Gripper assembly and transferring mechanism

Abstract

The utility model relates to the field of automation, in particular to a gripper assembly and a transfer mechanism. The gripper assembly comprises a fixing frame, a first gripper, a second gripper and a third gripper, wherein the first gripper, the second gripper and the third gripper are arranged on the fixing frame. The first component comprises a steel ring, the first gripper comprises a clamping jaw air cylinder and extension pieces, a plurality of free ends of the clamping jaw air cylinder surround the fixed end of the clamping jaw air cylinder and are controllably close to or away from the fixed end of the clamping jaw air cylinder, and the extension pieces are arranged on the sides, away from the fixed end, of the free ends of the clamping jaw air cylinder respectively and are driven by the clamping jaw air cylinder to be away from or abut against the steel ring. And clamping and releasing of the first component are achieved. And the second gripper controllably grabs or releases the second component. The third gripper controllably grips or releases an assembly including the first member and the second member. The transferring mechanism comprises a mechanical arm and the gripper assembly. The feeding procedure and the discharging procedure of production are achieved through the same transferring mechanism, cost is reduced, space is saved, efficiency is improved, and practicability is high.

Description

Technical Field

[0001] The utility model relates to the field of automation, in particular to a gripper assembly and a transfer mechanism. Background Art

[0002] With the continuous development of automation technology, fully automatic or semi-automatic production lines have been widely used in the production and assembly of various workpieces. In the production process of the steering wheel of a motor vehicle, the steel ring and the spline need to be installed on the base and die-cast to form a die-casting.

[0003] At present, multiple manipulators are usually set up to transfer the steel ring and spline to the preset position in the die-casting machine, and take out and transfer the die-cast parts after die-casting. However, this leads to high production and operation costs of the automated production line and occupies a large space, which is difficult to apply to situations with specific space and cost requirements. Utility Model Content

[0004] The utility model aims to provide a gripper assembly and a transfer mechanism which can simultaneously grasp and transfer multiple components.

[0005] In order to achieve the above object, the utility model provides the following technical solutions:

[0006] A gripper assembly, comprising:

[0007] Fixed frame;

[0008] a first gripper, arranged on the fixing frame, for controllably grasping or releasing a first member, the first member comprising a steel ring, the first gripper comprising a clamping cylinder and an extension piece, the clamping cylinder comprising a fixed end and a plurality of free ends, the free ends of the clamping cylinder being arranged around the fixed end and controllably approaching or moving away from the fixed end, each of the extension pieces being respectively connected to each of the free ends of the clamping cylinder and extending toward a side away from the fixed end, and when each of the free ends of the clamping cylinder is away from the fixed end, each of the extension pieces abuts against an inner wall of the steel ring;

[0009] A second gripper, disposed on the fixing frame, for controllably grasping or releasing the second member;

[0010] The third gripper is arranged on the fixing frame and is used for controllably grasping or releasing the assembly, wherein the assembly includes the first component and the second component.

[0011] Optionally, the first gripper also includes a base and a plurality of limit members, the base having a bearing surface, the clamping jaw cylinder being arranged on the bearing surface, and each of the extension members being parallel to the bearing surface, each of the limit members being arranged on the bearing surface, and an inner wall of each of the limit members being in conflict with an outer wall of the steel ring, and when each of the free ends of the clamping jaw cylinder is away from the fixed end, the steel ring is clamped between the limit member and the extension member.

[0012] Optionally, the first gripper also includes a plurality of buffer members, wherein the buffer members are arranged on the bearing surface of the base, and the buffer members have floating ends. When the first gripper approaches the first component, the floating end contacts the steel ring and slides toward the bearing surface. When the distance between the floating end and the bearing surface is a preset minimum value, the steel ring is located between the limit member and the extension member.

[0013] Optionally, the buffer component includes an oil pressure buffer and a clamping component, one end of the oil pressure buffer is connected to the bearing surface of the base, and the other end is connected to the clamping component, the clamping component has a clamping groove that matches the steel ring, and when the floating end of the buffer component contacts the first component, the steel ring is embedded in the clamping groove.

[0014] Optionally, the first component has a plurality of connection holes that form an angle with the bearing surface of the base, and the first gripper also includes a plurality of positioning pins, which are arranged on the bearing surface of the base, and the diameter and position of the positioning pins are matched with the connection holes of the first component.

