A multifunctional gripper for grabbing and positioning a top cover
By designing a multifunctional gripper that integrates clamping, limiting, and sensing functions, the problem of high cost and large space occupation in existing top cover gripping and positioning devices has been solved, achieving efficient and low-cost gripping and positioning.
Patent Information
- Application Number
- CN202522115591.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-30
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-09-30
AI Technical Summary
Existing devices for gripping and positioning top covers require two independent systems, resulting in high costs, large space occupation, and the possibility of workpiece displacement due to multiple transfers, requiring repeated calibration and extending production time.
Design a multifunctional gripper that integrates a gripper mechanism, a limiting mechanism, and a sensor. The gripper achieves gripping, the positioning pin achieves positioning, the suction cup achieves adsorption, the limiting mechanism fixes the position, and the sensor detects whether the gripping is in place. Combined with a switching disk, it can achieve rapid switching.
It achieves efficient gripping and positioning of the top cover, reduces equipment space occupation, lowers costs, improves production efficiency, and reduces repetitive calibration steps.
Smart Images
Figure CN224927997U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of mechanical clamping. Specifically, this utility model relates to a multifunctional gripper for grasping and positioning a top cover. Background Technology
[0002] In existing technologies, in scenarios such as automobile manufacturing and home appliance assembly that require gripping, positioning, and assembling top-cover workpieces, gripping and assembling the top cover usually require separate operations. Existing gripping devices transport the top cover to the target location, while another set of positioning fixtures or robotic arms completes the assembly, requiring two independent systems. It is costly and takes up a lot of space. Multiple transfers can easily cause workpiece misalignment, requiring repeated calibration. The multi-step operation extends production time.
[0003] A search revealed that Chinese patent CN219748041, published on September 26, 2023, discloses a gripper structure, including a connecting plate. A sliding assembly is provided on the lower end face of the connecting plate. Gripper cylinders are fixedly connected to two sliding parts of the sliding assembly, and the two gripper cylinders are arranged opposite to each other. Two opposite grippers are vertically fixedly connected to the grippers of the gripper cylinders. A pitch-changing assembly for moving the two gripper cylinders away from each other and towards each other is fixedly connected to the connecting plate. However, it cannot simultaneously grip, position, and assemble the top cover. Utility Model Content
[0004] The present invention aims to provide a multifunctional gripper for grasping and positioning a top cover.
[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a multifunctional gripper for grasping and positioning a top cover, comprising a main frame, wherein a gripper mechanism and a limiting mechanism are provided on the main frame, the gripper mechanism and the limiting mechanism being respectively disposed on the top cover; the gripper mechanism includes a clamping cylinder and a gripper, the clamping cylinder being disposed at one end of the main frame, and one end of the gripper being disposed on the clamping cylinder; the gripper includes a first fixing plate and a second fixing plate, one end of the first fixing plate being connected to the main frame, the other end of the first fixing plate being fitted to one side of the top cover, and one end of the second fixing plate being connected to the clamping cylinder. The piston rod is connected, and the other end of the second fixing plate is attached to the other side of the top cover; the main frame is provided with a first mounting plate, which is located on one side of the gripper mechanism. The first mounting plate is provided with a first lifting cylinder, and the piston rod of the first lifting cylinder is connected to a positioning pin. The top cover is provided with a positioning hole, and the positioning pin is located in the positioning hole; the main frame is also provided with a second mounting plate, which is located on one side of the first mounting plate. The second mounting plate is provided with a second lifting cylinder, and the piston rod of the second lifting cylinder is connected to a suction cup, which is located on the top cover. Limiting mechanisms are provided on both sides of the main frame. The limiting mechanism includes a connecting plate and a limiting plate. One end of the connecting plate is connected to the main frame, and the other end of the connecting plate is connected to the limiting plate. The limiting plate is attached to one end of the top cover; the main frame is provided with a mounting bracket, and the main frame is provided with a third mounting plate, which is provided with a sensing element.
