A flexible material taking gripper

Abstract

The utility model discloses a kind of flexible material taking gripper, mechanical arm and material taking assembly, the lower end of the mechanical arm is equipped with base, and multiple mounting holes are equipped on the base;The material taking assembly includes mounting seat, electromagnet, first lifting cylinder, multiple first pneumatic gripper, second lifting cylinder and second pneumatic gripper, the mounting seat is hollow structure, the first lifting cylinder is installed in the right side of mounting seat, fixed seat is installed in the telescopic end right side of first lifting cylinder, multiple the first pneumatic gripper is installed in the lower end of corresponding fixed seat, rectangular plate is installed in the front side of mounting seat, two the second lifting cylinder is installed in the front side of rectangular plate.The utility model can be realized by single gripper Large rectangular block, round bar, small rectangular block stable clamping and accurate conveying, and have flexible adjustment ability and high efficient adaptability, reduce the occupied space of equipment, improve the production efficiency to embedded part.

Description

Technical Field

[0001] This utility model relates to the field of embedded part processing technology, and in particular to a flexible material handling gripper. Background Technology

[0002] In the processing and production of embedded parts, laser cleaning is a key process to ensure the surface quality of the embedded parts and improve product performance. This process requires the precise transport of large rectangular blocks, round rods, and small rectangular blocks required for embedded part processing to designated workstations. However, the current material handling operations for these three types of materials with different structures and sizes in the industry generally face problems such as low efficiency, poor adaptability, and insufficient positioning accuracy, which seriously restrict the automation level and capacity improvement of embedded part processing production lines. Existing material handling equipment mostly uses single-structure grippers or suction cups. For large and small rectangular blocks with regular shapes but significant size differences, a single gripper often struggles to simultaneously meet the requirements of stable clamping and flexible adaptation. Excessive clamping force can deform small rectangular blocks, while insufficient clamping force can cause large rectangular blocks to fall off during transport. For cylindrical rods, suction cups are prone to unstable adhesion due to their smooth contact surfaces, and traditional grippers struggle to precisely adhere to the rod surface, easily leading to slippage. To solve this problem, some production lines have had to configure multiple different types of material handling equipment, each specifically for handling large rectangular blocks, rods, and small rectangular blocks. This not only significantly increases equipment procurement costs and workshop floor space but also requires complex process scheduling to achieve multi-equipment coordination, extending the material transport cycle and reducing overall production efficiency.

[0003] Therefore, a flexible material gripper needs to be designed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flexible material gripper. This invention can stably grip and accurately transport large rectangular blocks, round rods, and small rectangular blocks with a single gripper, and has flexible adjustment capabilities and high adaptability, reducing the space occupied by the equipment and improving the production efficiency of embedded parts.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A flexible material gripper includes a robotic arm and a material gripping assembly. The lower end of the robotic arm is mounted on a base with multiple mounting holes. The material gripping assembly includes a mounting base, an electromagnet, a first lifting cylinder, multiple first pneumatic grippers, a second lifting cylinder, and a second pneumatic gripper. The mounting base is a hollow structure. The first lifting cylinder is mounted on the right side of the mounting base, and a fixed seat is mounted on the right side of the telescopic end of the first lifting cylinder. Multiple first pneumatic grippers are mounted on the lower end of corresponding fixed seats. A rectangular plate is mounted on the front side of the mounting base, two second lifting cylinders are mounted on the front side of the rectangular plate, and two second pneumatic grippers are mounted on the front side of the telescopic end of corresponding second lifting cylinders.

[0006] Preferably, the number of the first pneumatic grippers is four, and every two cooperating first pneumatic grippers are located in the same row.

[0007] Preferably, the upper end of the mounting base is fixedly connected to a fixing column by bolts, and the fixing column is connected to the robotic arm flange by screws.

[0008] Preferably, the lower end of the mounting base is provided with multiple through holes, and a sliding column is slidably connected in each through hole. Each electromagnet is installed at the lower end of the corresponding sliding column, and each electromagnet is elastically connected to the lower end of the mounting base by a spring. A strip block is fixedly connected to the upper end of every two cooperating sliding columns.

[0009] Preferably, the lower end of the mounting base is provided with a circular opening, the inner wall of the mounting base is fixedly connected to a mounting bracket, and the lower end of the mounting bracket is equipped with a vision sensor.

[0010] Preferably, the centers of the vision sensor, the fixed post, and the circular opening are located on the same axis.

