A transfer gripper

Abstract

The application relates to the technical field of transfer clamps, in particular to a transfer clamp which comprises a mounting seat, a clamping mechanism and a limiting mechanism. The clamping mechanism comprises a connecting shaft fixed on the lower surface of the mounting seat and a top plate rotatably arranged at the bottom of the connecting shaft. Vertical plates are fixed on the two ends of the top plate, and a bottom plate is fixed on the bottom ends of the two vertical plates. Two symmetrical sliding plates are slidably arranged on the lower surface of the bottom plate. The clamping mechanism further comprises a driving module fixed on the lower surface of the bottom plate and used for driving the two sliding plates to move towards each other. The limiting mechanism comprises two air cylinders fixed on the lower surface of the mounting seat in a symmetrical mode, and limiting pins fixed on the telescopic ends of the two air cylinders, respectively. Pin holes corresponding to the bottom ends of the limiting pins are formed in the upper surface of the top plate. Through the arrangement of the clamping mechanism and the limiting mechanism, the number of devices integrated in the clamp itself can be greatly reduced, so that the weight and the complexity of the device can be reduced.

Description

Technical Field

[0001] This application relates to the field of transfer gripper technology, and in particular to a transfer gripper. Background Technology

[0002] In the large-scale production of new energy power components, as well as in the packaging and transportation industries, the loading, unloading, and transfer of components into boxes are core processes that directly affect production efficiency and product yield. These industries have placed increasingly stringent demands on the operational stability, lightweight design, and ease of maintenance of automated clamping equipment. Currently, most transfer grippers widely used in the industry adopt a rigid locking, fully fixed structure design, with no relative movement margin between the gripper and the drive end. During the process of placing the workpiece into the transfer compartment of the transfer basket, the bottom of the workpiece is very likely to make hard contact with the bottom surface of the transfer compartment. This can not only cause impact damage to the workpiece shell, but also, in severe cases, lead to internal damage to the workpiece, shell deformation, and other quality hazards.

[0003] To address the issue of bottom-collision during material release by rigid grippers, some existing solutions involve adding an independent floating buffer module to the gripping end of the gripper. This module uses spring buffers and multiple sets of elastic hinges to compensate for minor floats during release. However, these improvements require integrating numerous additional mechanical parts within the limited installation space of the gripper, significantly increasing its overall weight. This not only increases the load on the hydraulic telescopic drive mechanism but also reduces the dynamic response speed of the equipment. Furthermore, the complex multi-part structure greatly increases the number of potential failure points for later maintenance, making long-term operational reliability difficult to guarantee.

[0004] Therefore, this application provides a transfer gripper. Summary of the Invention

[0005] The purpose of this application is to solve at least one technical problem raised in the background art.

[0006] This application provides a transfer gripper, including a mounting base, a clamping mechanism, and a limiting mechanism; The surface of the mounting base is provided with mounting holes for fixing to the telescopic end of an external hydraulic telescopic cylinder; The clamping mechanism includes a connecting shaft fixed to the lower surface of the mounting base, and a top plate rotatably disposed at the bottom of the connecting shaft. Vertical plates are fixed at both ends of the top plate, and a bottom plate is fixed at the bottom ends of the two vertical plates. Two symmetrical sliding plates are slidably disposed on the lower surface of the bottom plate, and a positioning clamping plate is fixed on the lower surface of the sliding plates. The clamping mechanism also includes a drive module fixed to the lower surface of the bottom plate for driving the two sliding plates to move towards each other. The limiting mechanism includes two cylinders symmetrically fixed on the lower surface of the mounting base, and limiting pins respectively fixed on the extension and retraction ends of the two cylinders. The end of the limiting pin away from the extension and retraction end of the cylinder has an inverted trapezoidal structure. The upper surface of the top plate has a pin hole corresponding to the bottom end of the limiting pin, and the inner wall of the pin hole is fixed with a bushing that is slidably connected to the outer surface of the limiting pin.

[0007] Preferably, the upper surface of the top plate is provided with a mounting hole, and a bearing is fixedly mounted on the inner wall of the mounting hole, and the outer ring surface of the bottom end of the connecting shaft is fixedly connected to the inner ring surface of the bearing.

[0008] By adopting the above technical solution, the clamping mechanism can rotate relative to the mounting base under the action of the connecting shaft and bearing.

