Multifunctional automatic mechanical gripper

Abstract

The utility model relates to a multifunctional automatic mechanical gripper which comprises a shell, a connecting part is arranged at the rear end of the shell and used for being connected with a main machine, a finger clamping mechanism is arranged at the front end of the shell and comprises a fixed part and a movable part, the fixed part is fixedly connected with the shell, the movable part is rotationally connected with the shell, and an air cylinder is installed in the shell. The end of a piston rod of the cylinder is in transmission connection with the movable part to drive the movable part to rotate; a plurality of vacuum chucks are arranged at the bottom of the shell, each vacuum chuck is connected with an air pipe, all the air pipes are connected to a valve terminal, and the valve terminal is in signal connection with a control system of the host; the clamping finger mechanism and a plurality of vacuum suction cups are arranged, so that various different types of plates or small pieces can be grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of bending machines, in particular to a multifunctional automatic mechanical gripper. Background Art

[0002] Bending is a cold processing of equal material manufacturing, which is energy-saving and environmentally friendly. It is widely used in the bending processing of components in industries such as automobiles, shipbuilding, containers, cranes, engineering machinery, construction institutions, metal structures, lamp poles, and power poles. It has a wide range of applications and a large market demand. However, with the sharp increase in labor costs, aging personnel, and the improvement of environmental friendliness and safety risk awareness, it is difficult to retain and recruit bending machine operators. Robots are urgently needed to replace people to achieve automation and intelligence in bending. The existing plates that need to be bent are divided into three categories: 1. Bending of large quantities of thin plates; 2. Bending of narrow and heavy medium and thick plates; 3. Bending of small parts; For large quantities of thin plates, robot grippers generally use vacuum suction cups; For narrow and heavy medium and thick plates, robot grippers generally use electromagnetic suction cups; For small parts, due to the small size of the plate, vacuum suction cups cannot be used; Due to the thinness and light weight of the plate, electromagnetic suction cups cannot be used to avoid magnetization of the plate and entrainment of multiple plates, so manual bending can only be used. Summary of the invention

[0003] The purpose of the utility model is to solve the problems existing in the above-mentioned prior art and to provide a multifunctional automatic mechanical gripper, which can grasp both thin plates and small parts, so as to better cooperate with the bending machine.

[0004] The specific scheme of the utility model is: a multifunctional automated mechanical gripper, including a shell, a connecting part is provided at the rear end of the shell, the connecting part is used to connect with the host, a finger clamping mechanism is provided at the front end of the shell, the finger clamping mechanism includes a fixed part and a movable part, the fixed part is fixedly connected to the shell, the movable part is rotatably connected to the shell, a cylinder is installed in the shell, the piston rod end of the cylinder is transmission-connected to the movable part to drive the movable part to rotate; a plurality of vacuum suction cups are installed at the bottom of the shell, each vacuum suction cup is connected to an air pipe, all the air pipes are connected to the valve island, and the valve island is connected to the control system signal of the host.

[0005] Furthermore, the middle part of the movable part is rotatably connected to the shell, the front end of the movable part cooperates with the fixed part to achieve clamping, the rear end of the movable part is equipped with connecting rod A and connecting rod B, one end of connecting rod A is rotatably connected to the rear end of the movable part, and the other end is rotatably connected to connecting rod B, one end of connecting rod B is rotatably connected to the shell, and the piston rod end of the cylinder is rotatably connected to connecting rod C, and connecting rod C is rotatably connected to connecting rod A and connecting rod B at the same time.

[0006] Furthermore, an installation cavity is provided on the bottom surface of the shell, a sensing probe is installed in the installation cavity, a reset spring is installed at the inner end of the sensing probe, a sensor is installed in the shell, the sensor is used to detect the sensing probe, and the sensor is connected to the control system signal of the host.

[0007] Furthermore, the vacuum suction cups are distributed at the front end, middle part and rear end of the shell.

[0008] Furthermore, the vacuum suction cups are symmetrically arranged on both sides of the shell, the air pipes corresponding to the vacuum suction cups located at the front end and the middle are arranged inside the shell, and the air pipes corresponding to the vacuum suction cups located at the rear end are arranged outside the shell.