[0011] Compared with existing technologies, the advantages of this device are: Compared with existing technologies, this device integrates multiple sets of first pneumatic grippers, second pneumatic grippers, and electromagnets, making it suitable for different materials. The first and second pneumatic grippers can stably grasp small rectangular blocks and round rods by adjusting the clamping force, preventing deformation of small rectangular blocks and slippage of round rods. The electromagnets can attract large rectangular blocks with strong magnetism, solving the problems of insufficient stability and easy slippage when gripping large materials with traditional grippers. It can also be compatible with gripping large rectangular blocks of different sizes. A single gripper can complete the material handling operations of three types of materials without the need for multi-device coordination and scheduling, shortening the material conveying cycle, improving the automation continuity of the production line, and significantly reducing procurement and maintenance costs and space occupation. Compared with existing technologies, the fixed column is connected to the robotic arm, which can flexibly adjust the angle of the mounting base to adapt to the needs of different workstations; the electromagnet structure with sliding column and spring can adapt to the height of the material surface when adsorbing large rectangular blocks, compensate for the initial position deviation, and achieve flexible contact. Compared with existing technologies, the vision sensor at the lower end of the mounting base can detect the posture of small rectangular blocks, round rods and large rectangular blocks in real time, dynamically correct the gripping and conveying position, ensure that all kinds of materials arrive at the laser cleaning station accurately, reduce manual intervention and improve the consistency of cleaning quality. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a flexible material handling gripper proposed in this utility model; Figure 2 This is a schematic diagram of the material handling assembly; Figure 3 for Figure 2 A structural diagram from an upward-looking perspective.

[0013] In the diagram: 1 robotic arm, 2 vision sensor, 3 fixed column, 4 mounting base, 5 first lifting cylinder, 6 spring, 7 fixed base, 8 first pneumatic gripper, 9 electromagnet, 10 second lifting cylinder, 11 sliding column, 12 second pneumatic gripper. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0015] Reference Figures 1-3A flexible material gripper includes a robotic arm 1 and a material gripping assembly. The lower end of the robotic arm 1 is mounted on a base with multiple mounting holes. The material gripping assembly includes a mounting base 4, an electromagnet 9, a first lifting cylinder 5, multiple first pneumatic grippers 8, a second lifting cylinder 10, and a second pneumatic gripper 12. When energized, the electromagnet 9 is used to attract large rectangular blocks. The two cooperating first pneumatic grippers 8 are used to grip round rods, and the second pneumatic grippers 12 are used to grip small rectangular blocks. The mounting base 4 has a hollow structure. The first lifting cylinder 5 is mounted on the right side of the mounting base 4, and the telescopic end of the first lifting cylinder 5... A fixed base 7 is installed on the right side, and multiple first pneumatic grippers 8 are installed at the lower end of the corresponding fixed base 7. There are four first pneumatic grippers 8, and every two first pneumatic grippers 8 that cooperate are located in the same row, so as to stably clamp the round rod. A rectangular plate is installed on the front side of the mounting base 4, and two second lifting cylinders 10 are installed on the front side of the rectangular plate. Two second pneumatic grippers 12 are installed on the front side of the telescopic end of the corresponding second lifting cylinder 11. The first pneumatic grippers 8 and the second pneumatic grippers 12 can be moved to a suitable position by the first lifting cylinder 5 and the second lifting cylinder 10.

[0016] The upper end of the mounting base 4 is fixedly connected to a fixing column 3 by bolts. The fixing column 3 is connected to the flange of the robotic arm 1 by screws, so that the angle and position of the material picking component can be adjusted by using the drive on the robotic arm 1.

[0017] The mounting base 4 has multiple through holes at its lower end, and each through hole has a sliding post 11 slidably connected to it. Each electromagnet 9 is installed at the lower end of the corresponding sliding post 11. Each electromagnet 9 is elastically connected to the lower end of the mounting base 4 by a spring 6. The upper ends of every two cooperating sliding posts 11 are fixedly connected to a strip block, which forms an elastic buffer through the spring 6, making it easy to attract large rectangular blocks of different heights.

[0018] The mounting base 4 has a circular opening at its lower end. A mounting frame is fixedly connected to the inner wall of the mounting base 4. A vision sensor 2 is installed at the lower end of the mounting frame. The vision sensor 2, the fixed column 3, and the center of the circular opening are located on the same axis. The vision sensor 2 identifies the object and position to be picked up and feeds it back to the control system of the peripheral device. The control system adjusts the posture of the robotic arm 1. A CCD light source is installed inside the circular opening. The CCD light source is circular.

