Carrying clamping hand device

Abstract

The utility model discloses a carrying clamping hand device which comprises a clamping hand body, the clamping hand body comprises a clamping hand main plate and a workpiece pressing plate, a plurality of positioning assemblies corresponding to fixed pin holes of workpieces are arranged on the clamping hand main plate, and a plurality of guiding assemblies are arranged on the periphery between the workpiece pressing plate and the clamping hand main plate. The guide assembly is used for limiting the degree of freedom, except for up-down movement, of the workpiece pressing plate relative to the clamping hand main plate; a clamping and grabbing assembly for grabbing a workpiece is further arranged in the middle of the position between the clamping hand main plate and the workpiece pressing plate, the clamping and grabbing assembly is connected with the clamping hand main plate, and the clamping and grabbing end of the clamping and grabbing assembly penetrates through an avoiding hole of the workpiece pressing plate and then extends downwards to be connected with the workpiece. The clamping hand further comprises a connecting frame connected with the clamping hand main plate, and the connecting frame is further provided with a connecting flange used for being connected with a robot mechanical arm. The workpiece can be automatically grabbed in a fixed-point and fixed-position mode, the workpiece is carried to a corresponding station, carrying efficiency is high, cost is low, standardized production is facilitated, and the yield of the workpiece is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation, in particular to a transportation hand clamping device. Background Art

[0002] Some automotive die-castings are large and heavy. In the prior art, they are manually moved from the previous workstation to the next workstation. During the transportation process, it is difficult to standardize the transportation operation, and the workpiece is easily damaged, affecting the quality of the workpiece. In addition, the transportation efficiency is low, the cost is high, and it is easy to cause injuries to workers, posing a safety hazard.

[0003] Therefore, there is an urgent need to design a handling gripper device that can automatically locate and grab the workpiece and transport the workpiece to the corresponding workstation with high handling efficiency and low cost, and it is convenient for standardized production and improves the yield rate of the workpiece. Utility Model Content

[0004] In order to solve the above problems, the technical solutions adopted by the utility model are as follows:

[0005] A handling gripper device, comprising a gripper body, characterized in that the gripper body comprises a gripper main board and a workpiece pressing plate, the gripper main board is provided with a plurality of positioning components corresponding to the fixed pin holes of the workpiece, a plurality of guide components are provided around the workpiece pressing plate and the gripper main board, and the guide components are used to limit the freedom of the workpiece pressing plate relative to the gripper main board except for up and down movement;

[0006] A clamping assembly for grabbing the workpiece is also provided in the middle between the clamping hand main board and the workpiece pressure plate, the clamping assembly is connected to the clamping hand main board, and the clamping end of the clamping assembly passes through the avoidance hole of the workpiece pressure plate and then extends downward to connect with the workpiece;

[0007] It also includes a connecting frame connected to the gripper mainboard, and the connecting frame is also provided with a connecting flange for connecting to the robot manipulator.

[0008] Preferably, more than two of the hand clamp bodies are provided, and the more than two hand clamp bodies are connected to the connecting frame via a hand clamp main board.

[0009] Preferably, the clamping and grasping assembly comprises a three-grasping cylinder, and the grasping ends of the three-grasping cylinder are respectively provided with picking fingers.

[0010] Preferably, the plurality of guide assemblies include a guide sleeve and a guide rod movably connected to the guide sleeve, the guide sleeve is connected to the clamp main board, one end of the guide rod is connected to the workpiece pressure plate, and the other end is provided with a first trigger block.

[0011] Preferably, the guide assembly also includes a workpiece pressure plate proximity switch for detecting the movement of the workpiece pressure plate to the upper limit and the lower limit, the first trigger block is located on the sensing end side of the proximity switch, and the workpiece pressure plate proximity switch is connected to the clamp main board through the first connecting seat.

[0012] Preferably, the plurality of positioning components include a workpiece positioning pin and a workpiece latch cylinder arranged on the gripper main board.

[0013] Preferably, the positioning assembly further comprises a latch pin proximity switch located at one side of the workpiece latch pin cylinder, a second trigger block is provided at one side of the latch pin proximity switch, and the trigger block is connected to one end of the latch pin of the workpiece latch pin cylinder.

[0014] Preferably, the clamping and grasping assembly further comprises an L-shaped object picking finger seat, and the object picking finger is connected to the driving end of the three-grasping cylinder of the object picking finger seat.

