Paw device capable of being compatible with steel shaft workpieces of different working conditions and different specifications

Abstract

The utility model discloses a gripper device compatible with steel shaft workpieces of different working conditions and different specifications, which comprises a pneumatic gripper component and a magnetic gripper component, the gripper component drives a gripper to clamp the shaft workpieces in a pneumatic manner, the magnetic gripper component grabs the shaft workpieces in a magnetic manner, and the magnetic gripper component is connected with the pneumatic gripper component. According to the gripper device capable of being compatible with the steel shaft workpieces of different working conditions and different specifications, the movable fingers are driven to move through the pneumatic gripper assembly and the locking air cylinder, clamping is completed, first finger pasters and second finger pasters on the movable fingers and the fixed fingers are attached to the surfaces of the shaft workpieces, clamping is more stable, and the clamping efficiency is improved. The distance between the movable fingers and the fixed fingers is large, the device is suitable for clamping shaft workpieces of different sizes, the magnetic claw assembly is adopted, the grabbing work is completed through magnetic claws, and the device can be compatible with different working conditions due to the fact that the movable fingers and the fixed fingers work together in different grabbing modes.

Description

Technical Field

[0001] The utility model belongs to the technical field of gripping tools for shaft workpieces, and particularly relates to a claw device that can be compatible with different working conditions and different specifications of steel shaft workpieces. Background Technique

[0002] During the processing of metal pipe fittings or plates, robotic arms are often used for transportation. A fixture for gripping the workpiece is installed on the robotic arm, and the workpiece is clamped and transferred by the movement of the robotic arm and the opening and closing of the fixture, so as to improve the transportation and production efficiency of metal pipes or plates.

[0003] In Patent 202222648412.9: Shaft Component Gripping Device, it includes a claw transition disk connected to a robotic arm. A gripping bracket is arranged on the lower surface of the claw transition disk, and a clamping device is arranged above the gripping bracket. The clamping device includes a mounting plate connected to the claw transition disk. A telescopic cylinder is arranged on the mounting plate, and a claw clamping plate that cooperates with the gripping bracket is arranged at the movable end of the telescopic cylinder. The gripping bracket remains fixed during the gripping process, and the claw clamping plate moves up and down to achieve the gripping and placing functions. By supporting the shaft component from below with the gripping bracket and only applying an active clamping pressure above the shaft component during gripping, the probability of damage to the surface of the shaft component is reduced while clamping is achieved.

[0004] However, this shaft component gripping device has a single use and cannot be applied to different processing occasions. When the shaft component is too large, it cannot be placed into the gripping bracket, making it inconvenient to use. Content of the Utility Model

[0005] The purpose of the utility model is to provide a claw device that can be compatible with different working conditions and different specifications of steel shaft workpieces to solve the problems mentioned in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A claw device that can be compatible with different working conditions and different specifications of steel shaft workpieces, including

[0007] A pneumatic claw assembly that drives the claw to grip the shaft workpiece in a pneumatic manner;

[0008] A magnetic adsorption claw assembly that grabs the shaft workpiece by magnetic adsorption, and the magnetic adsorption claw assembly is connected to the pneumatic claw assembly.

[0009] Preferably, the pneumatic claw assembly includes a claw base plate and a plurality of claw mechanisms mounted on the claw base plate, and the plurality of claw mechanisms are arranged in parallel so that the plurality of claw mechanisms simultaneously grip the shaft workpiece.

[0010] Preferably, in any of the above solutions, the gripper mechanism includes a locking cylinder, a fixed finger fixed to the gripper substrate, and a moving finger mounted on the driving end of the locking cylinder and moving relative to the fixed finger.

[0011] Preferably, in any of the above solutions, a slider mounting plate is installed at the top of the moving finger, the output end of the locking cylinder is connected to the slider mounting plate through a driving rod, a slider is connected to the slider mounting plate, the slider is limited on the guide rail and slides along the guide rail, and the guide rail is mounted on the gripper substrate.

[0012] Preferably, in any of the above solutions, the locking cylinder is connected to a cylinder mounting plate, and the cylinder mounting plate is mounted on the gripper substrate.

[0013] Preferably, in any of the above solutions, a finger patch one is provided on the fixed finger, and a finger patch two is provided on the moving finger. When clamping a shaft workpiece, the finger patch one and the finger patch two are in contact with the shaft workpiece.