[0009] Preferably, the outer surfaces of both vertical plates are fixed with mounting ears, and the surfaces of the mounting ears and the base plate are provided with vertical threaded holes. The inner walls of the vertical threaded holes are threaded with screws, and the opposite surfaces of the two vertical plates are provided with anti-collision limiting blocks.

[0010] By adopting the above technical solution, the vertical plate can be stably installed on the upper surface of the base plate.

[0011] Preferably, the drive module includes a mounting cylinder fixed to the lower surface of the base plate, a drive motor fixed to the inner top wall of the mounting cylinder, a gear plate fixed to the output shaft end of the drive motor, and strip-shaped openings on both sides of the mounting cylinder. Two sliding plates are slidably connected to the inner walls of the two strip-shaped openings, and racks are fixed to the ends of the two sliding plates. The two racks mesh with the gear plate.

[0012] By adopting the above technical solution, the rotation of the drive motor can drive the gear disk to rotate, thereby driving the two racks to slide relative to each other, and thus driving the two slides to move simultaneously to the middle or to both sides.

[0013] Preferably, the drive module further includes two guide plates symmetrically fixed on the lower surface of the base plate. The bottom ends of the two guide plates are each fixed with a T-shaped slide bar. The upper surfaces of the two slide plates are each fixed with a slider corresponding to the T-shaped slide bar. The two ends of the slider are provided with T-shaped grooves that slide and connect with the outer surface of the T-shaped slide bar.

[0014] By adopting the above technical solution, the skateboard can move laterally stably under the action of the guide plate, T-shaped slider and slider, thus ensuring the stability of the skateboard during lateral movement.

[0015] Preferably, the outer surface of the base plate is provided with a protective mechanism, the protective mechanism including a mounting bracket fixed to the upper surface of one end of the base plate, the mounting bracket being used to install the infrared sensor.

[0016] By adopting the above technical solution, it is easy to install the infrared sensor.

[0017] Preferably, the protective mechanism further includes an L-shaped mounting plate fixed to the front of the mounting base. A mounting block is fixed to the lower surface of the L-shaped mounting plate. Bumpers are rotatably mounted on both sides of the bottom end of the mounting block. A stepper motor for driving the bumper rotation is installed inside the mounting block. A transfer basket is installed below the clamping mechanism. The transfer basket is used to transfer the workpiece. Two sets of placement frames for placing the workpiece are symmetrically arranged inside the transfer basket. Several corresponding partitions are equidistantly arranged on the inner walls of both sides of the placement frame. The partitions divide the interior of the placement frame into several transfer compartments. The top of the partition is set as a horizontal plane, the front of the partition is set as a vertical plane, and the top front of the partition is set as an inclined plane.

[0018] By adopting the above technical solution, the two bumpers can be rotated from a horizontal state to a vertical state by the rotation of the stepper motor, thereby protecting the clamped workpiece from falling.

[0019] Preferably, the mounting cylinder is provided with a lubrication mechanism, which includes an annular storage cylinder fixed to the top of the mounting cylinder. The annular storage cylinder is filled with lubricating oil, and the outer surface of the annular storage cylinder is provided with a filling pipe extending to the outer surface of the mounting cylinder, and the end of the filling pipe is provided with a sealing plug.

[0020] By adopting the above technical solution, lubricating oil can be stored in an annular storage cylinder.

[0021] Preferably, the lubrication mechanism further includes a U-shaped pipe fixed to the bottom wall of the mounting cylinder and corresponding to the gear plate. Both ends of the U-shaped pipe are provided with oil nozzles facing the outer ring surface of the gear plate. A connecting pipe is provided on the surface of the U-shaped pipe. One end of the connecting pipe extends into the interior of the U-shaped pipe, and the other end of the connecting pipe extends into the inner bottom of the annular storage cylinder.

[0022] By adopting the above technical solution, lubricating oil can be automatically sprayed out through two nozzles on the U-shaped pipe to lubricate both sides of the gear disc.

[0023] Preferably, an eccentric disc is fixed to the outer surface of the output shaft of the drive motor, and a press-type air pump corresponding to the eccentric disc is fixed to the inner wall of the mounting cylinder. A return spring is fixed to the inner wall of the press-type air pump. An air intake pipe and a pressurizing pipe are respectively provided at the ends of the press-type air pump, and an air intake check valve and a pressurizing check valve are respectively provided on the surfaces of the air intake pipe and the pressurizing pipe. One end of the air intake pipe extends into the interior of the press-type air pump, and the other end of the air intake pipe extends into the outer surface of the mounting cylinder and is provided with a filter cover. One end of the pressurizing pipe extends into the interior of the press-type air pump, and the other end of the pressurizing pipe extends into the inner top of the annular storage cylinder.