[0019] The functional principle of this utility model can be explained through the following operation: When picking up the materials required for the processing of embedded parts, the robotic arm 1 first moves the entire device to the material storage area. At this time, the vision sensor 2 at the lower end of the mounting base 4 will identify the large rectangular block, round rod or small rectangular block below. After determining the material type and position, the robotic arm 1 will adjust its posture so that the mounting base 4 is aligned with the target material. To pick up a large rectangular block, the sliding column 11 inside the through hole at the lower end of the mounting base 4 will approach the material as the robotic arm 1 descends. The electromagnet 9 at the lower end of the sliding column 11 will be energized, generating magnetism and attracting the large rectangular block. During the attraction process, the spring 6 connected to the lower end of the mounting base 4 will slightly expand and contract according to the height of the material surface, ensuring that the electromagnet 9 remains in contact with the large rectangular block and prevents it from falling off. Subsequently, the robotic arm 1 moves the mounting base 4. If the angle of the mounting base 4 needs to be adjusted, it can be rotated through the rotating bearing 2 between the fixed column 3 and the robotic arm 1. After the large rectangular block is accurately delivered to the laser cleaning station, the electromagnet 9 is de-energized, completing the placement of the large rectangular block. If a round rod or a small rectangular block needs to be gripped, after the vision sensor 2 identifies the material, if the target is a round rod, the first lifting cylinder 5 on the right side of the mounting base 4 will be activated, causing the first pneumatic gripper 8 at the lower end of the right-side fixed base 7 to approach the round rod and close to clamp the round rod. If the target is a small rectangular block, the second lifting cylinder 10 on the front rectangular plate of the mounting base 4 will be activated, causing the second pneumatic gripper 12 on the front side to approach the small rectangular block and close to fix the small rectangular block. After clamping is completed, the robotic arm 1 drives the mounting base 4 to move. During the movement, the angle can be adjusted by rotating the bearing 2. After the round rod or small rectangular block is transported to the workstation, the first pneumatic gripper 8 or the second pneumatic gripper 12 will release, completing the material placement.

[0020] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A flexible material handling gripper, characterized in that, include: A robotic arm (1) and a material handling assembly, wherein a base is mounted on the lower end of the robotic arm (1), and the base is provided with a plurality of mounting holes; The material handling assembly includes a mounting base (4), an electromagnet (9), a first lifting cylinder (5), multiple first pneumatic grippers (8), a second lifting cylinder (10), and a second pneumatic gripper (12). The mounting base (4) is a hollow structure. The first lifting cylinder (5) is installed on the right side of the mounting base (4). A fixed seat (7) is installed on the right side of the telescopic end of the first lifting cylinder (5). Multiple first pneumatic grippers (8) are installed at the lower end of the corresponding fixed seat (7). A rectangular plate is installed on the front side of the mounting base (4). Two second lifting cylinders (10) are installed on the front side of the rectangular plate. Two second pneumatic grippers (12) are installed on the front side of the telescopic end of the corresponding second lifting cylinder (10).

2. The flexible material handling gripper according to claim 1, characterized in that: There are four first pneumatic grippers (8), and every two first pneumatic grippers (8) that cooperate are located in the same column.

3. The flexible material handling gripper according to claim 1, characterized in that: The upper end of the mounting base (4) is fixedly connected to a fixing column (3) by bolts, and the fixing column (3) is connected to the flange of the robotic arm (1) by screws.

4. The flexible material handling gripper according to claim 1, characterized in that: The lower end of the mounting base (4) is provided with multiple through holes, and each through hole is slidably connected with a sliding column (11). Each electromagnet (9) is installed at the lower end of the corresponding sliding column (11). Each electromagnet (9) is elastically connected to the lower end of the mounting base (4) by a spring (6). The upper ends of every two cooperating sliding columns (11) are fixedly connected with a strip block.

5. A flexible material handling gripper according to claim 3, characterized in that: The lower end of the mounting base (4) is provided with a round opening, and the inner wall of the mounting base (4) is fixedly connected with a mounting frame, and a vision sensor (2) is installed at the lower end of the mounting frame.

6. A flexible material handling gripper according to claim 5, characterized in that: The center of the visual sensor (2), the fixed column (3), and the circular opening are located on the same axis.

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