[0014] Preferably, in any of the above solutions, the magnetic gripper assembly includes a joint wrist connecting seat and a magnetic gripper connecting seat mounted on the joint wrist connecting seat. A magnetic gripper is connected to the magnetic gripper connecting seat, two rows of magnetic sheets are provided on the surface of the magnetic gripper, and the joint wrist connecting seat is connected to the gripper substrate.

[0015] Preferably, in any of the above solutions, the joint wrist connecting seat includes a support column. One end of the support column is connected to the gripper substrate through a mounting ear, a positioning sleeve is provided at the other end of the support column, a connecting column is provided on the side surface of the support column, a mounting plate is connected to the end of the connecting column, a plurality of floating components are provided on the mounting plate, the other end of the floating component is connected to the magnetic gripper connecting seat to drive the magnetic gripper connecting seat to move, and a plurality of limiting blocks are provided on the mounting plate to limit the moving distance of the magnetic gripper connecting seat.

[0016] Preferably, in any of the above solutions, the floating component includes an oil-free bushing, a guide post passing through the oil-free bushing and connected to the magnetic gripper connecting seat, and a compression spring provided between the magnetic gripper connecting seat and the oil-free bushing.

[0017] Preferably, in any of the above solutions, it further includes a relay box, a photoelectric sensor and a profile sensor. The photoelectric sensor and the profile sensor are both mounted on a sensor mounting plate, and the sensor mounting plate is mounted on the mounting plate.

[0018] Technical effects and advantages of the present utility model: The gripper device that can be compatible with different working conditions and different specifications of steel shaft workpieces drives the moving fingers to move through the pneumatic gripper assembly and the locking cylinder to complete the clamping. Moreover, the finger patches I and II on the moving fingers and the fixed fingers are attached to the surface of the shaft workpiece, making the clamping more stable. In addition, the distance between the moving fingers and the fixed fingers is large, suitable for clamping shaft workpieces of different sizes. And a magnetic gripper assembly is adopted to complete the grasping work through the magnetic gripper. The two different grasping methods work together to be compatible with different working conditions. Brief Description of the Drawings

[0019] Figure 1 It is a schematic structural view of the upper part of the present utility model;

[0020] Figure 2 It is a schematic structural view of another perspective of the upper part of the present utility model;

[0021] Figure 3 It is a schematic structural view of the lower part of the present utility model;

[0022] Figure 4 It is a schematic structural view of another perspective of the lower part of the present utility model.

[0023] In the figure: 1. Relay box; 2. Mounting ear; 3. Support column; 4. Positioning sleeve; 5. Connecting column; 6. Reinforcing plate; 7. Mounting plate; 8. Floating assembly; 9. Magnetic gripper connecting plate; 10. Magnetic sheet; 11. Magnetic gripper; 12. Limit block; 13. Photoelectric sensor; 14. Profile sensor; 15. Sensor mounting plate; 16. Gripper base plate; 17. Reinforcing rib; 18. Locking cylinder; 19. Fixed finger; 20. Finger patch I; 21. Finger patch II; 22. Shoulder screw; 23. Moving finger; 24. Slide block mounting plate; 25. Slide block; 26. Driving rod; 27. Cylinder mounting plate; 28. Guide rail; 29. Oil-free bushing; 30. Compression spring; 31. Guide post. Detailed Embodiments

[0024] The following further describes the detailed embodiments of the present utility model with reference to the drawings. It should be noted here that the description of these embodiments is used to help understand the present utility model, but does not constitute a limitation to the present utility model. In addition, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0025] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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 thus should not be construed as a limitation to the present utility model.

[0026] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0027] The present utility model provides a kind of Figures 1-4 gripper device as shown, which can be compatible with different working conditions and different specifications of steel shaft workpieces, and includes