[0015] Optionally, the locating pin is a spring plunger, which includes a track post, an elastic member and a telescopic member, one end of the track post is connected to the bearing surface of the base, the elastic member is embedded in the track post and connected between the track post and the telescopic member, the telescopic member is sleeved on the inner side of the track post and extends from the other end of the track post under the support of the elastic member, the diameter of the telescopic member is smaller than the inner diameter of the connecting hole, and the diameter of the track post is larger than the inner diameter of the connecting hole.

[0016] Optionally, the second gripper and the third gripper are both pneumatic clamps.

[0017] Optionally, the gripper assembly further includes a first sensor for sensing whether the position of the first gripper corresponds to the position of the first component, a second sensor for sensing whether the position of the second gripper corresponds to the position of the second component, and a third sensor for sensing whether the position of the third gripper corresponds to the position of the assembly.

[0018] Optionally, the first sensor, the second sensor and the third sensor are all photoelectric sensors.

[0019] In a second aspect, the utility model further provides a transfer mechanism, comprising a mechanical arm and the above-mentioned gripper assembly, wherein the gripper assembly is arranged on the mechanical arm.

[0020] According to the first aspect of the utility model, a first gripper, a second gripper and a third gripper are respectively arranged on the fixed frame, wherein the first gripper drives the extension piece to controllably contact the inner wall of the steel ring or separate from the steel ring through the clamping claw cylinder, thereby realizing the grasping and releasing of the steel ring, the second gripper controllably grasps or releases the second component, and the third gripper controllably grasps or releases the assembly including the first component and the second component. After the gripper assembly grasps the first component and the second component respectively, the assembled assembly is taken out, and the first component and the second component are placed, thereby quickly realizing the unloading of the assembly and the loading of the first component and the second component, which helps to reduce the equipment production and operation costs while ensuring the transfer efficiency, and reduces the space cost.

[0021] According to the second aspect of the utility model, by carrying a gripper assembly capable of simultaneously transferring a variety of components and assembled assemblies on the same manipulator, it helps to increase the speed of loading and unloading, thereby improving production efficiency, and it has low cost, small footprint, and high practicality.

[0022] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural schematic diagram of the gripper assembly shown in the first embodiment of the utility model;

[0024] Figure 2 This is a schematic structural diagram of the gripper assembly shown in the first embodiment of the utility model observed from another angle.

[0025] Legend: 101-first component, 102-second component, 103-assembly, 104-steel ring, 105-connecting plate, 106-connecting hole, 107-die-casting body, 108-handle, 1-fixed frame, 11-connecting piece, 111-bolt hole, 2-first gripper, 21-base, 211-bearing surface, 22-gripper cylinder, 221-fixed end, 23-extension piece, 24-limiting piece, 25-buffer, 251-oil pressure buffer, 252-clamping piece, 26-locating pin, 3-second gripper, 31-second cylinder, 32-second gripper, 4-third gripper, 41-third cylinder, 42-third gripper, 5-wiring box, 61-first sensor, 62-second sensor, 63-third sensor. DETAILED DESCRIPTION

[0026] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] See also Figure 1 and Figure 2The utility model application protects a gripper assembly including a fixed frame 1 and a first gripper 2, a second gripper 3 and a third gripper 4 arranged on the fixed frame 1. The first component 101 includes a steel ring 104, and the first gripper 2 includes a clamping cylinder 22 and an extension 23. The multiple free ends of the clamping cylinder 22 surround its fixed end 221 and can be controllably approached or away from its fixed end 221. The multiple extensions 23 are respectively arranged at the free ends of the clamping cylinder 22 and extend in a direction away from the fixed end 221. Driven by the clamping cylinder 22, they move away from or contact the steel ring 104 to achieve the clamping and release of the first component 101. The second gripper 3 can controllably grasp or release the second component 102. The third gripper 4 can controllably grasp or release the assembly 103 including the first component 101 and the second component 102. The same gripper can be used to pick up and place multiple components and assemblies 103, which helps to achieve the loading and unloading processes of production through the same manipulator, helping to reduce costs, save space and improve efficiency. In addition, the gripper assembly in the present application integrates multiple grippers into a whole, which is convenient for the overall installation and disassembly of the gripper assembly and has high practicality.