[0006] Furthermore, the main frame is a square structure, and a base is provided in the middle of the main frame. The base is an H-shaped plate, and a switching disk is provided on the base.
[0007] Furthermore, one end of the main frame is provided with a first base plate and a second base plate, the first base plate is provided with a suction cup valve island, and the second base plate is provided with a cylinder valve island.
[0008] Furthermore, multiple sets of gripper mechanisms, multiple sets of limiting mechanisms, multiple sets of mounting brackets, multiple sets of first mounting plates, multiple sets of second mounting plates, and multiple sets of third mounting plates and sensing elements are provided; the mounting bracket is a V-shaped plate.
[0009] The technical advantages of this utility model are as follows: by setting multiple sets of gripper mechanisms, the grippers can grasp the top cover. The grippers are pressed by a clamping cylinder. A first lifting cylinder connected with a positioning pin is also provided. The positioning pin is set in the positioning hole of the top cover to achieve positioning. A second lifting cylinder connected with a suction cup is provided to adsorb the top cover. Limiting mechanisms are provided at both ends of the main frame to fit the top cover and fix the position of the top cover. Multiple sets of sensors are also provided on the main frame to sense whether the gripping is in place. Attached Figure Description
[0010] This manual includes the following figures, which illustrate the following: Figure 1 is a schematic diagram of a multifunctional gripper mechanism for grasping and positioning a top cover.
[0011] Figure 2 is a schematic diagram of the gripper mechanism in Figure 1.
[0012] Figure 3 is a side view of Figure 2.
[0013] Figure 4 is a schematic diagram of the first lifting cylinder in Figure 1.
[0014] Figure 5 is a schematic diagram of the second lifting cylinder in Figure 1.
[0015] The components in the diagram are labeled as follows: 1. Main frame; 2. Gripper mechanism; 3. Limiting mechanism; 4. Top cover; 5. Pressing cylinder; 6. Gripper; 7. First fixing plate; 8. Second fixing plate; 9. First mounting plate; 10. First lifting cylinder; 11. Positioning pin; 12. Positioning hole; 13. Second lifting cylinder; 14. Second mounting plate; 15. Suction cup; 16. Connecting plate; 17. Limiting plate; 18. Mounting bracket; 19. Base; 20. Switching plate; 21. First base plate; 22. Second base plate; 23. Suction cup valve island; 24. Cylinder valve island; 25. First crossbeam; 26. Second crossbeam; 27. First longitudinal beam; 28. Second longitudinal beam; 29. Third mounting plate; 30. Sensor. Detailed Implementation
[0016] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of this utility model, and to facilitate its implementation.
[0017] As shown in Figure 1, a multifunctional gripper for grasping and positioning a top cover includes a main frame 1. The main frame 1 is equipped with a gripper mechanism 2 and a limiting mechanism 3, which are respectively mounted on the top cover 4. The gripper mechanism 2 is used to grasp the top cover 4, and the limiting mechanism 3 is used to fix the position of the top cover 4.
[0018] As shown in Figure 2, the main frame 1 has a square structure. The gripper mechanism 2 includes a clamping cylinder 5 and a gripper 6. The clamping cylinder 5 is located at one end of the main frame 1, and one end of the gripper 6 is located on the clamping cylinder 5. The main frame 1 includes a first crossbeam 25, a second crossbeam 26, a first longitudinal beam 27, and a second longitudinal beam 28. One end of the first longitudinal beam 27 and the second longitudinal beam 28 are respectively connected to both ends of the first crossbeam 25, and the other end of the first longitudinal beam 27 and the second longitudinal beam 28 are respectively connected to both ends of the second crossbeam 26. The first crossbeam 25, the second crossbeam 26, the first longitudinal beam 27, and the second longitudinal beam 28 together form a square main frame 1. In this embodiment, six sets of gripper mechanisms 2 are provided. Three sets of gripper mechanisms 2 are provided on the first crossbeam 25, and one set of gripper mechanisms 2 is provided in the middle of the second crossbeam 26. The ends of the first longitudinal beam 27 and the second longitudinal beam 28 near the second crossbeam 26 both extend out, and each of the extended ends of the first longitudinal beam 27 and the second longitudinal beam 28 is provided with a set of gripper mechanisms 2. A clamping cylinder 5 is used to clamp the grippers 6.
