reference within a certain range and the rotation of the second clamping plate (604) with the second sliding plate (304) as the reference within a certain range, an effect of blowing air and shaking can also be formed.

2. The multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 1, characterized in that: The robotic arm interface (1) also includes a crossbeam (101), a translation cylinder (104), a limit support (105), a stand (106), a translation distance sensor (107), and a translation linear slider (109). A central mounting base (102) is fixed to the middle of the bottom end of the crossbeam (101). A translation linear slide rail (108) is fixedly installed parallel to the bottom end of the crossbeam (101). The translation linear slider (109) is slidably mounted on the translation linear slide rail. The slide rail (108) is connected to the translation mounting base (103). The main body of the translation cylinder (104) is fixed to the bottom end of the crossbeam (101) through the stand (106). The piston rod of the translation cylinder (104) is connected to one side of the translation mounting base (103). The limiting backrest (105) is set at both ends of the crossbeam (101). The translation distance sensor (107) is installed between the stand (106) and the side end of the translation mounting base (103).

3. The multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 2, characterized in that: The rotating part (2) also includes a gantry frame (202), which is fixedly installed between the output shaft of the pneumatic rotating device (201) and the base plate (203). The pneumatic rotating device (201) can drive the gantry frame (202) to rotate 0-360 degrees with the axis of the pneumatic rotating device (201) as the reference.

4. A multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 1, 2 or 3, characterized in that: The clamping opening and closing module (3) also includes an opening and closing linear slide rail (301), an opening and closing cylinder (307), an active arm (308), a passive arm (309), and an opening and closing distance sensor (314). The opening and closing linear slide rail (301) is fixedly arranged parallel to the top surface of the base plate (203). An opening and closing linear slider (302) is slidably connected on the opening and closing linear slide rail (301). The first sliding plate (303) and the second sliding plate (304) are respectively installed on the opening and closing linear sliders (302) on both sides. The lower outer end of the first sliding plate (303) is fixed with a first upright plate (305). The lower outer end of the second sliding plate (304) is fixed with multiple sets of second upright plates (306). A center rotating seat (310) is fixedly installed in the middle of the top surface of the base plate (203). A rotating arm (311) is screwed into the rotating base (310). A first connecting rod (312) and a second connecting rod (313) are screwed to both ends of the rotating arm (311). An active arm (308) is fixed to one side of the top of the first sliding plate (303), and a passive arm (309) is fixed to the other side of the top of the second sliding plate (304). The other end of the first connecting rod (312) is screwed to the active arm (308), and the other end of the second connecting rod (313) is screwed to the passive arm (309). An opening and closing cylinder (307) is installed and fixed on one side of the top surface of the base plate (203), and its piston rod is fixedly connected to the first sliding plate (303). An opening and closing distance sensor (314) is installed between the bottom surface of the base plate (203) and the first upright plate (305).

5. A multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 4, characterized in that: The elastic balancing part (4) also includes a reference base (401), a sliding column (406), and a balancing spring (407). The reference base (401) is fixedly mounted on the top surface of the base plate (203). A movable connecting seat (403) is fixedly mounted on the top surface of the second sliding plate (304). One end of the telescopic airbag (404) is secured to the movable connecting seat (403), and the other end is secured to the reference base (401). A sliding seat (402) is fixedly mounted in the middle of the reference base (401), and one end of the telescopic airbag (404) is... A sealing seat (405) is fixedly installed in the middle. The sliding column (406) passes through the sealing seat (405) and is fixed to the bottom surface of the inner cavity of the telescopic airbag (404). The balance spring (407) is sleeved on the outside of the sliding column (406). One end of the balance spring (407) is fixed to the bottom surface of the inner cavity of the telescopic airbag (404), and the other end is fixed to the end face of the sealing seat (405). One end of the telescopic airbag (404) is connected to a one-way air inlet pipe (408), and the other end is connected to a one-way air outlet pipe (409).

6. The multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 5, characterized in that: The first clamping part (5) also includes a first fixed inclined seat (501), a first tilting cylinder (502), and a first limiting block (510). The first fixed inclined seat (501) is fixedly disposed on the outer side of the first upright plate (305). A first tilting shaft (503) is fixed in the gap at the bottom of the first upright plate (305). The top of the first clamping plate (504) is screwed to the first tilting shaft (503). The first reverse clamping block (506) and the first front clamping block (505) are respectively installed and fixed on the upper and lower positions of the inner side of the first clamping plate (504). The main body of the first tilting cylinder (502) is fixedly installed on the outer side of the first fixed inclined seat (501). The piston rod of the first tilting cylinder (502) is fixedly installed with a first rolling seat (507). A first rolling wheel (508) is screwed into the first rolling seat (507). A first rolling groove (509) is opened on the outer side of the first clamping plate (504). The first rolling wheel (508) is rolled and connected in the first rolling groove (509). The first limiting block (510) is installed and fixed at the top of the first clamping plate (504).

7. A multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 6, characterized in that: The second clamping part (6) also includes a second fixed inclined seat (601), a second tilting cylinder (602), and a second limiting block (610). The second fixed inclined seat (601) is fixedly disposed on the outer side of the second vertical plate (306). A second tilting shaft (603) is fixed in the gap at the bottom of the second vertical plate (306). The top of the second clamping plate (604) is screwed to the second tilting shaft (603). The second reverse clamping block (606) and the second front clamping block (605) are respectively installed and fixed on the upper and lower positions of the inner side of the second clamping plate (604). The main body of the second tilting cylinder (602) is fixedly installed on the outer side of the second fixed inclined seat (601). The piston rod of the second tilting cylinder (602) is fixedly installed with a second rolling seat (607). A second rolling wheel (608) is screwed into the second rolling seat (607). A second rolling groove (609) is opened on the outer side of the second clamping plate (604). The second rolling wheel (608) is rolled and connected in the second rolling groove (609). The second limiting block (610) is installed and fixed at the top of the second clamping plate (604).

8. A multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 7, characterized in that: Elastic connecting pieces (511) are installed between the outer side of the first upright plate (305) and the outer side of the first clamping plate (504), and between the outer side of the second upright plate (306) and the outer side of the second clamping plate (604).

9. A multi-workpiece gripping device with double-sided clamping and position adjustment according to claim 6, 7 or 8, characterized in that: The cleaning air blowing assembly (7) includes a four-way connector (701), an internal air inlet pipe (706), and a connecting elbow (708). The outlet of the one-way air outlet pipe (409) is connected to the inlet on one side of the four-way connector (701) through the internal air inlet pipe (706). The inlet on the other side of the four-way connector (701) is connected to an external air inlet pipe (702). An air inlet valve (703) is installed in the external air inlet pipe (702). The outlets on both sides of the four-way connector (701) are respectively connected to a second air blowing pipe (704) and a first air blowing pipe (705). The first air blowing pipe (705) is connected to a first bidirectional air blowing channel (709) through the connecting elbow (708). The outlet of the second air blowing pipe (704) is connected to the inlet of the second double-headed air blowing pipe (707).

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