[0031] Embodiment 1:

[0032] The transfer mechanism shown in a preferred embodiment of the present application includes a six-axis robot arm and a gripper assembly. The gripper assembly is installed at the moving end of the six-axis robot arm and moves and rotates under the drive of the six-axis robot arm. Since the six-axis robot arm is a prior art, it will not be described in detail.

[0033] See also Figure 1 and Figure 2 The gripper assembly includes a fixed frame 1, a first gripper 2, a second gripper 3, a third gripper 4 and a connection box 5. The fixed frame 1 plays a supporting and connecting role, and the first gripper 2, the second gripper 3, the third gripper 4 and the connection box 5 are all installed on the fixed frame 1. A connecting piece 11 is provided on the fixed frame 1, and the first gripper 2 and the third gripper 4 are respectively arranged on both sides of the connecting piece 11, and the second gripper 3 and the connecting piece 11 are arranged at the same horizontal height, so that the first gripper 2, the second gripper 3 and the third gripper 4 are separated from each other and in different directions, and do not interfere with each other. The connection box 5 is electrically connected to the first gripper 2, the second gripper 3 and the third gripper 4, and the connection box 5 is arranged adjacent to the connecting piece 11, so as to facilitate electrical connection with the robotic arm when the gripper assembly is installed on the robotic arm.

[0034] The connecting piece 11 of the fixing frame 1 is cylindrical as a whole, and one end of the connecting piece 11 away from the connection box 5 expands into a truncated cone shape. A plurality of bolt holes 111 are evenly arranged on the truncated cone structure, so that the fixing frame 1 can be fixedly connected to the robot arm by bolts.

[0035] The first component 101 in this embodiment includes an annular steel ring 104 and a connecting piece 105 arranged on the inner wall of the steel ring 104. The outer wall of the steel ring 104 is circular. The connecting piece 105 is parallel to the steel ring 104, and two circular connecting holes 106 are arranged on the connecting piece 105. The direction of the connecting hole 106 is perpendicular to the steel ring 104 and is used for connecting the steel ring 104 with other structures.

[0036] The first gripper 2 includes a base 21, a clamping cylinder 22, an extension piece 23 and a limit piece 24. The base 21 is connected to the fixed frame 1, and the plane of the base 21 away from the fixed frame 1 is a bearing surface 211. The clamping cylinder 22 is a four-claw cylinder, which is arranged in the middle of the bearing surface 211. The clamping cylinder 22 has a fixed end 221 and four free ends surrounding the fixed end 221, and the free ends can be controllably close to or away from the fixed end 221. The extension piece 23 is installed at the free end of the clamping cylinder 22, and the end extends in a direction away from the fixed end 221. The limit piece 24 is fixedly connected to the bearing surface 211 of the base 21, and is arranged around the clamping cylinder 22. The position is opposite to the end of the extension piece 23, and its position and inner wall structure are matched with the outer wall of the steel ring 104. When the first gripper 2 approaches the steel ring 104, so that the steel ring 104 is located between the stopper 24 and the extension 23, the inner wall of the stopper 24 abuts against the outer wall of the steel ring 104 and fits tightly against the outer wall of the steel ring 104. The free end of the clamping claw cylinder 22 drives the extension 23 to approach the steel ring 104, so that the end of the extension 23 abuts against the inner wall of the steel ring 104, and the abutting position is opposite to the stopper 24, so that the steel ring 104 is clamped between the ends of multiple pairs of extensions 23 and the stopper 24, thereby increasing the clamping force and facilitating the stable clamping of the first component 101.

[0037] The first gripper 2 also includes a plurality of buffers 25, and the buffers 25 include a hydraulic buffer 251 and a clamping member 252. One end of the hydraulic buffer 251 is connected to the bearing surface 211 of the base 21, and the other end is connected to the clamping member 252, and the position of the hydraulic buffer 251 matches the position of the steel ring 104. The clamping member 252 is a floating end of the buffer 25, and the clamping member 252 has a clamping groove that matches the steel ring 104. When the first gripper 2 gradually approaches the first component 101, the clamping member 252 contacts the first component 101, and the steel ring 104 is embedded in the clamping groove. The first gripper 2 continues to approach the first component 101, and the hydraulic buffer 251 is compressed to the limit, at which time the steel ring 104 is located between the limiter 24 and the extension member 23. The provision of the buffer 25 helps to keep the distance between each steel ring 104 and the bearing surface 211 constant, thereby assisting in the positioning of the steel ring 104.