[0019] The gripper 6 includes a first fixing plate 7 and a second fixing plate 8. One end of the first fixing plate 7 is connected to the main frame 1, and the other end is attached to one side of the top cover 4. One end of the second fixing plate 8 is connected to the piston rod of the clamping cylinder 5, and the other end is attached to the other side of the top cover 4. The first fixing plate 7 of the gripper 6 is L-shaped, and the second fixing plate 8 of the gripper 6 is arc-shaped. One end of the first fixing plate 7 is connected to the crossbeam or longitudinal beam of the main frame 1, and the other end of the first fixing plate 7 is set on the top cover 4. The second fixing plate 8 is connected to the piston rod of the clamping cylinder 5. When the piston rod extends, the second fixing plate 8 and the top cover 4 are tightly attached, and the first fixing plate 7 and the second fixing plate 8 grip the top cover 4.
[0020] As shown in Figure 4, the main frame 1 is provided with a first mounting plate 9, which is located on one side of the gripper mechanism 2. A first lifting cylinder 10 is mounted on the first mounting plate 9, and the piston rod of the first lifting cylinder 10 is connected to a positioning pin 11. A positioning hole 12 is provided on the top cover 4, and the positioning pin 11 is located within the positioning hole 12. The first lifting cylinder 10 is used to extend and retract the positioning pin 11. The positioning hole 12 on the top cover 4, which mates with the positioning pin 11, allows for positioning of the top cover 4. In this embodiment, there are two first mounting plates 9, a first lifting cylinder 10, a positioning pin 11, and a positioning hole 12. A first mounting plate 9 is provided on the first crossbeam 25, and the first mounting plate 9 is connected to a first lifting cylinder 10. The piston rod of the first lifting cylinder 10 is connected to a positioning pin 11. The top cover 4 is provided with a positioning hole 12 that cooperates with the positioning pin 11 at a corresponding position. A first mounting plate 9 is provided on the second longitudinal beam 28, and the first mounting plate 9 is connected to a first lifting cylinder 10. The piston rod of the first lifting cylinder 10 is connected to a positioning pin 11. The top cover 4 is provided with a positioning hole 12 that cooperates with the positioning pin 11 at a corresponding position.
[0021] As shown in Figure 5, a second mounting plate 14 is also provided on the main frame 1. The second mounting plate 14 is located on one side of the first mounting plate 9. A second lifting cylinder 13 is provided on the second mounting plate 14. The piston rod of the second lifting cylinder 13 is connected to a suction cup 15, which is located on the top cover 4. In this embodiment, four second mounting plates 14 are provided, respectively located in the middle of the first crossbeam 25, the second crossbeam 26, the first longitudinal beam 27, and the second longitudinal beam 28. Each of the corresponding second mounting plates 14 is connected to a second lifting cylinder 13, and the piston rod of each of the corresponding second lifting cylinders 13 is connected to a suction cup 15. The suction cup 15 is a pneumatic suction cup, which achieves non-damaging gripping of the top cover through vacuum adsorption.
[0022] As shown in Figure 3, limiting mechanisms 3 are provided on both sides of the main frame 1. Each limiting mechanism 3 includes a connecting plate 16 and a limiting plate 17. One end of the connecting plate 16 is connected to the main frame 1, and the other end of the connecting plate 16 is connected to the limiting plate 17. The limiting plate 17 is fitted to one end of the top cover 4. In this embodiment, six limiting mechanisms 3 are provided to fix the position of the top cover 4, of which three sets are provided for the first longitudinal beam and three sets are provided for the second longitudinal beam.