[0024] By adopting the above technical solution, the rotation of the eccentric disk can continuously and reciprocate to squeeze the press-type air pump, thereby enabling the press-type air pump to pressurize the inside of the annular storage cylinder through the pressurization pipe, so that the lubricating oil in the annular storage cylinder can enter the U-shaped pipe through the connecting pipe.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The transfer gripper described in this application, by setting a clamping mechanism and a limiting mechanism, when the positioning clamping plate is in the extended state before clamping the workpiece, the two limiting pins extend and are respectively inserted into the bushings in the two pin holes, so that the limiting mechanism and the clamping mechanism are locked to each other. Because the limiting pins are locked, the connecting shaft between the limiting mechanism and the clamping mechanism cannot move relative to the locked part of the clamping mechanism. When the workpiece is clamped, the transfer gripper will rise, and the safety bar will rotate from horizontal to vertical to prevent safety accidents due to workpiece falling. When the workpiece is transferred to the top of the transfer basket, the safety bar will rise and return to the horizontal state. The positioning clamping plate will adjust the distance according to the set distance. When the workpiece clamped by the positioning clamping plate reaches the top of the bottom end of the transfer basket, the positioning clamping plate... As the workpiece falls and enters the inclined surface of the transfer grid, the cylinder retracts, causing the limit pin to retract as well. Since the top of the limit pin has an inverted trapezoidal shape, when the retracted position is flush with the midpoint of the inverted trapezoidal waist and the top surface of the pin hole, the bottom of the workpiece has already entered the inclined surface of the transfer grid. Because the gravity clamping mechanism can rotate freely relative to the limit mechanism along the axis, the range of free rotation is limited to the gap between the top surfaces of the limit pin and the pin hole. At this point, the positioning clamp continues to descend, allowing the workpiece to be placed at the bottom of the transfer grid due to the free rotation range. This prevents the workpiece from touching the bottom while being clamped by the positioning clamp, thus greatly reducing the number of integrated grippers and reducing weight and complexity.

[0026] 2. The transfer gripper described in this application, by setting a lubrication mechanism, when the drive motor drives the gear disk to rotate and drives the two slide plates to move in opposite directions, it can drive the eccentric disk to rotate. The rotation of the eccentric disk can continuously and reciprocally squeeze the press-type air pump, so that the press-type air pump can pressurize the inside of the annular storage cylinder through the pressurization pipe, so that the lubricating oil in the annular storage cylinder can enter the U-shaped pipe through the connecting pipe, and spray a small amount of lubricating oil on both sides of the gear disk through two oil spray nozzles, thereby achieving the purpose of lubricating the gear disk and the rack. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a side view structural diagram of this application; Figure 3 This is a three-dimensional structural diagram of a single clamping mechanism in this application; Figure 4 This application Figure 3 A second-view 3D structural diagram; Figure 5 This is a schematic diagram of the overall structure of the clamping mechanism and the transfer basket in this application; Figure 6 This is a schematic diagram of the transfer basket structure of this application; Figure 7 This application Figure 6 Enlarged structural diagram at point A in the middle; Figure 8 This is a cross-sectional structural diagram of the limiting mechanism of this application; Figure 9 This is a perspective structural diagram of the limiting mechanism of this application; Figure 10 This is a schematic diagram of the internal structure of the mounting cylinder in this application; Figure 11 This application Figure 10 A second-view 3D structural diagram; Figure 12 This is a schematic diagram of the side section structure of the mounting cylinder in this application; Figure 13 This application Figure 12 Enlarged structural diagram at point B.

[0028] Explanation of reference numerals in the attached figures: 100. Mounting bracket; 200. Clamping mechanism; 201. Connecting shaft; 202. Top plate; 203. Vertical plate; 204. Bottom plate; 205. Slide plate; 206. Positioning clamping plate; 207. Mounting ear; 208. Drive module; 2081. Mounting cylinder; 2082. Drive motor; 2083. Gear plate; 2084. Rack; 2085. Guide plate; 2086. T-shaped slide bar; 2087. Slider; 209. Screw; 300. Limiting mechanism; 301. Cylinder; 302. Limiting pin; 303. Pin hole; 304. Bushing; 305. Anti-collision limiting block; 400. Protective mechanism; 401. Mounting bracket; 402. Mounting block; 403. Bumper; 500. Lubrication mechanism; 501. Annular storage cylinder; 502. U-shaped pipe; 503. Oil injector; 504. Connecting pipe; 505. Eccentric disc; 506. Press-type air pump; 507. Return spring; 508. Suction pipe; 509. Pressurization pipe; 600. Transfer basket; 601. Partition; 602. Transfer grid; 603. Horizontal plane; 604. Vertical plane; 605. Inclined plane. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1 To be continued Figure 13 This application will be described in further detail below.

