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CN-121973263-A - Multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment

CN121973263ACN 121973263 ACN121973263 ACN 121973263ACN-121973263-A

Abstract

The invention provides a multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment, which belongs to the technical field of clamping devices for manipulators and comprises a manipulator interface part, a rotating part, a clamping opening and closing module, an elastic balancing part, a first clamping part, a second clamping part and a cleaning blowing assembly, wherein the transverse position adjustment of the manipulator interface part is achieved through a translation mounting seat, the rotating part drives the clamping opening and closing module to integrally rotate and adjust, and the clamping opening and closing module drives a first sliding plate and a second sliding plate to open and close.

Inventors

  • ZHANG GANG
  • YANG TINGDONG

Assignees

  • 汉特曼轻金属铸造（天津）有限公司

Dates

Publication Date
20260505
Application Date
20260331

Claims (9)

  1. 1. The multi-workpiece manipulator grabbing device capable of realizing double-sided clamping and position adjustment comprises a manipulator interface part (1) and a rotating part (2), and is characterized by further comprising a clamping opening and closing module (3), an elastic balancing part (4), a first clamping part (5), a second clamping part (6) and a cleaning blowing assembly (7); The manipulator interface part (1) comprises a center mounting seat (102), the rotating part (2) comprises a bottom plate (203), the center mounting seat (102) is fixedly arranged in the middle of the bottom end of the manipulator interface part (1), two sides of the center mounting seat (102) are respectively provided with a translation mounting seat (103) which is in sliding connection with the manipulator interface part (1), the bottom ends of the center mounting seat (102) and the translation mounting seats (103) are respectively provided with a pneumatic rotating device (201), the top end of the bottom plate (203) is connected with an output shaft of the pneumatic rotating device (201), and the clamping opening and closing module (3) is arranged on the bottom plate (203) and comprises a first sliding plate (303) and a second sliding plate (304) which are driven by the same driving mechanism and can move in opposite directions; The first clamping part (5) comprises a first clamping plate (504), the second clamping part (6) comprises a second clamping plate (604), the top end of the first clamping plate (504) is connected with the outer lower end of the first sliding plate (303) in a screwed mode, the top end of the second clamping plate (604) is connected with the outer lower end of the second sliding plate (304) in a screwed mode, a first front clamping block (505) and a first back clamping block (506) are arranged on the inner side surface of the first clamping plate (504), a second front clamping block (605) and a second back clamping block (606) are arranged on the inner side surface of the second clamping plate (604), an elastic balancing part (4) is arranged between the bottom plate (203) and the second sliding plate (304), and comprises a telescopic air bag (404), and when the second sliding plate (304) acts, air blowing can be conducted on the first front clamping block (505) and the first back clamping block (506) and the second front clamping block (605) and the second back clamping block (606) through cleaning and blowing components (7).
  2. 2. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 1, wherein the manipulator interface (1) further comprises a cross beam (101), a translation cylinder (104), a limiting backup (105), a vertical seat (106), a translation distance sensor (107) and a translation linear sliding block (109), wherein a center mounting seat (102) is fixed in the middle of the bottom end of the cross beam (101), a translation linear sliding rail (108) is fixedly arranged at the bottom end of the cross beam (101) in parallel, the translation linear sliding block (109) is slidably arranged on the translation linear sliding rail (108) and is connected with the translation mounting seat (103), a main body of the translation cylinder (104) is fixed with the bottom end of the cross beam (101) through the vertical seat (106), a piston rod of the translation cylinder (104) is connected with one side of the translation mounting seat (103), the limiting backup (105) is arranged at two ends of the cross beam (101), and the translation distance sensor (107) is mounted between the vertical seat (106) and the side end of the translation mounting seat (103).
  3. 3. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 2, wherein the rotating portion (2) further comprises a door-shaped frame (202), the door-shaped frame (202) is fixedly arranged between an output shaft of the pneumatic rotating device (201) and the bottom plate (203), and the pneumatic rotating device (201) can drive the door-shaped frame (202) to rotate by 0-360 degrees based on the axis of the pneumatic rotating device (201).
  4. 4. The multi-workpiece manipulator grabbing device as claimed in claim 1,2 or 3, wherein the clamping opening and closing module (3) further comprises an opening and closing linear sliding rail (301), an opening and closing cylinder (307), an active arm (308), a driven arm (309) and an opening and closing distance sensor (314), the opening and closing linear sliding rail (301) is fixedly arranged on the top surface of the bottom plate (203) in parallel, the opening and closing linear sliding rail (301) is slidably connected with an opening and closing linear sliding block (302), a first sliding plate (303) and a second sliding plate (304) are respectively arranged on the opening and closing linear sliding blocks (302) on two sides, the outer lower end of the first sliding plate (303) is fixedly provided with a first vertical plate (305), the outer lower end of the second sliding plate (304) is fixedly provided with a plurality of second vertical plates (306), the middle part of the top surface of the bottom plate (203) is fixedly provided with a center swivel base (310), two ends of the swivel base (310) are respectively connected with a first connecting rod (312) and a second connecting rod (313), the active arm (308) is fixedly connected with the other end of the first sliding plate (309) on one side of the first connecting rod (309), the other end of the second sliding plate (309) is fixedly connected with the other end of the first sliding plate (309), the opening and closing cylinder (307) is fixedly arranged on one side of the top surface of the bottom plate (203), a piston rod of the opening and closing cylinder is fixedly connected with the first sliding plate (303), and the opening and closing distance sensor (314) is arranged between the bottom surface of the bottom plate (203) and the first vertical plate (305).