[0023] The main frame 1 is equipped with mounting brackets 18, which are V-shaped plates. A third mounting plate 29 is mounted on the main frame 1, and a sensor 30 is mounted on the third mounting plate 29. In this embodiment, four sets of mounting brackets 18 are provided, respectively located at both ends of the first longitudinal beam 27 and the second longitudinal beam 28, for fixing the entire main frame 1. The sensor 30 is a pressure sensor or tactile sensor, etc., used to sense whether the top cover 4 is gripped in place. In this embodiment, four sensors 30 are provided: one located on one side of the gripper mechanism 2 on the first crossbeam 25, one on one side of the base 19, one on the first crossbeam 25, and one on one side of the gripper mechanism 2 on the second longitudinal beam 28.
[0024] The main frame 1 has a base 19 in the middle, which is an H-shaped plate and has a switching disk 20 on it.
[0025] The base 19 is fixed between the first longitudinal beam 27 and the second longitudinal beam 28. The switching plate 20 is a standard part. The switching plate 20 is used to quickly switch the gripper 6, the suction cup 15 and the positioning pin 11, which can reduce equipment downtime and improve the flexibility of the production line.
[0026] The main frame 1 has a first base plate 21 and a second base plate 22 at one end. The first base plate 21 has a suction cup valve island 23, and the second base plate 22 has a cylinder valve island 24. The suction cup valve island 23 controls the vacuuming (adsorption) and vacuum breaking (release) actions of the suction cup 15. The main components of the suction cup valve island 23 include a vacuum generator, a solenoid valve, and a vacuum sensor. The vacuum generator converts compressed air into a vacuum, which is connected to the suction cup through a pipeline, thereby generating adsorption force. The solenoid valve controls whether compressed air enters the vacuum generator. A two-position three-way or two-position two-way valve can achieve the switching. The vacuum sensor monitors the vacuum level (negative pressure value) at the suction cup end in real time and feeds the signal back to the PLC. The cylinder valve island 24 is a valve island used to control standard double-acting or single-acting cylinders. It controls the entry of compressed air into one side of the cylinder, thereby driving the extension and retraction of the cylinder piston rod.
[0027] The main components of the cylinder valve island 24 include a multi-position solenoid valve, an intake port (connected to the air source), two working ports (connected to the rod-side and rodless-side chambers of the cylinder respectively), two exhaust ports, a throttle valve, and a position sensor. The multi-position solenoid valve is typically a two-position five-way valve, which is the standard valve for controlling double-acting cylinders. The throttle valve is integrated into the valve island and is used to regulate the extension and retraction speed of the cylinder, ensuring smooth operation and avoiding impact. The position sensor, such as a magnetic switch, is used to detect whether the cylinder piston has reached the end position of extension or retraction and feeds the signal back to the PLC.
[0028] Multiple sets of gripper mechanisms 2, multiple sets of limiting mechanisms 3, multiple sets of mounting brackets 18, multiple sets of first mounting plates 9, multiple sets of second mounting plates 14, and multiple sets of third mounting plates 29 and sensing elements 30 are all provided. In this embodiment, multiple sets of gripper mechanisms 2, limiting mechanisms 3, mounting brackets 18, and first lifting cylinders 10 connected to the first mounting plates 9 are provided, and second lifting cylinders 13 connected to the second mounting plates 14 are provided, and the installation positions are not limited to those described above.