[0030] Example 1 Please refer to the following carefully. Figures 1 to 9 A transfer gripper includes a mounting base 100, a clamping mechanism 200, and a limiting mechanism 300. The mounting base 100 has mounting holes on its surface for fixing to the telescopic end of an external hydraulic telescopic cylinder. The clamping mechanism 200 includes a connecting shaft 201 fixed to the lower surface of the mounting base 100, and a top plate 202 rotatably disposed at the bottom of the connecting shaft 201. Vertical plates 203 are fixed to both ends of the top plate 202, and a bottom plate 204 is fixed to the bottom ends of the two vertical plates 203. Two symmetrical sliding plates 205 are slidably disposed on the lower surface of the bottom plate 204, and positioning clamps are fixed to the lower surface of the sliding plates 205. The clamping mechanism 200 also includes a drive module 208 fixed on the lower surface of the base plate 204 for driving the two sliding plates 205 to move towards each other; the limiting mechanism 300 includes two cylinders 301 symmetrically fixed on the lower surface of the mounting base 100, and limiting pins 302 respectively fixed on the telescopic ends of the two cylinders 301. The end of the limiting pin 302 away from the telescopic end of the cylinder 301 has an inverted trapezoidal structure. The upper surface of the top plate 202 is provided with a pin hole 303 corresponding to the bottom end of the limiting pin 302, and the inner wall of the pin hole 303 is fixed with a bushing 304 that is slidably connected to the outer surface of the limiting pin 302.

[0031] Please refer to this carefully. Figure 3 , Figure 4 The top plate 202 has an installation hole on its upper surface, and a bearing is fixedly installed on the inner wall of the installation hole. The bottom outer ring surface of the connecting shaft 201 is fixedly connected to the inner ring surface of the bearing.

[0032] Specifically, the clamping mechanism 200 is able to rotate relative to the mounting base 100 under the action of the connecting shaft 201 and the bearing.

[0033] Please refer to this carefully. Figure 2 , Figure 3 The outer surfaces of the two vertical plates 203 are each fixed with mounting ears 207. The surfaces of the mounting ears 207 and the base plate 204 are each provided with vertical threaded holes. The inner walls of the vertical threaded holes are threaded with screws 209. The opposite surfaces of the two vertical plates 203 are each provided with anti-collision limiting blocks 305.

[0034] Specifically, this allows the vertical plate 203 to be securely mounted on the upper surface of the base plate 204.

[0035] Please refer to this carefully. Figure 6 , Figure 7 The drive module 208 includes a mounting cylinder 2081 fixed on the lower surface of the base plate 204. A drive motor 2082 is fixed on the inner top wall of the mounting cylinder 2081. A gear disk 2083 is fixed on the end of the output shaft of the drive motor 2082. Both sides of the mounting cylinder 2081 have strip-shaped openings. Two sliding plates 205 are slidably connected to the inner walls of the two strip-shaped openings, and racks 2084 are fixed on the ends of the two sliding plates 205. Both racks 2084 mesh with the gear disk 2083.

[0036] Specifically, the rotation of the drive motor 2082 can drive the gear plate 2083 to rotate, thereby driving the two racks 2084 to slide relative to each other, and thus driving the two slide plates 205 to move simultaneously to the middle or to both sides.

[0037] Please refer to this carefully. Figure 3 , Figure 4 The drive module 208 also includes two guide plates 2085 symmetrically fixed on the lower surface of the base plate 204. The bottom end of each guide plate 2085 is fixed with a T-shaped slide bar 2086. The upper surface of each slide plate 205 is fixed with a slider 2087 corresponding to the T-shaped slide bar 2086. The two ends of the slider 2087 are provided with T-shaped grooves that slide and connect with the outer surface of the T-shaped slide bar 2086.