[0028] a gripper base plate 16 and two gripper mechanisms mounted on the gripper base plate 16. The gripper base plate 16 is U-shaped, and the two gripper mechanisms are mounted on both sides of the U-shaped gripper base plate 16, so that the two gripper mechanisms can simultaneously clamp the shaft workpiece. The gripper mechanism includes a locking cylinder 18, a fixed finger 19 fixed on the gripper base plate 16, and a moving finger 23 mounted on the driving end of the locking cylinder 18 and moving relative to the fixed finger 19. Here, the locking cylinder 18 is fixedly connected to the cylinder mounting plate 27 by bolts, and the cylinder mounting plate 27 is fixedly mounted on the gripper base plate 16 by bolts to complete the fixation of the locking cylinder 18. A slider mounting plate 24 is fixedly mounted on the top of the moving finger 23 by bolts. The output end of the locking cylinder 18 is connected to the slider mounting plate 24 through a driving rod 26. Specifically, the end of the driving rod 26 connected to the mounting plate 24 is a Y-shaped joint. The mounting plate 24 is placed into the Y-shaped joint, and then the two are fixed together by bolts passing through the Y-shaped joint and the mounting plate 24. A slider 25 is fixedly connected to the slider mounting plate 24 by bolts. The slider 25 is limited on the guide rail 28 and slides along the guide rail 28, and the guide rail 28 is fixedly mounted on the gripper base plate 16 by bolts.

[0029] In order to firmly grip shaft-like workpieces, a finger patch one 20 is fixed to the fixed finger 19 by means of bolts, and a finger patch two 21 is fixed to the moving finger 23. Specifically, the moving finger 23 is provided with a through opening, and there are corresponding bumps on the back of the finger patch two 21. During installation, the bumps are inserted into the opening of the moving finger 23, and the two are fixed together by passing a shoulder screw 22 through the moving finger 23 and the bumps. When gripping shaft-like workpieces, the finger patch one 20 and the finger patch two 21 are in contact with the shaft-like workpiece. The finger patch one 20 and the finger patch two 21 are set in a V shape, which fits better with the surface of the shaft-like workpiece and the gripping is more firm. In addition, two reinforcing ribs 17 are installed on the other surface of the gripper base plate 16, and proximity sensors are installed on each reinforcing rib 17 to detect shaft-like workpieces through the sensors.

[0030] A hollow support column 3, one end of the support column 3 is fixedly connected to the gripper base plate 16 by bolts through a mounting ear 2, a positioning sleeve 4 is installed at the other end of the support column 3, a connecting column 5 is integrally formed on the side of the support column 3, and a mounting plate 7 is also integrally formed at the end of the connecting column 5. Floating components 8 are installed at the four top corners of the mounting plate 7, and the other end of the floating components 8 is connected to a magnetic gripper connecting seat 9. The floating components 8 drive the magnetic gripper connecting seat 9 to move back and forth. Four limit blocks 12 are fixed on the mounting plate 7 to limit the moving distance of the magnetic gripper connecting seat 9. The side of the connecting column 5 is also connected to the mounting plate 7 through a reinforcing plate 6 for reinforcement. A magnetic gripper 11 is fixedly connected to the magnetic gripper connecting seat 9, and two upper and lower rows of magnetic attraction sheets 10 are fixed on the surface of the magnetic gripper 11, with 6 magnetic attraction sheets 10 in each row. The thickness of the magnetic attraction sheets 10 gradually increases outward along the horizontal center line of the magnetic gripper 11. In this way, the two rows of magnetic attraction sheets 10 also form a V shape, which fits better with the surface of the shaft-like workpiece. The magnetic attraction sheets 10 are lifting electro-permanent magnets.

[0031] The floating component 8 includes an oil-free bushing 29, a guide post 31 passing through the oil-free bushing 29 and connected to the magnetic gripper connecting seat 9, and a compression spring 30 arranged between the magnetic gripper connecting seat 9 and the oil-free bushing 29. The oil-free bushing 29 passes through the mounting plate 7, and the end of the guide post 31 away from the mounting plate 7 is provided with a limit block to prevent it from passing through the oil-free bushing 29. When gripping shaft-like workpieces, the magnetic attraction sheets 10 suck the shaft-like workpieces. At this time, the magnetic gripper connecting seat 9 will be squeezed, so that the guide post 31 moves towards the mounting plate 7. After gripping, under the action of the compression spring 30, the magnetic gripper connecting seat 9 moves in the reverse direction and returns to its original state.

[0032] It also includes a relay box 1, a photoelectric sensor 13 and a profile sensor 14. The photoelectric sensor 13 and the profile sensor 14 are both installed on a sensor mounting plate 15, and the sensor mounting plate 15 is bolted to the mounting plate 7 to assist in positioning and working during operation, which are all conventional technologies and will not be described in detail here.

