A switchable valve workpiece gripping hand
Patent Information
- Application Number
- CN202522081753.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-28
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-09-28
AI Technical Summary
[0003]本实用新型的目的是解决现有阀体上下料中手爪仅能适应单一规格的法兰，生产效率低和传统手爪往往难以精准的对带有夹具子板的零件定位和稳定抓取以及在抓取前无法对工件及子板表面进行有效清洁的问题
通过电磁体吸附不同规模的阀体工件，无需像传统手爪那样面对不同直径的法兰产品时更换不同的手爪，有效减少了设备的购置数量，降低了设备成本，也避免了因频繁更换手爪而中断生产流程的情况，保障了生产的连续性，有助于提高生产效率；
Smart Images
Figure CN224659474U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of valve body processing, and in particular to a switchable valve workpiece gripper. Background Technology
[0002] In the production of metal valves, loading and unloading, as well as zero-point positioning, rely on various gripper devices. However, existing robotic grippers can only adapt to flanges of a single specification. When dealing with flanges of different diameters, different grippers need to be changed, which not only increases equipment costs but also frequently interrupts the production process and reduces production efficiency. For parts with clamping subplates, traditional grippers often struggle to accurately position and stably grasp them. If the workpiece on the subplate has a different posture, the gripper's adaptability is even worse, easily leading to unstable grasping or even dropping, affecting production safety and product quality. Furthermore, conventional grippers cannot effectively clean iron filings and stains on the workpiece and subplate surface before grasping, resulting in decreased workpiece installation accuracy or contamination of subsequent processing steps. To solve the above problems, a switchable valve workpiece gripper is proposed. Utility Model Content
[0003] The purpose of this invention is to solve the problems of existing valve body loading and unloading grippers being able to adapt to only a single specification of flange, resulting in low production efficiency, and traditional grippers often being unable to accurately position and stably grip parts with clamping subplates, as well as the inability to effectively clean the workpiece and subplate surface before gripping.
[0004] The present invention adopts the following technical solution: A switchable valve workpiece gripper includes a robot body and a mounting frame installed at its end. The mounting frame has a fork on its side, a positioning post on the fork, a clamping plate on the fork, an RFID reader / writer head at the front end of the fork, an electromagnet at the bottom of the mounting frame, and an air blowing hole inside the mounting frame. Furthermore, the mounting frame is a hollow frame, the fork is fixedly mounted on the mounting frame, and the mounting frame has several air holes on the side of the mounting fork. There are openings on the two adjacent sides of this side for inserting an air pipe and blowing air outward through the air holes. Furthermore, an electromagnet is provided at the bottom of the mounting bracket for adsorbing valve body workpieces of different sizes. Furthermore, a valve body workpiece is mounted on the fixture subplate, and a tag chip for identification is provided on the fixture subplate; Furthermore, the fork has two support rods, each with a positioning post in the middle, and the clamping plate has openings on both sides that mate with the positioning post for positioning the clamping plate. Furthermore, the two support rods of the fork are equipped with RFID reader heads at their front ends, which are used to identify the tag chip on the fixture sub-board and obtain the sub-board's identity information. Furthermore, the connection between the mounting bracket and the fork claw has reinforcing ribs to prevent the fork claw from bending under stress. Furthermore, the air inlet is oriented along the extension direction of the fork pawl and is used to purge the valve body workpiece.
[0005] The beneficial effects of this utility model are: By using an electromagnet to attract valve body workpieces of different sizes, there is no need to change different grippers when dealing with flange products of different diameters, as is the case with traditional grippers. This effectively reduces the number of equipment to purchase, lowers equipment costs, and avoids interruptions to the production process due to frequent gripper changes, ensuring production continuity and helping to improve production efficiency. By engaging the positioning pins on the fork claw with the openings on the fixture subplate, precise positioning of parts with fixture subplates can be achieved. Even if the workpieces on the subplate have different postures, it can adapt well, enhancing the adaptability of the gripper to such workpieces, greatly improving the stability of gripping, and avoiding unstable gripping or even dropping, thereby ensuring production safety and product quality. By using the air vents on the mounting bracket and the identification function of the RFID reader and tag chip, the iron filings and stains on the surface of the workpiece and sub-board can be effectively cleaned before gripping. This can prevent the problem of reduced workpiece installation accuracy due to impurities, and also avoid contamination of subsequent processing steps, which helps to improve the overall product processing quality and the cleanliness of the production environment. Attached Figure Description
[0006] Figure 1 A schematic diagram of the overall structure of a switchable valve workpiece gripper for utility model; Figure 2 This is a partial structural diagram of a switchable valve-type workpiece gripper according to a utility model. Figure 3 An exploded view of the structure of a switchable valve-type workpiece gripper, which is a utility model. In the diagram: 1. Robot body; 2. Mounting frame; 3. Fork claw; 4. Positioning column; 5. Electromagnet; 6. Fixture subplate; 7. Air blowing hole; 8. RFID reader / writer head; 9. Valve body workpiece. Detailed Implementation
[0007] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0008] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0009] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.
