Pneumatic gripper

Abstract

The utility model discloses a kind of pneumatic grippers, comprising: frame main body;Clamping mechanism, clamping mechanism is set on frame main body, for clamping external workpiece;Pushing mechanism, pushing mechanism is set on frame main body, for workpiece blanking, workpiece is pushed flat;Positioning mechanism, positioning mechanism is set on frame main body, for the positioning of positioning hole on workpiece;Vision system, vision system is set on frame main body, for identifying the position of hole on workpiece.The utility model is positioned by being equipped with vision system, can automatically identify the position of workpiece, and then feedback to robot, let robot can automatically move gripper to capture position, improve efficiency, save positioning fixture or positioning material box.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a pneumatic gripper. Background Technology

[0002] With the rapid development of new energy vehicles, more and more pneumatic grippers are being used in various automated handling applications. General automated handling is simply repetitive robot trajectory movement, which is rigid mechanical movement. It only replaces two workers in handling and solves their labor intensity, but one person still needs to be retained to place the handling parts in the fixed position fixture or the precision positioning box to provide the robot with the accurate position of the incoming parts. Only in this way can the robot mechanically place the handling parts in the required size position. Summary of the Invention

[0003] According to an embodiment of the present invention, a pneumatic gripper is provided, comprising: The main framework; The clamping mechanism is mounted on the frame body and is used to clamp external workpieces; The pushing mechanism is installed on the frame body and is used to push the workpiece flat when it is unloaded. The positioning mechanism is installed on the frame body and is used to position the positioning holes on the workpiece. A vision system, mounted on the frame body, is used to identify the location of holes on the workpiece.

[0004] Furthermore, the clamping mechanism includes: Multiple clamping frames are mounted on the main frame body; Multiple clamping cylinders are arranged one-to-one on multiple clamping frames, and each clamping cylinder has a gripper at its clamping end.

[0005] Furthermore, the gripping area of ​​the claws is equipped with protective pads.

[0006] Furthermore, the feeding mechanism includes: Multiple pusher racks are installed on the main frame body; Multiple pusher cylinders are arranged one-to-one on multiple pusher frames; Multiple push rods are respectively set on the output end of multiple push cylinders; Multiple pusher discs are arranged one-to-one on multiple push rods.

[0007] Furthermore, the pusher plate and the corresponding push rod are connected by a buffer mechanism.

[0008] Furthermore, the positioning mechanism includes: The positioning frame is mounted on the main frame body. Positioning pins are installed on the positioning frame.

[0009] Furthermore, it also includes: a presence / absence detector, which is installed on the clamping mechanism to detect the presence or absence of external workpieces.

[0010] Furthermore, it also includes: a distance detector, which is mounted on the clamping mechanism and is used to detect the distance to an external workpiece.

[0011] Furthermore, it also includes: a flange, which is mounted on the frame body for connecting to an external robot.

[0012] According to an embodiment of the present invention, a pneumatic gripper is equipped with a vision system, which can automatically identify the position of the workpiece and then feed the information back to the robot, allowing the robot to automatically move the gripper to the gripping position, thereby improving efficiency and saving positioning fixtures or positioning boxes.

[0013] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of a pneumatic gripper according to an embodiment of the present utility model.

[0015] Figure 2 This is a front view structural diagram of a pneumatic gripper according to an embodiment of the present utility model. Detailed Implementation

[0016] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0017] First, combine Figures 1-2 This invention describes a pneumatic gripper according to an embodiment of the present invention, used for gripping workpieces (i.e., L-shaped plates with positioning holes), and has a wide range of applications.

[0018] like Figures 1-2 As shown, a pneumatic gripper according to an embodiment of the present invention has a frame body 100, a clamping mechanism, a pushing mechanism, a positioning mechanism, and a vision system 500.

[0019] Specifically, such as Figures 1-2As shown, a clamping mechanism is mounted on the frame body 100 for clamping external workpieces. The clamping mechanism includes: multiple clamping frames 201 and multiple clamping cylinders 202. The multiple clamping frames 201 are mounted on the frame body 100; the multiple clamping cylinders 202 are respectively mounted on the multiple clamping frames 201, and each clamping cylinder 202 has a gripper 203 at its clamping end. The clamping cylinder 202 drives the gripper 203 to clamp the workpiece.

[0020] Furthermore, such as Figures 1-2 As shown, the gripping area of ​​the jaw 203 is provided with a protective pad 204, which can protect the workpiece and prevent it from being worn when gripping it.