[0033] When the gripper device compatible with steel shaft workpieces of different working conditions and specifications is in use, when using the pneumatic gripper assembly to grasp the shaft workpiece, specifically, the shaft workpiece is placed between the moving finger 23 and the fixed finger 19. At this time, the locking cylinder 18 drives the moving finger 23 to move towards the fixed finger 19 until the finger patch two 21 and the finger patch one 20 clamp the shaft workpiece. Conversely, the blanking is completed. When using the magnetic gripper assembly to grasp the shaft workpiece, specifically, when the shaft workpiece adheres to the magnetic sheet 10, after being powered on, the magnetic sheet 10 generates magnetism to suck the shaft workpiece to complete the grasping. After power-off, the magnetism of the magnetic sheet 10 disappears and the blanking is carried out.

[0034] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A gripper device that can be compatible with steel shaft workpieces of different working conditions and different specifications, characterized in that: including a pneumatic gripper assembly that drives the gripper to grasp shaft-like workpieces in a pneumatic manner; a magnetic gripper assembly that grasps shaft-like workpieces by magnetic attraction, and the magnetic gripper assembly is connected to the pneumatic gripper assembly; the pneumatic gripper assembly includes a gripper base plate (16) and a plurality of gripper mechanisms mounted on the gripper base plate (16), and the plurality of gripper mechanisms are arranged in parallel so that the plurality of gripper mechanisms simultaneously grasp the shaft-like workpieces; the gripper mechanism includes a locking cylinder (18), a fixed finger (19) fixed to the gripper base plate (16), and a moving finger (23) mounted on the driving end of the locking cylinder (18) and moving relative to the fixed finger (19); a slider mounting plate (24) is mounted at the top of the moving finger (23), the output end of the locking cylinder (18) is connected to the slider mounting plate (24) through a driving rod (26), a slider (25) is connected to the slider mounting plate (24), the slider (25) is limited on a guide rail (28) and slides along the guide rail (28), and the guide rail (28) is mounted on the gripper base plate (16); the locking cylinder (18) is connected to a cylinder mounting plate (27), and the cylinder mounting plate (27) is mounted on the gripper base plate (16); a finger patch one (20) is provided on the fixed finger (19), and a finger patch two (21) is provided on the moving finger (23). When grasping the shaft-like workpiece, the finger patch one (20) and the finger patch two (21) are in contact with the shaft-like workpiece; the magnetic gripper assembly includes a joint wrist connecting seat and a magnetic gripper connecting seat (9) mounted on the joint wrist connecting seat. A magnetic gripper (11) is connected to the magnetic gripper connecting seat (9), two rows of magnetic attraction sheets (10) are provided on the surface of the magnetic gripper (11), and the joint wrist connecting seat is connected to the gripper base plate (16).

2. The gripper device according to claim 1, which is compatible with steel shaft workpieces of different working conditions and different specifications, is characterized in that: the joint wrist connecting seat includes a support column (3). One end of the support column (3) is connected to the gripper base plate (16) through a mounting ear (2). A positioning sleeve (4) is provided at the other end of the support column (3). A connecting column (5) is provided on the side surface of the support column (3). The end of the connecting column (5) is connected to a mounting plate (7). A plurality of floating components (8) are provided on the mounting plate (7). The other end of the floating component (8) is connected to the magnetic gripper connecting seat (9) to drive the magnetic gripper connecting seat (9) to move. A plurality of limit blocks (12) are provided on the mounting plate (7) to limit the moving distance of the magnetic gripper connecting seat (9).

3. The gripper device according to claim 2, which is compatible with steel shaft workpieces of different working conditions and different specifications, is characterized in that: the floating component (8) includes an oil-free bushing (29), a guide post (31) passing through the oil-free bushing (29) and connected to the magnetic gripper connecting seat (9), and a compression spring (30) provided between the magnetic gripper connecting seat (9) and the oil-free bushing (29).

4. The gripper device according to claim 3, which is compatible with steel shaft workpieces under different working conditions and of different specifications, is characterized in that: also includes a relay box (1), a photoelectric sensor (13) and a profile sensor (14). The photoelectric sensor (13) and the profile sensor (14) are both mounted on a sensor mounting plate (15), and the sensor mounting plate (15) is mounted on the mounting plate (7).

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