[0038] Specifically, under the action of the guide plate 2085, the T-shaped slider 2086 and the slider 2087, the slide plate 205 can move laterally stably, ensuring the stability of the slide plate 205 during lateral movement.

[0039] Please refer to this carefully. Figure 1 , Figure 2 The outer surface of the base plate 204 is provided with a protective mechanism 400. The protective mechanism 400 includes a mounting bracket 401 fixed on the upper surface of one end of the base plate 204. The mounting bracket 401 is used to install the infrared sensor.

[0040] Specifically, it facilitates the installation of infrared sensors.

[0041] Please refer to this carefully. Figure 1 , Figure 2 The protective mechanism 400 also includes an L-shaped mounting plate fixed to the front of the mounting base 100. A mounting block 402 is fixed to the lower surface of the L-shaped mounting plate. Bumpers 403 are rotatably mounted on both sides of the bottom end of the mounting block 402. A stepper motor for driving the bumper 403 to rotate is installed inside the mounting block 402.

[0042] Specifically, the stepper motor can rotate the two bumpers 403 from a horizontal state to a vertical state, thereby protecting the clamped workpiece from falling.

[0043] Please refer to this carefully. Figures 5 to 7 Below the clamping mechanism 200 is a transfer basket 600, which is used to transfer workpieces. Inside the transfer basket 600, two sets of placement frames for placing workpieces are symmetrically arranged. On the inner walls of both sides of the placement frames, there are corresponding partitions 601 at equal intervals. The partitions 601 divide the interior of the placement frames into several transfer compartments 602. The top of the partitions 601 is set as a horizontal plane 603, the front of the partitions 601 is set as a vertical plane 604, and the top front of the partitions 601 is set as an inclined plane 605.

[0044] Specifically, the inclined surfaces 605 on both sides prevent the workpiece from being impacted when it comes into contact with the bottom of the transfer basket 600 and transfer grid 602 during the lowering process, which is caused by the right angle of the transfer grid 602. The workpiece can slide down smoothly. Since there is no insulating layer before the lithium workpiece is coated, the workpiece may be damaged by bumps, which will also affect the subsequent coating process. The inclined surfaces 605 allow the workpiece to be lowered slowly without bumping the outer surface of the workpiece.

[0045] In this embodiment, before the positioning clamping plate 206 clamps the workpiece, the cylinder 301 is in the extended state. At this time, the two limiting pins 302 extend and are respectively inserted into the bushings 304 in the two pin holes 303, so that the limiting mechanism 300 and the clamping mechanism 200 are locked to each other. Because the limiting pins 302 are locked, the connecting shaft 201 between the limiting mechanism 300 and the clamping mechanism 200 cannot move relative to the locked part. After the workpiece is clamped, the transfer jaws will rise, and the safety bar 403 will rotate from horizontal to vertical to prevent the workpiece from being clamped due to the workpiece being clamped. A safety accident may occur due to the workpiece falling; when the workpiece is transferred above the transfer basket 600, the safety bar 403 is raised and returns to a horizontal state, and the positioning clamp 206 adjusts the distance according to the set distance. When the workpiece clamped by the positioning clamp 206 reaches above the bottom end of the corresponding transfer grid 602 of the transfer basket 600, the positioning clamp 206 falls. After the workpiece enters the inclined surface 605 of the transfer grid 602, the cylinder 301 changes to a retracted state. At this time, the limit pin 302 retracts. Since the top of the limit pin 302 is provided with an inverted trapezoid, when the retracted position is at the midpoint of the waist of the inverted trapezoid and the pin hole 30 When the top surface of the workpiece is flush with the top surface of the transfer grid 602, the bottom end of the workpiece has entered the inclined surface 605 of the transfer grid 602. Since the gravity clamping mechanism 200 can rotate freely relative to the limiting mechanism 300 along the axis, the range of free rotation is limited to the gap between the top surfaces of the limiting pin 302 and the pin hole 303. At this time, the positioning clamping plate 206 continues to descend, causing the workpiece to be placed at the bottom of the transfer grid 602 due to the existence of the free rotation range. This prevents the workpiece from touching the bottom when clamped by the positioning clamping plate 206, thus greatly improving the efficiency of the equipment. Reducing the number of devices integrated into the gripper itself can reduce weight and equipment complexity. After the workpiece is placed in the transfer basket 600, the drive motor 2082 can be started to reverse and drive the two positioning clamps 206 to release the workpiece. Then, the mounting base 100 and the clamping mechanism 200 are driven to move upward and reset. After resetting, the cylinder 301 is started to extend and drive the limit pin 302 to insert into the bushing 304 in the pin hole 303. When clamping and transferring the next workpiece, the above operation is repeated to achieve the purpose of continuously clamping and transferring multiple workpieces.