[0009] Furthermore, a bracket is installed at the middle and rear ends of both sides of the shell, and the vacuum suction cups at the middle and rear ends are installed on the brackets, and the distance between the vacuum suction cups on both sides gradually increases from the front end to the rear end.

[0010] Furthermore, the connecting portion is a flange plate, and a circular hole is provided in the middle of the flange plate.

[0011] Furthermore, the contact surface between the fixed part and the movable part is provided with anti-slip serrations.

[0012] Compared with the prior art, the utility model has the following advantages: by setting up a plurality of independent vacuum suction cups and finger clamping mechanisms, a single vacuum suction cup can be used to suck the sheet material, or a combination of multiple vacuum suction cups can be used to suck the sheet material. For sheets or small pieces that cannot be sucked by the vacuum suction cup, the finger clamping mechanism can be used to clamp them. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the utility model;

[0014] Figure 2 It is a connection schematic diagram of the finger clamping mechanism of the utility model;

[0015] Figure 3 It is a bottom view of the utility model;

[0016] In the figure: 1. Shell; 2. Vacuum suction cup A; 3. Induction probe; 4. Sensor; 5. Vacuum suction cup B; 6. Connecting part; 7. Bracket; 8. Cylinder; 9. Connecting rod C; 10. Connecting rod B; 11. Connecting rod A; 12. Movable part; 13. Fixed part. DETAILED DESCRIPTION

[0017] See also Figure 1-3The present embodiment is a multifunctional automated mechanical gripper, comprising a shell 1, a connecting portion 6 is provided at the rear end of the shell 1, the connecting portion 6 is used to connect with the host, a finger clamping mechanism is provided at the front end of the shell 1, the finger clamping mechanism comprises a fixed portion 13 and a movable portion 12, the fixed portion 13 is fixedly connected to the shell 1, the movable portion 12 is rotatably connected to the shell 1, a cylinder 8 is installed in the shell 1, the piston rod end of the cylinder 8 is transmission-connected to the movable portion 12 to drive the movable portion 12 to rotate; a plurality of vacuum suction cups are installed at the bottom of the shell 1, each vacuum suction cup is connected to an air pipe, all the air pipes are connected to the valve island, and the valve island is connected to the control system signal of the host. Further, the middle part of the movable part 12 is rotatably connected to the shell 1, the front end of the movable part 12 cooperates with the fixed part 13 to achieve clamping, the rear end of the movable part 12 is equipped with a connecting rod A11 and a connecting rod B10, one end of the connecting rod A11 is rotatably connected to the rear end of the movable part 12, and the other end is rotatably connected to the connecting rod B10, one end of the connecting rod B10 is rotatably connected to the shell 1, the piston rod end of the cylinder 8 is rotatably connected to the connecting rod C9, and the connecting rod C9 is rotatably connected to the connecting rod A11 and the connecting rod B10 at the same time. Further, the bottom surface of the shell 1 is provided with an installation cavity, the installation cavity is equipped with a sensing probe 3, the inner end of the sensing probe 3 is equipped with a reset spring, the shell 1 is equipped with a sensor 4, the sensor 4 is used to detect the sensing probe 3, and the sensor 4 is connected to the control system signal of the host. Further, the vacuum suction cups are distributed at the front end, middle part and rear end of the shell 1. Furthermore, the vacuum suction cups are symmetrically arranged on both sides of the shell 1, the vacuum suction cups A2 located at the front and middle parts are small vacuum suction cups, and the air pipes corresponding to the vacuum suction cups A2 are arranged in the shell 1, and the vacuum suction cups B5 located at the rear end are medium vacuum suction cups, and the air pipes corresponding to the vacuum suction cups B5 are arranged outside the shell 1. Furthermore, a bracket 7 is installed at the middle and rear ends of both sides of the shell 1, and the vacuum suction cups located at the middle and rear ends are installed on the bracket 7, and the spacing between the vacuum suction cups on both sides gradually increases from the front to the rear end. Further, the connecting part 6 is a flange plate, and a circular hole is provided in the middle of the flange plate, and the connecting part 6 is rotatably connected to the main machine. Further, the contact surface between the fixed part 13 and the movable part 12 is provided with anti-slip serrations.

