Multifunctional floating robot claw

Abstract

The utility model discloses a multifunctional floating robot gripper which comprises a first gripping unit, a second gripping unit, a third gripping unit, a fourth gripping unit and a C-like gripper connecting frame. The third grabbing unit, the first grabbing unit and the second grabbing unit are installed on the three surfaces of the outer side of the gripper connecting frame from left to right at a time, and the fourth grabbing unit is installed on the three surfaces of the inner side of the gripper connecting frame. And a flange plate supporting frame is installed above the gripper connecting frame, a robot connecting flange is installed on the flange plate supporting frame, and the first grabbing unit, the second grabbing unit, the third grabbing unit and the fourth grabbing unit are each provided with a gas cut-off protection mechanism and a detection mechanism which are in butt joint with each other. According to the multifunctional floating robot claw, the four grabbing units are integrated together, all the units rotate, feeding operation and discharging operation can be conducted through one device, and the structural compactness of feeding operation and discharging operation of a machine tool is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of production line assembly robot arms, in particular to a multifunctional floating robot claw arm. Background Art

[0002] Workpiece handling in traditional processes such as grinding and testing machine tools mainly relies on manual pick-up and placement. However, manual handling is labor-intensive and time-consuming, which leads to increased personnel costs and reduced production efficiency.

[0003] With the development and progress of society, in order to improve the production efficiency of workpieces and the fault tolerance of production lines, flexibly automate the level, and reduce labor costs, machine grippers are used to replace manual handling, provided that the requirements of process and automation are met.

[0004] In the existing technology, the current method of grabbing machine tool workpieces on production lines usually uses two or even more independent mechanisms for loading and unloading operations of the workpieces. The layout is bulky, has poor compatibility and adaptability, and a complex structure, resulting in a large number of machines arranged on the production line and poor structural compactness. Utility Model Content

[0005] (1) Technical problems solved

[0006] In response to the shortcomings of the existing technology, the utility model provides a multifunctional floating robot gripper which is integrated with four grasping units. Each unit rotates, so that loading and unloading operations can be performed with one device, ensuring the structural compactness of the loading and unloading operations of the machine tool, improving work efficiency, and solving the technical problems of the current machine gripper which uses two or even more independent mechanisms for loading and unloading operations of the workpiece, resulting in a large number of machines arranged in the production line and poor structural compactness.

[0007] (2) Technical solution

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a multifunctional floating robot gripper, comprising a first grasping unit, a second grasping unit, a third grasping unit, a fourth grasping unit and a C-shaped grasping connection frame, the third grasping unit, the first grasping unit and the second grasping unit being installed one by one from left to right on the three outer surfaces of the grasping connection frame, and the fourth grasping unit being installed on the three inner surfaces of the grasping connection frame; a flange support frame is installed above the grasping connection frame, and a robot connection flange is installed on the flange support frame, and the first grasping unit, the second grasping unit, the third grasping unit and the fourth grasping unit are all installed with a mutual docking air-cutting protection mechanism and a detection mechanism.

[0009] Furthermore, the first gripping unit includes a first unit shaft compensation module installed on the outer front side of the gripper connecting frame, the first unit shaft compensation module is connected to the first unit two-finger translation clamp, a pair of first unit finger quick-change seats are symmetrically arranged on the first unit two-finger translation clamp, each of the first unit finger quick-change seats is installed with a first unit claw arm, and first unit claw pads are symmetrically installed on the inner sides of the two first unit claw arms.

[0010] Furthermore, the second grasping unit includes a second unit shaft compensation module installed on the outer right side of the gripper connecting frame, a second unit three-jaw clamp is installed on the second unit shaft compensation module, three second unit quick-change seats are evenly installed on the second unit three-jaw clamp, each of the second unit quick-change seats is installed with a second unit claw arm, and second unit claw pads are installed on the inner sides of the three second unit claw arms; a second unit automatic workpiece ejection mechanism connected to the second unit shaft compensation module is installed in the inner ring of the second unit three-jaw clamp.

[0011] Furthermore, the third gripping unit includes a third unit shaft compensation module installed on the outer left side of the gripper connecting frame, a third unit three-jaw clamp is installed on the third unit shaft compensation module, three third unit quick-change seats are evenly installed on the third unit three-jaw clamp, each of the third unit quick-change seats is installed with a third unit claw arm, and third unit claw pads are installed on the inner sides of the three third unit claw arms.