[0010] Example 1 This utility model provides a switchable valve workpiece gripper, including a robot body 1 and a mounting frame 2 installed at its end. A hollow mounting frame 2 is fixedly connected to the bottom of the mounting frame 2. Two support rods of a fork 3 are symmetrically fixed on both sides of the mounting frame 2. The fork 3 is composed of two parallel support rods. A positioning post 4 is provided in the middle of the support rod. An RFID reader / writer head 8 is fixedly installed at the front end of the support rod. A triangular reinforcing rib is provided at the connection between the mounting frame 2 and the fork 3. The two ends of the reinforcing rib are welded and fixed to the side of the mounting frame 2 and the fork 3 respectively to enhance the bending strength of the fork 3. The clamping plate 6 is placed on the two support rods of the fork 3. The clamping plate 6 has openings on both sides that cooperate with the positioning pin 4 for positioning the clamping plate 6. An electromagnet 5 is fixedly connected to the bottom center of the mounting bracket 2, which is used to adsorb valve body workpieces 9 of different sizes. The mounting bracket 2 has through mounting holes on both sides adjacent to the side where the fork 3 is located, for connecting the air pipe. The air outlet end of the air pipe is connected to the cavity inside the mounting bracket 2, and air is blown outward through the air blowing holes 7 evenly distributed on the front side of the mounting bracket 2. The air blowing holes 7 are oriented along the extension direction of the fork 3. The fixture subplate 6 is fitted onto the positioning post 4 of the fork pawl 3 through openings on both sides. The upper surface of the fixture subplate 6 is used to fix the valve body workpiece 9. A tag chip is embedded inside, which is used to cooperate with the RFID reader / writer 8 to identify the tag chip on the fixture subplate 6 and obtain the identity information of the subplate.
[0011] Working principle: When loading and unloading valve products, if the valve body workpiece 9 with flanges ranging in size from φ140 to φ360 is being gripped, the current parameters of the electromagnet 5 are adjusted to ensure sufficient and appropriate adsorption force for flanges of different specifications. The gripper mode of the electromagnet 5 is then activated, and the electromagnet 5 generates magnetic force to adsorb the flange surface, completing the gripping and loading / unloading action. If the valve body workpiece 9 with a clamping subplate 6 is being gripped, the forklift-type gripper mode is switched to, and the two support rods of the fork pawl 3 are inserted into the bottom of the clamping subplate 6. The positioning seat is inserted into the opening of the clamping subplate 6 for positioning, achieving stable gripping and loading / unloading. Before each gripping, the air pipe automatically blows air through the air blowing hole 7 to clean the workpiece and subplate. Then, the read / write head reads the subplate information and adjusts the air pressure and blowing time of the air pipe to achieve the best cleaning effect while avoiding damage to the workpiece due to excessive air pressure before executing the gripping action.
[0012] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The various components mentioned in this utility model are common technologies in the existing field. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.
Claims
1. A switchable valve-type workpiece gripper, comprising a robot body (1) and a mounting bracket (2) mounted at its end, characterized in that, The mounting bracket (2) has a fork claw (3) on its side, a positioning post (4) on the fork claw (3), a clamping plate (6) on the fork claw (3), an RFID reader / writer head (8) at the front end of the fork claw (3), an electromagnet (5) at the bottom of the mounting bracket (2), and an air blowing hole (7) inside the mounting bracket (2).
2. The switchable valve-type workpiece gripper according to claim 1, characterized in that, The mounting frame (2) is a hollow frame. The fork (3) is fixedly mounted on the mounting frame (2). There are several air holes (7) on the side of the mounting frame (2) where the fork (3) is mounted. There are openings on the two adjacent sides of this side for inserting an air pipe and blowing air outward through the air holes (7).
3. The switchable valve-type workpiece gripper according to claim 2, characterized in that, The bottom of the mounting bracket (2) is provided with an electromagnet (5) for adsorbing valve body workpieces (9) of different sizes.
4. A switchable valve-type workpiece gripper according to claim 3, characterized in that, The fixture subplate (6) is equipped with a valve body workpiece (9) and a label chip for identification.
5. A switchable valve-type workpiece gripper according to claim 4, characterized in that, The fork (3) has two support rods, each with a positioning post (4) in the middle. The clamping plate (6) has openings on both sides that cooperate with the positioning post (4) for positioning the clamping plate (6).
6. A switchable valve-type workpiece gripper according to claim 5, characterized in that, The fork (3) has two support rods with RFID reader (8) installed at the front end, which is used to identify the tag chip on the fixture sub-board (6) and obtain the sub-board's identity information.
7. A switchable valve-type workpiece gripper according to claim 6, characterized in that, The mounting bracket (2) has reinforcing ribs at the connection between it and the fork (3) to prevent the fork (3) from bending under force.
8. A switchable valve-type workpiece gripper according to claim 7, characterized in that, The air vent (7) is oriented along the extension direction of the fork (3) and is used to purge the valve body workpiece (9).