[0046] Example 2 Based on Example 1, referring to Figures 10 to 13 And unlike Example 1, the following is true: Please refer to this carefully. Figure 11 , Figure 12 The mounting cylinder 2081 is provided with a lubrication mechanism 500. The lubrication mechanism 500 includes an annular storage cylinder 501 fixed to the top of the mounting cylinder 2081. The annular storage cylinder 501 is filled with lubricating oil, and the outer surface of the annular storage cylinder 501 is provided with a filling tube extending to the outer surface of the mounting cylinder 2081. The end of the filling tube is provided with a sealing plug.

[0047] Specifically, the lubricating oil can be stored through the annular storage cylinder 501.

[0048] Please refer to this carefully. Figure 11 , Figure 12 The lubrication mechanism 500 also includes a U-shaped pipe 502 fixed to the bottom wall of the mounting cylinder 2081 and corresponding to the gear disk 2083. Both ends of the U-shaped pipe 502 are provided with oil nozzles 503 facing the outer ring surface of the gear disk 2083. A connecting pipe 504 is provided on the surface of the U-shaped pipe 502. One end of the connecting pipe 504 extends into the interior of the U-shaped pipe 502, and the other end of the connecting pipe 504 extends into the bottom of the annular storage cylinder 501.

[0049] Specifically, lubricating oil can be sprayed out in a measured amount through two nozzles 503 on the U-shaped pipe 502 to automatically lubricate both sides of the gear disc 2083.

[0050] Please refer to this carefully. Figure 11 , Figure 12 An eccentric disc 505 is fixedly mounted on the outer surface of the output shaft of the drive motor 2082, and a press-type air pump 506 corresponding to the eccentric disc 505 is fixedly mounted on the inner wall of the mounting cylinder 2081. A return spring 507 is fixedly mounted on the inner wall of the press-type air pump 506. An air intake pipe 508 and a pressurizing pipe 509 are respectively provided at the ends of the press-type air pump 506. An air intake check valve and a pressurizing check valve are respectively provided on the surfaces of the air intake pipe 508 and the pressurizing pipe 509. One end of the air intake pipe 508 extends into the interior of the press-type air pump 506, and the other end of the air intake pipe 508 extends into the outer surface of the mounting cylinder 2081 and is provided with a filter cover. One end of the pressurizing pipe 509 extends into the interior of the press-type air pump 506, and the other end of the pressurizing pipe 509 extends into the inner top of the annular storage cylinder 501.

[0051] Specifically, the rotation of the eccentric disc 505 can continuously and reciprocate to compress the press-type air pump 506, thereby enabling the press-type air pump 506 to pressurize the inside of the annular storage cylinder 501 through the pressurization pipe 509, so that the lubricating oil in the annular storage cylinder 501 can enter the U-shaped pipe 502 through the connecting pipe 504.

[0052] In this embodiment, by setting a lubrication mechanism 500, when the drive motor 2082 drives the gear disk 2083 to rotate and drives the two slide plates 205 to move towards each other, it can drive the eccentric disk 505 to rotate. The rotation of the eccentric disk 505 can continuously and reciprocate to squeeze the press-type air pump 506, so that the press-type air pump 506 can pressurize the inside of the annular storage cylinder 501 through the pressurization pipe 509, so that the lubricating oil in the annular storage cylinder 501 can enter the U-shaped pipe 502 through the connecting pipe 504, and spray a small amount of lubricating oil on both sides of the gear disk 2083 through the two oil spray nozzles 503, thereby achieving the purpose of lubricating the gear disk 2083 and the rack 2084.