[0021] Specifically, such as Figures 1-2 As shown, a pushing mechanism is mounted on the frame body 100 and is used to flatten the workpiece during unloading. The pushing mechanism includes: multiple pushing frames 301, multiple pushing cylinders 302, multiple push rods 303, and multiple pushing discs 304. The multiple pushing frames 301 are mounted on the frame body 100; the multiple pushing cylinders 302 are each correspondingly mounted on one of the multiple pushing frames 301; the multiple push rods 303 are each correspondingly mounted on the output ends of the multiple pushing cylinders 302; and the multiple pushing discs 304 are each correspondingly mounted on the multiple push rods 303. When the workpiece is gripped and positioned at a designated location by the gripper, the pushing cylinders 302 are controlled to move, causing the push rods 303 and pushing discs 304 to descend, applying downward pressure to the workpiece and ensuring its horizontality during unloading.

[0022] Furthermore, such as Figures 1-2 As shown, the pusher plate 304 and the corresponding push rod 303 are connected by a buffer mechanism. The buffer mechanism adopts a spring buffer mechanism, which allows the pusher plate 304 to achieve a soft landing when it contacts the workpiece, preventing hard contact with the workpiece and causing damage to the workpiece.

[0023] Specifically, such as Figures 1-2 As shown, a positioning mechanism is mounted on the frame body 100 and is used to position the positioning holes on the workpiece. The positioning mechanism includes a positioning frame 401 and a positioning pin 402. The positioning frame 401 is mounted on the frame body 100; the positioning pin 402 is mounted on the positioning frame 401 and is used to insert into the positioning holes on the workpiece for positioning.

[0024] Specifically, such as Figures 1-2 As shown, the vision system 500 is mounted on the frame body 100 and is used to identify the position of the holes on the workpiece and the position of the workpiece.

[0025] Furthermore, such as Figures 1-2As shown, a pneumatic gripper according to an embodiment of the present invention further includes: an presence / absence detector 601, which is disposed on the clamping mechanism and is used to detect the presence or absence of an external workpiece.

[0026] Furthermore, such as Figures 1-2 As shown, a pneumatic gripper according to an embodiment of the present invention further includes: a distance detector 602, which is disposed on the clamping mechanism and is used to detect the distance to an external workpiece.

[0027] Furthermore, such as Figures 1-2 As shown, a pneumatic gripper according to an embodiment of the present invention further includes: a flange 603, which is disposed on the frame body 100 and is used to connect to an external robot.

[0028] Working principle: The vision system 500 identifies the position of the hole on the workpiece and the position of the workpiece, and determines the position to be grasped by the gripper. The external robotic arm first inserts the positioning pin 402 into the positioning hole on the workpiece. When the distance detector 602 detects that the designated gripping position has been reached and the absence detector 601 detects that there is a workpiece, the clamping mechanism runs and clamps the workpiece. An external robotic arm transports the workpiece to the designated placement position. The clamping mechanism opens and lowers the workpiece. At the same time, the pushing mechanism operates, applying downward pressure to the workpiece to ensure its levelness.

[0029] Above, refer to Figures 1-2 This invention describes a pneumatic gripper according to an embodiment of the present invention. By being equipped with a vision system 500, the gripper can automatically identify the position of the workpiece and then provide feedback to the robot, allowing the robot to automatically move the gripper to the gripping position, thereby improving efficiency and saving positioning fixtures or positioning bins.

[0030] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A pneumatic gripper, characterized in that, Include: The main framework; A clamping mechanism is provided on the frame body for clamping external workpieces; A pushing mechanism is provided on the frame body and is used to push the workpiece flat when the workpiece is unloaded. A positioning mechanism is provided on the frame body and is used to position the positioning holes on the workpiece. A vision system, which is mounted on the frame body, is used to identify the position of holes on the workpiece and the position of the workpiece. The feeding mechanism includes: Multiple pusher racks are mounted on the frame body; Multiple pusher cylinders are respectively and correspondingly arranged on the multiple pusher frames; Multiple push rods are respectively and correspondingly arranged on the output ends of the multiple material pushing cylinders; Multiple pusher discs are respectively and correspondingly arranged on the multiple push rods; The pusher plate and the corresponding push rod are connected by a buffer mechanism; The positioning mechanism includes: A positioning frame, which is mounted on the main body of the frame; A positioning pin, wherein the positioning pin is disposed on the positioning frame; It also includes: a presence / absence detector, which is disposed on the clamping mechanism and is used to detect the presence or absence of an external workpiece; It also includes: a distance detector, which is disposed on the clamping mechanism for detecting the distance to an external workpiece.

2. The pneumatic gripper as described in claim 1, characterized in that, The clamping mechanism includes: Multiple clamping frames are disposed on the frame body; Multiple clamping cylinders are respectively and correspondingly arranged on multiple clamping frames, and each clamping cylinder has a gripper at its clamping end.

3. The pneumatic gripper as described in claim 2, characterized in that, The gripping area of ​​the gripper is provided with a protective pad.

4. The pneumatic gripper as described in claim 1, characterized in that, It also includes: a flange, which is mounted on the frame body for connection to an external robot.

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