[0012] Furthermore, the fourth grasping unit includes a fourth unit three-jaw clamp installed on the three inner surfaces of the gripper connecting frame, three fourth unit finger quick-change seats are evenly installed on the fourth unit three-jaw clamp, each of the fourth unit finger quick-change seats is installed with a fourth unit claw arm, and fourth unit claw pads are installed on the inner sides of the three fourth unit claw arms.

[0013] Furthermore, the air-cut-off protection mechanism includes a first pilot throttle valve installed on the first unit two-finger translation clamp, a second pilot throttle valve installed on the second unit three-jaw clamp, a third pilot throttle valve installed on the third unit three-jaw clamp, and a fourth pilot throttle valve installed on the fourth unit three-jaw clamp.

[0014] Furthermore, the first pilot throttle valve, the second pilot throttle valve, the third pilot throttle valve and the fourth pilot throttle valve are connected to each other via a three-way joint.

[0015] Furthermore, the detection mechanism includes a first unit workpiece detection sensor, a first proximity switch and a first magnetic switch installed on the first unit two-finger translation clamp;

[0016] The invention further comprises: a second unit workpiece detection sensor, a second proximity switch and a second magnetic switch installed on the second unit three-jaw clamp;

[0017] Also included are a third unit workpiece detection sensor, a third proximity switch, and a third magnetic switch installed on the third unit three-jaw clamp;

[0018] The system further includes a fourth unit workpiece detection sensor, a fourth proximity switch, and a fourth magnetic switch installed on the fourth unit three-jaw clamp.

[0019] Furthermore, the first unit workpiece detection sensor, the second unit workpiece detection sensor, the third unit workpiece detection sensor and the fourth unit workpiece detection sensor are used to detect whether a workpiece is clamped in the gripper arm corresponding to each unit;

[0020] The first proximity switch, the second proximity switch, the third proximity switch and the fourth proximity switch are used to detect the opening and closing status of the claw arms corresponding to each unit;

[0021] The first magnetic switch, the second magnetic switch, the third magnetic switch and the fourth magnetic switch are used to detect whether the claw arms corresponding to each unit are tightened or loosened when clamping the workpiece.

[0022] Furthermore, the gripper connection frame is a detachable part, and the specifications can be replaced according to different working conditions.

[0023] (3) Beneficial effects

[0024] Compared with the existing technology, the present invention provides a multifunctional floating robot claw hand with the following beneficial effects:

[0025] 1. The four grasping units in the multifunctional floating robot gripper can respectively grasp and load or unload different product workpieces or multiple identical workpieces at the same time. By integrating the four grasping units together and rotating each unit, loading and unloading operations can be performed with one device, ensuring the compactness of the loading and unloading operations of the machine tool, reducing the number of machines arranged for loading and unloading of the machine tool, and thus improving the work efficiency of loading and unloading of product workpieces.

[0026] 2. This multifunctional floating robotic gripper connects four gripping units using just two components. This allows for simultaneous loading and unloading of multiple materials, enabling precise grasping and placement. The configuration of axis compensation modules within each unit also enhances fault tolerance when placing on grinding and testing machines, improving machining accuracy. Furthermore, quick-change mounts within each unit enable quick changeover of the gripper arm. When producing different workpieces, the gripper arm and pad can be quickly and manually replaced, ensuring safety and reliability, while also improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a first-person perspective color three-dimensional stereogram of a multifunctional floating robot claw hand of the utility model;

[0028] Figure 2 This is a first-person three-dimensional image of a multifunctional floating robot claw hand of the utility model;

[0029] Figure 3 This is a three-dimensional image from a second perspective of a multifunctional floating robot claw hand of the utility model;

[0030] Figure 4 This is a three-dimensional image from a third perspective of a multifunctional floating robot claw hand of the present invention;

[0031] Figure 5 This is a three-dimensional image from the fourth perspective of a multifunctional floating robot claw hand of the present invention;

[0032] Figure 6 This is a three-dimensional image from the fifth perspective of a multifunctional floating robot claw hand of the present invention;