[0053] Working principle: Before the positioning clamping plate 206 clamps the workpiece, the cylinder 301 is in the extended state. At this time, the two limit pins 302 extend and are respectively inserted into the bushings 304 in the two pin holes 303, so that the limit mechanism 300 and the clamping mechanism 200 are locked together. Because the limit pins 302 are locked, the connecting shaft 201 between the limit mechanism 300 and the clamping mechanism 200 cannot move relative to the locked part. After the workpiece is clamped, the transfer jaws will rise, and the safety bar 403 will rotate from horizontal to vertical to prevent safety accidents caused by the workpiece falling. When the workpiece is transferred above the transfer basket 600, the safety bar 403 is raised and returns to the horizontal state. The positioning clamping plate 206 is set according to the preset... The distance is adjusted so that when the workpiece held by the positioning clamp 206 reaches above the bottom of the corresponding transfer basket 600 transfer grid 602, the positioning clamp 206 falls. After the workpiece enters the inclined surface 605 of the transfer grid 602, the cylinder 301 retracts. At this time, the limit pin 302 retracts. Since the top of the limit pin 302 is provided with an inverted trapezoid, when the retracted position is flush with the midpoint of the inverted trapezoidal waist and the top surface of the pin hole 303, the bottom end of the workpiece has entered the inclined surface 605 of the transfer grid 602. Since the gravity clamping mechanism 200 can rotate freely relative to the limit mechanism 300 along the axis, the range of free rotation is limited to the size of the gap between the top surface of the limit pin 302 and the top surface of the pin hole 303. At this time, the positioning clamp 206 continues to descend, allowing the workpiece to be placed at the bottom of the transfer basket 602 due to its free rotation range. This prevents the workpiece from touching the bottom when clamped by the positioning clamp 206, thus greatly reducing the number of integrated grippers and reducing weight and complexity. Furthermore, after the workpiece is placed in the transfer basket 600, the drive motor 2082 is first activated to reverse and drive the two positioning clamps 206 to release the workpiece. Then, the mounting base 100 and clamping mechanism 200 are driven to move upward and reset. After resetting, the cylinder 301 extends, driving the limit pin 302 to insert into the bushing 304 in the pin hole 303, before clamping the next workpiece. During transfer, repeating the above operations can achieve the purpose of continuously clamping and transferring multiple workpieces. At the same time, when the drive motor 2082 drives the gear disk 2083 to rotate and drives the two slide plates 205 to move towards each other, it can drive the eccentric disk 505 to rotate. The rotation of the eccentric disk 505 can continuously and reciprocate to squeeze the press-type air pump 506, so that the press-type air pump 506 can pressurize the inside of the annular storage cylinder 501 through the pressurization pipe 509, so that the lubricating oil in the annular storage cylinder 501 can enter the U-shaped pipe 502 through the connecting pipe 504, and spray a small amount of lubricating oil on both sides of the gear disk 2083 through the two oil spray nozzles 503, so as to achieve the purpose of lubricating the gear disk 2083 and the rack 2084.

Claims

1. A transfer gripper, characterized in that, It includes a mounting base (100), a clamping mechanism (200), and a limiting mechanism (300); The surface of the mounting base (100) is provided with mounting holes for fixing to the telescopic end of an external hydraulic telescopic cylinder; The clamping mechanism (200) includes a connecting shaft (201) fixed to the lower surface of the mounting base (100) and a top plate (202) rotatably disposed at the bottom of the connecting shaft (201). Both ends of the top plate (202) are fixed with vertical plates (203), and the bottom ends of the two vertical plates (203) are fixed with a bottom plate (204). The lower surface of the bottom plate (204) is slidably disposed with two symmetrical sliding plates (205), and the lower surface of the sliding plates (205) is fixed with a positioning clamping plate (206). The clamping mechanism (200) also includes a driving module (208) fixed to the lower surface of the bottom plate (204) for driving the two sliding plates (205) to move towards each other. The limiting mechanism (300) includes two cylinders (301) symmetrically fixed on the lower surface of the mounting base (100), and limiting pins (302) respectively fixed on the extension and retraction ends of the two cylinders (301). The end of the limiting pin (302) away from the extension and retraction end of the cylinder (301) has an inverted trapezoidal structure. The upper surface of the top plate (202) is provided with a pin hole (303) corresponding to the bottom end of the limiting pin (302), and the inner wall of the pin hole (303) is fixed with a bushing (304) that is slidably connected to the outer surface of the limiting pin (302).

2. The transfer gripper according to claim 1, characterized in that, The top plate (202) has an installation hole on its upper surface, and a bearing is fixedly installed on the inner wall of the installation hole. The bottom outer ring surface of the connecting shaft (201) is fixedly connected to the inner ring surface of the bearing.

3. A transfer gripper according to claim 2, characterized in that, The outer surfaces of the two vertical plates (203) are fixed with mounting ears (207), and the surfaces of the mounting ears (207) and the base plate (204) are provided with vertical threaded holes. The inner walls of the vertical threaded holes are threaded with screws (209), and the opposite surfaces of the two vertical plates (203) are provided with anti-collision limiting blocks (305).