[0038] The first gripper 2 also includes two locating pins 26, and the position of each locating pin 26 corresponds to the position of the connecting hole 106 of the connecting piece 105 of the first component 101. The locating pin 26 is a spring plunger, including a track column, an elastic member and a telescopic member. The track column is a hollow cylindrical structure with a single-side opening, and its closed end is connected to the bearing surface 211 of the base 21. The elastic member is a spring, embedded in the track column, and the end thereof abuts against the closed end of the track column. The telescopic member is sleeved on the inner side of the track column, abuts against the elastic member and is limited inside the track column. When the telescopic member is not subjected to force, the telescopic member partially extends from the opening of the track column. When the telescopic member receives a force toward the bearing surface 211, the elastic member is compressed, and the telescopic member slides along the track column toward the bearing surface 211. The diameter of the telescopic member is smaller than the inner diameter of the connecting hole 106, and the diameter of the track column is larger than the inner diameter of the connecting hole 106. When the first gripper 2 gradually approaches the first component 101 , the positioning pin 26 can assist the first component 101 in fine-tuning its position, thereby improving the position accuracy of the first component 101 , and the elastic member can prevent the positioning pin 26 from contacting the first component 101 and causing damage to the first component 101 .

[0039] In this embodiment, the second member 102 is a spline in the shape of an annular column as a whole, and the second gripper 3 is a pneumatic clamp, including a second cylinder 31 and two second clamps 32, the inner walls of the two second clamps 32 are both in the shape of an arc that matches the outer wall of the second member 102, and the two second clamps 32 are parallel to the second member 102. The two second clamps 32 are driven by the second cylinder 31 to approach or move away from the other second clamp 32, thereby controllably grasping or releasing the second member 102.

[0040] The assembly 103 in this embodiment is a steering wheel die casting, including the above-mentioned steel ring 104 and spline, the steel ring 104 and spline are connected to the die casting body 107 formed by die casting as a whole by die casting, and the die casting body 107 has a cylindrical handle 108. The handle 108 is located at the end of the assembly 103, and there is no other structure in the plane perpendicular to the handle 108. When the assembly 103 is set so that the handle 108 is perpendicular to the direction of the third gripper 4, and the third gripper 4 clamps the handle 108 of the assembly 103, the third gripper 4 does not interfere with the assembly 103. The third gripper 4 is a pneumatic clamp, including a third cylinder 41 and two third clamps 42, the two third clamps 42 are perpendicular to the handle 108 of the assembly 103, and the inner walls of the two third clamps 42 are both in an arc shape to match the outer wall of the handle 108 of the second member 102. The two third clamping jaws 42 are driven by the third cylinder 41 to move closer to or farther away from the other third clamping jaw 42 , thereby controllably grasping or releasing the assembly 103 .

[0041] The gripper assembly in this embodiment further includes a first sensor 61, a second sensor 62 and a third sensor 63. The first sensor 61, the second sensor 62 and the third sensor 63 are all photoelectric sensors, and are all electrically connected to the connection box 5, wherein the first sensor 61 and the second sensor 62 are both arranged on the fixing frame 1, and the third sensor 63 is arranged on the bearing surface 211 of the base 21. The first sensor 61 is used to sense whether the first component 101 is located at a position corresponding to the position of the first gripper 2, the second sensor 62 is used to sense whether the second component 102 is located at a position corresponding to the position of the second gripper 3, and the third sensor 63 is used to sense whether the assembly 103 is located at a position corresponding to the position of the third gripper 4.

[0042] The beneficial effect of the utility model is that it can realize the loading and unloading of a production line through a group of mechanical arms and gripper assemblies, which helps to save costs, reduce floor space, and has high grasping and placement accuracy and is highly practical.

[0043] Embodiment 2:

[0044] The only difference between this embodiment and the first embodiment is that the first sensor 61 , the second sensor 62 and the third sensor 63 are not provided in this embodiment.