[0033] In the figure: 1. First gripping unit; 101. First unit axis compensation module; 102. First unit two-finger translation clamp; 103. First unit finger quick change seat; 104. First unit claw arm; 105. First unit claw pad; 106. First pilot throttle valve; 107. First unit workpiece detection sensor; 108. First proximity switch; 109. First magnetic switch; 2. Second gripping unit; 201. Second unit axis compensation module; 202. Second unit three-finger clamp; 203. Second unit quick change seat; 204. Second unit claw arm; 205. Second unit claw pad; 206. Second unit automatic workpiece ejection mechanism; 207. Second pilot throttle valve; 208. Second unit workpiece detection sensor; 209. Second proximity switch; 210. Second magnetic switch 3. Third gripping unit; 301. Third unit axis compensation module; 302. Third unit three-jaw clamp; 303. Third unit quick change seat; 304. Third unit claw arm; 305. Third unit claw pad; 306. Third pilot throttle valve; 307. Third unit workpiece detection sensor; 308. Third proximity switch; 309. Third magnetic switch; 4. Fourth gripping unit; 401. Fourth unit three-jaw clamp; 402. Fourth unit finger quick change seat; 403. Fourth unit claw arm; 404. Fourth unit claw pad; 405. Fourth pilot throttle valve; 406. Fourth unit workpiece detection sensor; 407. Fourth proximity switch; 408. Fourth magnetic switch; 5. Gripper connection frame; 6. Flange support frame; 7. Robot connection flange. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] See also Figure 1-5 A multifunctional floating robot gripper is characterized in that it includes a first grasping unit 1, a second grasping unit 2, a third grasping unit 3, a fourth grasping unit 4 and a C-shaped grasping connection frame 5. The third grasping unit 3, the first grasping unit 1 and the second grasping unit 2 are installed on the three outer surfaces of the grasping connection frame 5 from left to right, and the fourth grasping unit 4 is installed on the three inner surfaces of the grasping connection frame 5; the grasping connection frame 5 is a detachable part and its specifications can be replaced according to different working conditions.

[0036] The first gripping unit 1 includes a first unit shaft compensation module 101 installed on the outer front side of the gripper connecting frame 5, and a first unit two-finger translation clamp 102 is connected to the first unit shaft compensation module 101. A pair of first unit finger quick-change seats 103 are symmetrically arranged on the first unit two-finger translation clamp 102, and each first unit finger quick-change seat 103 is installed with a first unit claw arm 104, and first unit claw pads 105 are symmetrically installed on the inner side surfaces of the two first unit claw arms 104.

[0037] The second gripping unit 2 includes a second unit shaft compensation module 201 installed on the outer right side of the gripper connecting frame 5, a second unit three-jaw clamp 202 installed on the second unit shaft compensation module 201, three second unit quick-change seats 203 evenly installed on the second unit three-jaw clamp 202, each second unit quick-change seat 203 is installed with a second unit claw arm 204, and the inner side surfaces of the three second unit claw arms 204 are all installed with second unit claw pads 205; a second unit automatic workpiece ejection mechanism 206 connected to the second unit shaft compensation module 201 is installed in the inner ring of the second unit three-jaw clamp 202.

[0038] The third gripping unit 3 includes a third unit shaft compensation module 301 installed on the outer left side of the gripper connecting frame 5, a third unit three-jaw clamp 302 is installed on the third unit shaft compensation module 301, three third unit quick-change seats 303 are evenly installed on the third unit three-jaw clamp 302, each third unit quick-change seat 303 is installed on a third unit claw arm 304, and the inner side surfaces of the three third unit claw arms 304 are all installed with third unit claw pads 305.

[0039] The fourth gripping unit 4 includes a fourth unit three-jaw clamp 401 installed on the three inner surfaces of the gripper connecting frame 5, and three fourth unit finger quick-change seats 402 are evenly installed on the fourth unit three-jaw clamp 401. A fourth unit claw arm 403 is installed on each fourth unit finger quick-change seat 402, and a fourth unit claw pad 404 is installed on the inner side surfaces of the three fourth unit claw arms 403.

[0040] A flange support frame 6 is installed above the gripper connection frame 5, and a robot connection flange 7 is installed on the flange support frame 6. The first gripping unit 1, the second gripping unit 2, the third gripping unit 3 and the fourth gripping unit 4 are all installed with mutual docking gas-cut-off protection mechanisms and detection mechanisms.