[0015] Preferably, a protective layer is provided on the side of the workpiece pressing plate away from the gripper main board, and the material of the protective layer is polyurethane.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model can automatically locate and grasp the workpiece at a fixed point, and transport the workpiece to a corresponding work station, with high transportation efficiency and low cost, and is convenient for standardized production and improves the yield rate of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 for Figure 1 A partial enlarged schematic diagram in the middle;

[0020] Figure 3 It is the front view of the utility model;

[0021] Figure 4 for Figure 3 A partial enlarged schematic diagram of point B in the middle;

[0022] Among them: the gripper body 1, the gripper main board 2, the workpiece pressure plate 3, the positioning assembly 4, the guide assembly 5, the clamping assembly 6, the connecting frame 7, the connecting flange 8, the protective layer 11, the avoidance hole 31, the workpiece positioning pin 41, the workpiece latch cylinder 42, the latch proximity switch 43, the second trigger block 44, the guide sleeve 51, the guide rod 52, the first trigger block 53, the workpiece pressure plate proximity switch 54, the three-grab cylinder 61, the picking finger 62, and the picking finger seat 63. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon at the same time. The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "rear" and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described:

[0027] like Figure 1-4 As shown, a handling gripper device comprises a gripper body 1, wherein the gripper body 1 comprises a gripper main board 2 and a workpiece pressing plate 3, wherein the gripper main board 2 is provided with a plurality of positioning components 4 corresponding to the fixed pin holes of the workpiece, and a plurality of guide components 5 are arranged around the workpiece pressing plate 3 and the gripper main board 2, wherein the guide components 5 are used to limit the freedom of the workpiece pressing plate 3 relative to the gripper main board 2 except for the up and down movement;

[0028] A gripping assembly 6 for gripping the workpiece is also provided in the middle between the gripping main board 2 and the workpiece pressing plate 3. The gripping assembly 6 is connected to the gripping main board 2. The gripping end of the gripping assembly 6 passes through the avoidance hole 31 of the workpiece pressing plate 3 and then extends downward to be connected to the workpiece (not shown in the figure).

[0029] It also includes a connecting frame 7 connected to the gripper main board 2, and the connecting frame 7 is also provided with a connecting flange 8 for connecting to a robot manipulator (not shown in the figure).

[0030] In this embodiment, the robot manipulator is connected to the gripper body 1 through the connecting flange 8, drives the gripper body 1 to a set position above the workpiece, and then drives the gripper body 1 to move downward close to the workpiece. During the process, the positioning component 4 is first inserted into the fixed pin hole of the workpiece, and then the workpiece pressing plate 3 presses the workpiece. After reaching the set position, the workpiece is grasped and driven to grasp the workpiece, and the workpiece is placed in the next workstation, thereby automatically grasping the workpiece at a fixed point and transporting the workpiece to the corresponding workstation. The transportation efficiency is high, the cost is low, and it is convenient for standardized production, thereby improving the yield rate of the workpiece.

[0031] Further, such as Figure 1 As shown, in order to increase the number of workpieces that can be automatically grasped at a single time and improve the handling efficiency, more than two gripper bodies 1 are provided, and the more than two gripper bodies 1 are connected to the connecting frame 7 through the gripper main board 2.

[0032] Further, such as Figure 3 , 4 As shown, in order to stably and reliably grasp the workpiece, the clamping and grasping assembly 6 includes a three-grasping cylinder 61, and the grasping ends of the three-grasping cylinder 61 are respectively provided with picking fingers 62; when working, after the picking fingers 62 are placed in the grasping position of the workpiece, the three-grasping cylinder 61 is driven to open, thereby realizing the grasping of the workpiece.

[0033] Further, such as Figure 1 , 2 As shown, in order to improve the stability of the up and down movement of the workpiece pressure plate 3 relative to the clamp main board 2, so that the workpiece pressure plate 3 can smoothly press the workpiece, the multiple guide components 5 include a guide sleeve 51 and a guide rod 52 movably connected to the guide sleeve 51, the guide sleeve 51 is connected to the clamp main board 2, one end of the guide rod 52 is connected to the workpiece pressure plate 3, and the other end is provided with a first trigger block 53.

[0034] Further, such as Figure 1 , 2 As shown, in order to accurately determine whether the workpiece pressing plate 3 is in place to press the workpiece, the guide assembly 5 also includes a workpiece pressing plate proximity switch 54 for detecting that the workpiece pressing plate 3 moves to the upper limit and the lower limit. The first trigger block 53 is located on the sensing end side of the proximity switch, and the workpiece pressing plate proximity switch 54 is connected to the clamp main board 2 through the first connecting seat; during operation, the workpiece pressing plate 3 is subjected to the downward driving force of the robot manipulator, and the workpiece pressing plate 3 drives the guide rod 52 and the first trigger block 53 to move toward the upper limit from the lower limit. When the workpiece is pressed into place, that is, the first trigger block 53 moves to the upper limit, and the workpiece pressing plate proximity switch 54 is triggered at this time, and an electrical signal is sent to the robot manipulator to stop driving downward.

[0035] Further, such as Figure 2 , 4As shown, the plurality of positioning components 4 include a workpiece positioning pin 41 and a workpiece latch cylinder 42 which are arranged on the gripper main board 2 .

[0036] Further, such as Figure 2 As shown, during positioning, the robot manipulator drives the gripper body 1 to the top of the workpiece and drives it downward in the direction of the workpiece. First, the workpiece locating pin 41 is inserted into the locating pin hole of the workpiece, and then the workpiece latch cylinder 42 is driven to insert the latch into the latch hole of the workpiece. After completion, the workpiece pressure plate 3 is driven downward to press the workpiece; conversely, when removing the workpiece, the workpiece latch cylinder 42 is driven in the reverse direction.