[0045] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A gripper assembly, characterized in that: include: Fixed frame (1); A first gripper (2) is arranged on the fixing frame (1) and is used for controllably grasping or releasing a first component (101), wherein the first component (101) comprises a steel ring (104), and the first gripper (2) comprises a clamping cylinder (22) and an extension piece (23), wherein the clamping cylinder (22) comprises a fixed end (221) and a plurality of free ends, wherein the free ends of the clamping cylinder (22) are arranged around the fixed end (221) and can be controllably moved close to or away from the fixed end (221), and wherein each of the extension pieces (23) is respectively connected to each of the free ends of the clamping cylinder (22) and extends toward a side away from the fixed end (221), and when each of the free ends of the clamping cylinder (22) is away from the fixed end (221), each of the extension pieces (23) contacts the inner wall of the steel ring (104); A second gripper (3), arranged on the fixing frame (1), and used for controllably gripping or releasing the second component (102); A third gripper (4) is arranged on the fixing frame (1) and is used for controllably grasping or releasing the assembly (103), wherein the assembly (103) comprises the first component (101) and the second component (102).

2. The gripper assembly according to claim 1, characterized in that: The first gripper (2) further comprises a base (21) and a plurality of limiting members (24), wherein the base (21) has a bearing surface (211), the clamping jaw cylinder (22) is arranged on the bearing surface (211), and each of the extension members (23) is parallel to the bearing surface (211), each of the limiting members (24) is arranged on the bearing surface (211), and the inner wall of each of the limiting members (24) is in contact with the outer wall of the steel ring (104), and when each of the free ends of the clamping jaw cylinder (22) is away from the fixed end (221), the steel ring (104) is clamped between the limiting member (24) and the extension member (23).

3. The gripper assembly according to claim 2, characterized in that: The first gripper (2) further comprises a plurality of buffer members (25), wherein the buffer members (25) are arranged on the bearing surface (211) of the base (21), and the buffer members (25) have floating ends. When the first gripper (2) approaches the first component (101), the floating end contacts the steel ring (104) and slides in a direction approaching the bearing surface (211). When the distance between the floating end and the bearing surface (211) is a preset minimum value, the steel ring (104) is located between the limiting member (24) and the extension member (23).

4. The gripper assembly according to claim 3, characterized in that: The buffer component (25) includes an oil pressure buffer (251) and a clamping component (252). One end of the oil pressure buffer (251) is connected to the bearing surface (211) of the base (21), and the other end is connected to the clamping component (252). The clamping component (252) has a clamping groove that matches the steel ring (104). When the floating end of the buffer component (25) contacts the first component (101), the steel ring (104) is embedded in the clamping groove.

5. The gripper assembly according to claim 2, characterized in that: The first component (101) has a plurality of connection holes (106) that form an angle with the bearing surface (211) of the base (21); the first gripper (2) also includes a plurality of positioning pins (26); the positioning pins (26) are arranged on the bearing surface (211) of the base (21); the diameter and position of the positioning pins (26) are matched with the connection holes (106) of the first component (101).

6. The gripper assembly according to claim 5, characterized in that: The positioning pin (26) is a spring plunger, and the spring plunger includes a track column, an elastic member and a telescopic member. One end of the track column is connected to the bearing surface (211) of the base (21). The elastic member is embedded in the track column and connected between the track column and the telescopic member. The telescopic member is sleeved on the inner side of the track column and extends from the other end of the track column under the support of the elastic member. The diameter of the telescopic member is smaller than the inner diameter of the connecting hole (106), and the diameter of the track column is larger than the inner diameter of the connecting hole (106).

7. The gripper assembly according to claim 1, characterized in that: The second gripper (3) and the third gripper (4) are both pneumatic grippers.

8. The gripper assembly according to claim 1, characterized in that: It also includes a first sensor (61) for sensing whether the position of the first gripper (2) corresponds to the position of the first component (101), a second sensor (62) for sensing whether the position of the second gripper (3) corresponds to the position of the second component (102), and a third sensor (63) for sensing whether the position of the third gripper (4) corresponds to the position of the assembly (103).

9. The gripper assembly according to claim 8, characterized in that: The first sensor (61), the second sensor (62) and the third sensor (63) are all photoelectric sensors.

10. A transfer mechanism, comprising a mechanical arm and a gripper assembly according to any one of claims 1 to 9, wherein the gripper assembly is arranged on the mechanical arm.

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