[0041] In the above embodiment, the air shutoff protection mechanism includes a first pilot throttle valve 106 mounted on the first unit two-finger translation clamp 102, a second pilot throttle valve 207 mounted on the second unit three-jaw clamp 202, a third pilot throttle valve 306 mounted on the third unit three-jaw clamp 302, and a fourth pilot throttle valve 405 mounted on the fourth unit three-jaw clamp 401. The first pilot throttle valve 106, the second pilot throttle valve 207, the third pilot throttle valve 306, and the fourth pilot throttle valve 405 are connected via a three-way joint.

[0042] In the above embodiment, the detection mechanism includes a first unit workpiece detection sensor 107, a first proximity switch 108 and a first magnetic switch 109 installed on the first unit two-finger translation clamp 102;

[0043] The second unit includes a workpiece detection sensor 208, a second proximity switch 209 and a second magnetic switch 210 installed on the second unit three-jaw clamp 202;

[0044] The third unit workpiece detection sensor 307, the third proximity switch 308 and the third magnetic switch 309 are installed on the third unit three-jaw clamp 302;

[0045] The fourth unit three-jaw clamp 401 further includes a fourth unit workpiece detection sensor 406 , a fourth proximity switch 407 , and a fourth magnetic switch 408 .

[0046] In the detection mechanism, the first unit workpiece detection sensor 107, the second unit workpiece detection sensor 208, the third unit workpiece detection sensor 307 and the fourth unit workpiece detection sensor 406 are used to detect whether a workpiece is clamped in the claw arm corresponding to each unit; the first proximity switch 108, the second proximity switch 209, the third proximity switch 308 and the fourth proximity switch 407 are used to detect the opening and closing status of the claw arm corresponding to each unit; the first magnetic switch 109, the second magnetic switch 210, the third magnetic switch 309 and the fourth magnetic switch 408 are used to detect whether the workpiece is clamped in the claw arm corresponding to each unit.

[0047] The working principle of the above embodiment is:

[0048] When in use, the multifunctional floating robot gripper is connected and assembled to the robot through the robot connecting flange 7. The first grasping unit 1, the second grasping unit 2, the third grasping unit 3, and the fourth grasping unit 4 can respectively grasp and load or unload different product workpieces or multiple identical workpieces at the same time. By integrating the four grasping units together and rotating each unit, loading and unloading operations can be performed with one device, ensuring the structural compactness of the loading and unloading operations of the machine tool, reducing the number of machines arranged for loading and unloading of the machine tool, and thus improving the work efficiency of loading and unloading of product workpieces.

[0049] In summary, the current workpiece production line manually places the workpiece, and the robot grabs the workpiece on the conveyor tray and takes it to the grinder and tester, the transfer table, the sampling table, and finally puts it back on the conveyor tray. The multifunctional floating robot gripper provided by the utility model connects four gripping units together with only one or two pieces. The use of the multifunctional floating robot gripper can realize multiple loading and unloading operations at the same time, which can not only achieve precise grasping and placement, but also has a higher fault tolerance rate when placing the grinder and tester by configuring the axis compensation module of each unit, thereby improving the processing accuracy. In addition, by configuring the quick-change seat of each unit, the quick change of the gripper arm of each unit can be realized. When producing different workpieces, the gripper arm and gripper pad of the corresponding workpiece can be quickly replaced manually, which is safe and reliable, and improves production efficiency.

[0050] In addition to the above, the multifunctional floating robot gripper also integrates the solenoid valve assembly and module, thereby saving the number of pipelines in the robot pipeline package, and only three wires, namely the main air supply line, power line and signal line, are required for connection.

[0051] It should be noted that, if in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, it does not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional floating robot gripper, characterized by: The invention comprises a first grasping unit (1), a second grasping unit (2), a third grasping unit (3), a fourth grasping unit (4) and a C-shaped grasping connection frame (5), wherein the third grasping unit (3), the first grasping unit (1) and the second grasping unit (2) are installed on the three outer surfaces of the grasping connection frame (5) from left to right, and the fourth grasping unit (4) is installed on the three inner surfaces of the grasping connection frame (5); a flange support frame (6) is installed above the grasping connection frame (5), and a robot connection flange (7) is installed on the flange support frame (6); the first grasping unit (1), the second grasping unit (2), the third grasping unit (3) and the fourth grasping unit (4) are all installed with a mutual docking air-breaking protection mechanism and a detection mechanism.