4. A transfer gripper according to claim 3, characterized in that, The drive module (208) includes a mounting cylinder (2081) fixed on the lower surface of the base plate (204). A drive motor (2082) is fixed on the inner top wall of the mounting cylinder (2081). A gear disk (2083) is fixed at the end of the output shaft of the drive motor (2082). Both sides of the mounting cylinder (2081) are provided with strip-shaped openings. Two sliding plates (205) are slidably connected to the inner walls of the two strip-shaped openings respectively. The ends of the two sliding plates (205) are fixed with racks (2084). The two racks (2084) mesh with the gear disk (2083).

5. A transfer gripper according to claim 4, characterized in that, The drive module (208) also includes two guide plates (2085) symmetrically fixed on the lower surface of the base plate (204). The bottom ends of the two guide plates (2085) are each fixed with a T-shaped slide bar (2086). The upper surfaces of the two slide plates (205) are each fixed with a slider (2087) corresponding to the T-shaped slide bar (2086). The two ends of the slider (2087) are provided with T-shaped grooves that slide in connection with the outer surface of the T-shaped slide bar (2086).

6. A transfer gripper according to claim 5, characterized in that, The outer surface of the base plate (204) is provided with a protective mechanism (400), the protective mechanism (400) includes a mounting bracket (401) fixed on the upper surface of one end of the base plate (204), the mounting bracket (401) is used to install the infrared sensor; The protective mechanism (400) also includes an L-shaped mounting plate fixed on the front of the mounting base (100). A mounting block (402) is fixed on the lower surface of the L-shaped mounting plate. Bumpers (403) are rotatably mounted on both sides of the bottom end of the mounting block (402). A stepper motor for driving the bumper (403) to rotate is provided inside the mounting block (402).

7. A transfer gripper according to claim 6, characterized in that, Below the clamping mechanism (200) is a transfer basket (600) for transferring workpieces. The transfer basket (600) has two sets of placement frames symmetrically arranged inside for placing workpieces. The inner walls on both sides of the placement frames are provided with corresponding partitions (601) at equal intervals. The partitions (601) divide the interior of the placement frames into several transfer compartments (602). The top of the partition (601) is set as a horizontal plane (603), the front of the partition (601) is set as a vertical plane (604), and the top front of the partition (601) is set as an inclined plane (605).

8. A transfer gripper according to claim 7, characterized in that, The mounting cylinder (2081) is provided with a lubrication mechanism (500). The lubrication mechanism (500) includes an annular storage cylinder (501) fixed at the top of the mounting cylinder (2081). The annular storage cylinder (501) is filled with lubricating oil, and the outer surface of the annular storage cylinder (501) is provided with a filling tube extending to the outer surface of the mounting cylinder (2081), and the end of the filling tube is provided with a sealing plug.

9. A transfer gripper according to claim 8, characterized in that, The lubrication mechanism (500) further includes a U-shaped pipe (502) fixed to the bottom wall of the mounting cylinder (2081) and corresponding to the gear disc (2083). Both ends of the U-shaped pipe (502) are provided with oil nozzles (503) facing the outer ring surface of the gear disc (2083). A connecting pipe (504) is provided on the surface of the U-shaped pipe (502). One end of the connecting pipe (504) extends into the interior of the U-shaped pipe (502), and the other end of the connecting pipe (504) extends into the inner bottom of the annular storage cylinder (501).

10. A transfer gripper according to claim 9, characterized in that, An eccentric disc (505) is fixedly mounted on the outer surface of the output shaft of the drive motor (2082), and a push-type air pump (506) corresponding to the eccentric disc (505) is fixedly mounted on the inner wall of the mounting cylinder (2081). A return spring (507) is fixedly mounted on the inner wall of the push-type air pump (506). An air intake pipe (508) and a pressurizing pipe (509) are respectively provided at the ends of the push-type air pump (506). The surface of 09 is respectively provided with an air intake one-way valve and a pressure one-way valve. One end of the air intake pipe (508) extends into the interior of the press-type air pump (506), and the other end of the air intake pipe (508) extends into the outer surface of the mounting cylinder (2081) and is provided with a filter cover. One end of the pressure pipe (509) extends into the interior of the press-type air pump (506), and the other end of the pressure pipe (509) extends into the inner top of the annular storage cylinder (501).

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