  5. 5. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 4, wherein the elastic balancing portion (4) further comprises a reference seat (401), a sliding column (406) and a balancing pressure spring (407), the reference seat (401) is fixedly arranged on the top surface of the bottom plate (203), the top surface of the second sliding plate (304) is fixedly provided with a movable connecting seat (403), one end of the telescopic airbag (404) is fixedly clamped with the movable connecting seat (403), the other end of the telescopic airbag is fixedly clamped with the reference seat (401), the middle part of the reference seat (401) is fixedly provided with a sliding seat (402), one end middle part of the telescopic airbag (404) is fixedly provided with a sealing seat (405), the sliding column (406) penetrates through the sealing seat (405) and is fixedly sleeved outside the inner cavity bottom surface of the telescopic airbag (404), one end of the balancing pressure spring (407) is fixedly clamped with the inner cavity bottom surface of the telescopic airbag (404), the other end of the telescopic airbag (404) is fixedly clamped with the end face of the sealing seat (405), one end of the telescopic airbag (404) is connected with a one-way air inlet pipe (408), and the other end of the telescopic airbag (404) is fixedly provided with a one-way air outlet pipe (409).
  6. 6. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 5, wherein the first clamping portion (5) further comprises a first fixed inclined seat (501), a first overturning cylinder (502) and a first limiting block (510), the first fixed inclined seat (501) is fixedly arranged on the outer side face of the first vertical plate (305), a first overturning shaft (503) is fixedly arranged in a neutral position of the bottom end of the first vertical plate (305), the top end of the first clamping plate (504) is rotatably connected with the first overturning shaft (503), a first reverse clamping block (506) and a first front clamping block (505) are respectively arranged and fixed on the upper side and the lower side of the inner side face of the first clamping plate (504), a main body of the first overturning cylinder (502) is fixedly arranged on the outer side face of the first fixed inclined seat (501), a first rolling seat (507) is fixedly arranged at the head end of a piston rod of the first overturning cylinder (502), a first rolling wheel (508) is rotatably connected in the first rolling seat (507), a first rolling wheel (509) is arranged on the outer side face of the first clamping plate (504), and the first rolling wheel (509) is fixedly arranged on the top end of the first limiting block (510).
  7. 7. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 6, wherein the second clamping portion (6) further comprises a second fixed inclined seat (601), a second overturning cylinder (602) and a second limiting block (610), the second fixed inclined seat (601) is fixedly arranged on the outer side face of the second vertical plate (306), a second overturning shaft (603) is fixedly arranged in a neutral position at the bottom end of the second vertical plate (306), the top end of the second clamping plate (604) is rotatably connected with the second overturning shaft (603), a second back clamping block (606) and a second front clamping block (605) are respectively installed and fixed on the upper side and the lower side of the inner side face of the second clamping plate (604), a main body of the second overturning cylinder (602) is fixedly installed on the outer side face of the second fixed inclined seat (601), a second rolling seat (607) is fixedly installed at the head end of a piston rod of the second overturning cylinder (602), a second rolling wheel (608) is rotatably connected in the second rolling seat (607), a second rolling groove (608) is formed in the outer side face of the second clamping plate (604), and the second rolling groove (609) is fixedly installed on the top end of the second rolling plate (609).
  8. 8. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 7, wherein elastic connecting pieces (511) are arranged between the outer side face of the first vertical plate (305) and the outer side face of the first clamping plate (504) and between the outer side face of the second vertical plate (306) and the outer side face of the second clamping plate (604).
  9. 9. The multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment according to claim 6,7 or 8, wherein the cleaning blowing assembly (7) comprises a four-way pipe (701), an inner air inlet pipe (706), a second double-head blowing pipe (707), a connecting elbow (708) and a first double-way blowing channel (709), an outlet of a one-way air outlet pipe (409) is communicated with an inlet on one side of the four-way pipe (701) through the inner air inlet pipe (706), an outer air inlet pipe (702) is connected to an inlet on the other side of the four-way pipe (701), an air inlet valve (703) is arranged in the outer air inlet pipe (702), a second blowing pipe (704) and a first blowing pipe (705) are respectively connected to outlets on two sides of the four-way pipe (701), the first blowing pipe (705) is communicated with the first double-way blowing channel (709) through the connecting elbow (708), the first double-way blowing channel (709) is arranged in a main body of the first clamping plate (504), an outlet of the second blowing pipe (704) is communicated with an inlet of the second double-head blowing pipe (707) through the connecting elbow (708), and the outlet of the second blowing pipe (605) is arranged on the second double-head clamping plate (605) and is arranged on the second double-side of the clamping plate (605).