[0037] The above structure, through the joint action of the workpiece positioning pin 41 and the workpiece latch cylinder 42, can achieve highly reliable and rapid positioning of the workpiece, and prevent the workpiece from shaking during the movement of the workpiece.

[0038] Further, such as Figure 2 , 4 As shown, in order to accurately control the drive of the workpiece latch cylinder 42, the positioning assembly 4 also includes a latch proximity switch 43 located on one side of the workpiece latch cylinder 42, and a second trigger block 44 is provided on one side of the latch proximity switch 43, and the trigger block is connected to one end of the latch of the workpiece latch cylinder 42; during positioning, the robot manipulator drives the gripper body 1 to the top of the workpiece and drives downward in the direction of the workpiece, firstly, the workpiece locating pin 41 is inserted into the locating pin hole of the workpiece, and then the workpiece latch cylinder 42 is driven to drive the latch downward and insert it into the latch hole of the workpiece, after the latch reaches the set position, the second trigger block 44 triggers the latch proximity switch 43, and controls the latch cylinder to stop driving; after completion, the workpiece pressure plate 3 is driven downward to press the workpiece; on the contrary, when the workpiece is removed, the workpiece latch cylinder 42 is driven in the reverse direction, and the latch is recovered to make the workpiece separate from the gripper body, after the latch reaches the set position, the second trigger block 44 triggers the latch proximity switch 43, and controls the latch cylinder to stop driving.

[0039] Further, such as Figure 4 As shown, in order to meet the needs of grasping workpieces with different grasping position depths and improve the application range of the device, the clamping and grasping assembly 6 also includes an L-shaped picking finger seat 63, and the picking finger 62 is connected to the driving end of the three-grasping cylinder 61 through the picking finger seat 63.

[0040] Further, such as Figure 2 As shown, in order to enhance the protection of the workpiece during clamping, a protective layer 11 is provided on the side of the workpiece clamping plate 3 away from the clamping main plate 2, and the material of the protective layer 11 is polyurethane.

[0041] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the scope of protection of the claims of the utility model patent.

Claims

1. A hand-gripping device for handling, comprising a hand-gripping body, characterized in that: The gripper body comprises a gripper main plate and a workpiece pressure plate, the gripper main plate is provided with a plurality of positioning components corresponding to the fixed pin holes of the workpiece, a plurality of guide components are arranged around the workpiece pressure plate and the gripper main plate, the guide components are used to limit the freedom of the workpiece pressure plate relative to the gripper main plate except for up and down movement; A clamping assembly for grabbing the workpiece is also provided in the middle between the clamping hand main board and the workpiece pressure plate, the clamping assembly is connected to the clamping hand main board, and the clamping end of the clamping assembly passes through the avoidance hole of the workpiece pressure plate and then extends downward to connect with the workpiece; It also includes a connecting frame connected to the gripper mainboard, and the connecting frame is also provided with a connecting flange for connecting to the robot manipulator.

2. A hand-gripping device for transporting according to claim 1, characterized in that: The two or more gripper bodies are provided, and the two or more gripper bodies are connected to the connecting frame through the gripper main board.

3. A hand-gripping device for transporting according to claim 1, characterized in that: The clamping and grasping assembly comprises three grasping cylinders, and grasping ends of the three grasping cylinders are respectively provided with picking fingers.

4. A hand-gripping device for transporting according to claim 1, characterized in that: The plurality of guide assemblies include a guide sleeve and a guide rod movably connected to the guide sleeve, the guide sleeve is connected to the clamp main board, one end of the guide rod is connected to the workpiece pressure plate, and the other end is provided with a first trigger block.

5. A hand-gripping device for transporting according to claim 4, characterized in that: The guide assembly also includes a workpiece pressure plate proximity switch for detecting the movement of the workpiece pressure plate to the upper limit and the lower limit. The first trigger block is located on the sensing end side of the proximity switch. The workpiece pressure plate proximity switch is connected to the clamp main board through a first connecting seat.

6. A hand-gripping device for transporting according to claim 1, characterized in that: The plurality of positioning components include a workpiece positioning pin and a workpiece latch cylinder arranged on the gripper main board.

7. A hand-gripping device for transporting according to claim 6, characterized in that: The positioning assembly also includes a latch pin proximity switch located at one side of the workpiece latch pin cylinder. A second trigger block is provided at one side of the latch pin proximity switch, and the trigger block is connected to one end of the latch pin of the workpiece latch pin cylinder.

8. A hand-gripping device for transporting according to claim 3, characterized in that: The clamping and grasping assembly also includes an L-shaped picking finger seat, and the picking finger is connected through the driving end of the three-grasping cylinder of the picking finger seat.

9. The hand-gripping device for transporting according to claim 1, characterized in that: A protective layer is arranged on the side of the workpiece pressing plate away from the gripper main board, and the material of the protective layer is polyurethane.

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