2. The multifunctional floating robot gripper according to claim 1, characterized in that: The first gripping unit (1) comprises a first unit shaft compensation module (101) mounted on the outer front side of the gripper connection frame (5); a first unit two-finger translation clamp (102) is connected and mounted on the first unit shaft compensation module (101); a pair of first unit finger quick-change seats (103) are symmetrically arranged on the first unit two-finger translation clamp (102); a first unit claw arm (104) is mounted on each of the first unit finger quick-change seats (103); and first unit claw pads (105) are symmetrically mounted on the inner side surfaces of the two first unit claw arms (104).

3. The multifunctional floating robot gripper according to claim 2, characterized in that: The second gripping unit (2) comprises a second unit shaft compensation module (201) installed on the outer right side of the gripper connection frame (5); a second unit three-jaw clamp (202) is installed on the second unit shaft compensation module (201); three second unit quick-change seats (203) are evenly installed on the second unit three-jaw clamp (202); each second unit quick-change seat (203) is installed with a second unit claw arm (204); and the inner side surfaces of the three second unit claw arms (204) are all installed with a second unit claw pad (205); and a second unit automatic workpiece ejection mechanism (206) connected to the second unit shaft compensation module (201) is installed in the inner ring of the second unit three-jaw clamp (202).

4. The multifunctional floating robot gripper according to claim 3, characterized in that: The third gripping unit (3) comprises a third unit shaft compensation module (301) installed on the outer left side of the gripper connection frame (5); a third unit three-claw clamp (302) is installed on the third unit shaft compensation module (301); three third unit quick-change seats (303) are evenly installed on the third unit three-claw clamp (302); each of the third unit quick-change seats (303) is installed on a third unit claw arm (304); and third unit claw pads (305) are installed on the inner side surfaces of the three third unit claw arms (304).

5. The multifunctional floating robot gripper according to claim 4, characterized in that: The fourth gripping unit (4) comprises a fourth unit three-claw clamp (401) mounted on three inner surfaces of the gripper connection frame (5); three fourth unit finger quick-change seats (402) are evenly distributed on the fourth unit three-claw clamp (401); a fourth unit claw arm (403) is mounted on each of the fourth unit finger quick-change seats (402); and fourth unit claw pads (404) are mounted on the inner side surfaces of the three fourth unit claw arms (403).

6. The multifunctional floating robot gripper according to claim 5, characterized in that: The gas cut-off protection mechanism comprises a first pilot throttle valve (106) installed on the first unit two-finger translation clamp (102), a second pilot throttle valve (207) installed on the second unit three-jaw clamp (202), a third pilot throttle valve (306) installed on the third unit three-jaw clamp (302), and a fourth pilot throttle valve (405) installed on the fourth unit three-jaw clamp (401).

7. The multifunctional floating robot gripper according to claim 6, characterized in that: The first pilot throttle valve (106), the second pilot throttle valve (207), the third pilot throttle valve (306) and the fourth pilot throttle valve (405) are connected to each other via a three-way joint.

8. The multifunctional floating robot gripper according to claim 5, characterized in that: The detection mechanism comprises a first unit workpiece detection sensor (107), a first proximity switch (108) and a first magnetic switch (109) installed on the first unit two-finger translation clamp (102); The invention also includes a second unit workpiece detection sensor (208), a second proximity switch (209), and a second magnetic switch (210) installed on the second unit three-jaw clamp (202); It also includes a third unit workpiece detection sensor (307), a third proximity switch (308) and a third magnetic switch (309) installed on the third unit three-jaw clamp (302); The invention also includes a fourth unit workpiece detection sensor (406), a fourth proximity switch (407) and a fourth magnetic switch (408) installed on the fourth unit three-jaw clamp (401).

9. The multifunctional floating robot gripper according to claim 8, characterized in that: The first unit workpiece detection sensor (107), the second unit workpiece detection sensor (208), the third unit workpiece detection sensor (307) and the fourth unit workpiece detection sensor (406) are used to detect whether a workpiece is clamped in the claw arm corresponding to each unit; The first proximity switch (108), the second proximity switch (209), the third proximity switch (308) and the fourth proximity switch (407) are used to detect the opening and closing states of the claw arms corresponding to each unit; The first magnetic switch (109), the second magnetic switch (210), the third magnetic switch (309) and the fourth magnetic switch (408) are used to detect whether the claw arms corresponding to each unit are tightened or loosened when clamping a workpiece.

10. The multifunctional floating robot gripper according to claim 1, characterized in that: The gripper connection frame (5) is a detachable part and can be replaced in different specifications according to different working conditions.

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