[0029] The working principle of this utility model is as follows: The main frame 1 includes a first crossbeam 25, a second crossbeam 26, a first longitudinal beam 27, and a second longitudinal beam 28. One end of the first longitudinal beam 27 and the second longitudinal beam 28 are respectively connected to both ends of the first crossbeam 25, and the other end of the first longitudinal beam 27 and the second longitudinal beam 28 are respectively connected to both ends of the second crossbeam 26. The first crossbeam 25, the second crossbeam 26, the first longitudinal beam 27, and the second longitudinal beam 28 together form a square main frame 1. Multiple sets of gripper mechanisms 2 are provided on the crossbeams of the main frame 1. The gripper mechanisms 2 use clamping cylinders 5 to grip the top cover. A first lifting cylinder 10 is provided on the crossbeams of the main frame 1. The piston rod of the first lifting cylinder 10 is connected to a positioning pin 11. The positioning pin 11 is set in the positioning hole 12 on the top cover 4 for fixation. Multiple sets of second lifting cylinders 13 are provided on the crossbeams or longitudinal beams of the main frame 1. The piston rod is connected to a suction cup 15, which is used to adsorb the top cover 4. Vacuum adsorption can achieve non-destructive gripping. Limiting mechanisms 3 are set at both ends of the longitudinal beam of the main frame 1. The limiting mechanisms 3 are used to fit with the two ends of the top cover 4 to achieve limiting. Multiple sets of sensors 30 are set on the main frame 1. The sensors 30 are used to sense whether the gripping is in place. An H-shaped base 19 is set in the middle of the main frame 1. A switching disk 20 is set on the base 19. The switching disk 20 is used to quickly switch the gripper 6, suction cup 15 and positioning pin 11.
[0030] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.
Claims
1. A multifunctional gripper for grasping and positioning a top cover, characterized in that: The system includes a main frame (1), on which a gripper mechanism (2) and a limiting mechanism (3) are provided. The gripper mechanism (2) and the limiting mechanism (3) are respectively located on the top cover (4). The gripper mechanism (2) includes a clamping cylinder (5) and a gripper (6). The clamping cylinder (5) is located at one end of the main frame (1), and one end of the gripper (6) is located on the clamping cylinder (5). The gripper (6) includes a first fixing plate (7) and a second fixing plate (8). One end of the first fixing plate (7) is located on the second fixing plate (8). The first fixing plate (7) is connected to the main frame (1), and the other end of the first fixing plate (7) is attached to one side of the top cover (4). One end of the second fixing plate (8) is connected to the piston rod of the pressing cylinder (5), and the other end of the second fixing plate (8) is attached to the other side of the top cover (4). The main frame (1) is provided with a first mounting plate (9), which is located on one side of the gripper mechanism (2). The first mounting plate (9) is provided with a first lifting cylinder (10), and the piston rod of the first lifting cylinder (10) is connected to the main frame (1). A positioning pin (11) is attached to the top cover (4), and a positioning hole (12) is provided on the top cover (4). The positioning pin (11) is located in the positioning hole (12). A second mounting plate (14) is also provided on the main frame (1). The second mounting plate (14) is located on one side of the first mounting plate (9). A second lifting cylinder (13) is provided on the second mounting plate (14). The piston rod of the second lifting cylinder (13) is connected to a suction cup (15). The suction cup (15) is located on the top cover (4). The main frame (1) Both sides are provided with limiting mechanisms (3). The limiting mechanism (3) includes a connecting plate (16) and a limiting plate (17). One end of the connecting plate (16) is connected to the main frame (1), and the other end of the connecting plate (16) is connected to the limiting plate (17). The limiting plate (17) is attached to one end of the top cover (4). The main frame (1) is provided with a mounting bracket (18), and the main frame (1) is provided with a third mounting plate (29). The third mounting plate (29) is provided with a sensing element (30).
2. The multifunctional gripper for grasping and positioning a top cover according to claim 1, characterized in that: The main frame (1) is a square structure, and a base (19) is provided in the middle of the main frame (1). The base (19) is an H-shaped plate, and a switching disk (20) is provided on the base.
3. A multifunctional gripper for grasping and positioning a top cover according to claim 2, characterized in that: The main frame (1) has a first base plate (21) and a second base plate (22) at one end. The first base plate (21) is provided with a suction cup valve island (23), and the second base plate (22) is provided with a cylinder valve island (24).
4. A multifunctional gripper for grasping and positioning a top cover according to claim 3, characterized in that: The gripper mechanism (2) is set in multiple sets, the limiting mechanism (3) is set in multiple sets, the mounting bracket (18) is set in multiple sets, the first mounting plate (9) is set in multiple sets, the second mounting plate (14) is set in multiple sets, the third mounting plate (29) and the sensing element (30) are all set in multiple sets; the mounting bracket (18) is a V-shaped plate.