Description

Multi-workpiece manipulator grabbing device capable of achieving double-sided clamping and position adjustment Technical Field The invention relates to the technical field of clamping devices for manipulators, in particular to a multi-workpiece manipulator grabbing device capable of double-sided clamping and position adjustment. Background The manipulator clamping device is used as a core execution component on an automatic production line and is widely applied to working procedures such as workpiece conveying, assembly, loading and unloading and the like. With the development of intelligent manufacturing, the requirements on flexibility, multi-station operation capability and clamping precision of the clamping device are increasingly improved. The existing manipulator clamping device has the defects that when multiple workpieces are clamped, the center distance of each workpiece in the initial state is often inconsistent with the positioning center distance of a target station, clamping jaws with fixed intervals are difficult to adapt to the variable-distance requirements among different working procedures, so that production efficiency is low or manual secondary adjustment is needed, when the front and back surfaces of the workpieces are frequently processed, the existing device usually needs to manually overturn the workpieces or replace clamps when the front and back surfaces of the workpieces are switched, the front and back surfaces of the workpieces cannot be rapidly switched and clamped at the same station, the production efficiency is influenced, the clamping mode of the traditional clamping jaws is single, the parallel opening and closing mode is mostly adopted, the adaptability to regular plane workpieces is good, the bonding and wrapping type clamping is difficult to realize for special-shaped curved surface workpieces, the clamping is easy to be unstable or damage the surfaces of the workpieces, the chip or impurities are often attached to the surfaces of the workpieces under the machining environment, the existing device lacks of an effective online cleaning function, the chip and the clamping surfaces are easy to squeeze during clamping, the surface damage and indentation of the workpieces are also influenced, and the clamping positioning accuracy is influenced. Disclosure of Invention The invention aims to provide a multi-workpiece manipulator grabbing device capable of realizing double-sided clamping and position adjustment, which solves the technical problems that in the prior art, the clamping distance cannot be adjusted, the front and back sides are inconvenient to clamp and switch, the adaptability of a special-shaped workpiece is poor, and the clamping precision is easily affected by scraps, and achieves the functions of multi-station flexible adjustment, front and back side quick switching, special-shaped curved surface self-adaptive package clamping and clamping surface automatic cleaning. The invention aims at realizing the technical scheme that the multi-workpiece manipulator grabbing device capable of realizing double-sided clamping and position adjustment comprises a manipulator interface part, a rotating part, a clamping opening and closing module, an elastic balancing part, a first clamping part, a second clamping part and a cleaning blowing assembly; The manipulator interface part comprises a center mounting seat, the center mounting seat is fixedly arranged in the middle of the bottom end of the manipulator interface part, two sides of the center mounting seat are respectively provided with a translation mounting seat, the translation mounting seat is in sliding connection with the manipulator interface part, and the bottom ends of the center mounting seat and the translation mounting seat are respectively provided with a rotating part; The rotating part comprises a pneumatic rotating device and a bottom plate, the pneumatic rotating device is fixedly arranged at the bottom end of the central mounting seat or the translation mounting seat, and the middle part of the top end of the bottom plate is connected with an output shaft of the pneumatic rotating device; The bottom plate is provided with a clamping opening and closing module which comprises a first sliding plate and a second sliding plate which are driven by the same driving mechanism and can move in opposite directions; The outer lower end of the first sliding plate is provided with a first clamping part, the outer lower end of the second sliding plate is provided with a second clamping part, the first clamping part comprises a first clamping plate, the second clamping part comprises a second clamping plate, the top end of the first clamping plate is in rotary connection with the outer lower end of the first sliding plate, and the top end of the second clamping plate is in rotary connection with the outer lower end of the second sliding plate; The inner side surface of the first clamping plate is provided with a first