[0018] The working principle of the utility model is as follows: the valve island can independently control the suction and closure of each vacuum suction cup A2 and vacuum suction cup B5, so that a single vacuum suction cup A2 or a single vacuum suction cup B5 or multiple vacuum suction cups A2 and vacuum suction cups B5 can simultaneously suck the sheet material; for sheets that cannot use vacuum suction cups A2 and / or vacuum suction cups B5, a clamping mechanism is used to clamp the sheet material or small pieces. When the vacuum suction cup is used to suck the sheet material, the sheet material is detected by the sensing probe 3. When the host drives the mechanical gripper to approach the sheet material as a whole, the sensing probe 3 first contacts the sheet material. When it continues to move downward, the sensing probe 3 shrinks toward the inside of the shell 1, and the sensor 4 senses the sensing probe 3, thereby sending a signal to the host control system. The control system controls the corresponding vacuum suction cup to suck through the valve island to achieve the suction of the sheet material. The clamping action of the clamping finger mechanism is as follows: the linear motion of the piston rod of the cylinder 8 pushes or pulls the connecting rod C9, and the connecting rod C9 drives the connecting rod A11 and the connecting rod B10 at the same time. The connecting rod A11 drives the movable part 12 to rotate. The movable part 12 rotates to cooperate with the fixed part 13 to clamp or release the material. The material can be firmly clamped between the movable part 12 and the anti-slip serrations.

Claims

1. A multifunctional automated mechanical gripper, characterized by: It includes a shell, a connecting part is provided at the rear end of the shell, the connecting part is used to connect with the host, a finger clamping mechanism is provided at the front end of the shell, the finger clamping mechanism includes a fixed part and a movable part, the fixed part is fixedly connected to the shell, the movable part is rotatably connected to the shell, a cylinder is installed in the shell, the piston rod end of the cylinder is transmission-connected to the movable part to drive the movable part to rotate; a plurality of vacuum suction cups are installed at the bottom of the shell, each vacuum suction cup is connected to an air pipe, all the air pipes are connected to the valve island, and the valve island is connected to the control system signal of the host.

2. A multifunctional automated mechanical gripper according to claim 1, characterized in that: The middle part of the movable part is rotatably connected to the shell, the front end of the movable part cooperates with the fixed part to achieve clamping, the rear end of the movable part is equipped with connecting rods A and connecting rods B, one end of connecting rod A is rotatably connected to the rear end of the movable part, and the other end is rotatably connected to connecting rod B, one end of connecting rod B is rotatably connected to the shell, the piston rod end of the cylinder is rotatably connected to connecting rod C, and connecting rod C is rotatably connected to connecting rods A and B at the same time.

3. The multifunctional automated mechanical gripper according to claim 1 is characterized in that: The bottom surface of the shell is provided with an installation cavity, in which a sensing probe is installed, and a reset spring is installed at the inner end of the sensing probe. A sensor is installed in the shell, and the sensor is used to detect the sensing probe. The sensor is connected to the control system signal of the host.

4. The multifunctional automated mechanical gripper according to claim 1 is characterized in that: The vacuum suction cups are distributed at the front end, the middle part and the rear end of the shell.

5. The multifunctional automated mechanical gripper according to claim 4 is characterized in that: The vacuum suction cups are symmetrically arranged on both sides of the shell, the air pipes corresponding to the vacuum suction cups located at the front end and the middle part are arranged inside the shell, and the air pipes corresponding to the vacuum suction cups located at the rear end are arranged outside the shell.

6. The multifunctional automated mechanical gripper according to claim 4 is characterized in that: A bracket is installed at the middle and rear ends of both sides of the shell, and the vacuum suction cups at the middle and rear ends are installed on the brackets. The distance between the vacuum suction cups on both sides gradually increases from the front end to the rear end.

7. A multifunctional automated mechanical gripper according to any one of claims 1 to 6, characterized in that: The connecting part is a flange plate, and a circular hole is arranged in the middle of the flange plate.

8. A multifunctional automated mechanical gripper according to any one of claims 1 to 6, characterized in that: The contact surface between the fixed part and the movable part is provided with anti-slip serrations.

Images