CN115592692A

CN115592692A - Multifunctional mechanical gripper and workpiece transferring method

Info

Publication number: CN115592692A
Application number: CN202211303691.3A
Authority: CN
Inventors: 郑勇全; 何奇; 姚领; 胡俊文; 蔡清汀
Original assignee: Hunan Quanyu Industrial Equipment Co ltd
Current assignee: Hunan Quanyu Industrial Equipment Co ltd
Priority date: 2022-10-24
Filing date: 2022-10-24
Publication date: 2023-01-13

Abstract

The invention relates to a multifunctional mechanical gripper and a workpiece transferring method. The first end of the first clamping arm is connected with the mounting frame in a sliding mode, the first end of the second clamping arm is connected with the mounting frame in a detachable mode, and the first clamping arm and the second clamping arm respectively comprise a plurality of sections of supporting arms which are connected in sequence. The cross-sectional areas of the multiple sections of support arms are reduced in sequence from the first end to the second end of the first clamp arm and the second clamp arm. Drive arrangement and stop device all set up in the mounting bracket, and drive arrangement is connected in order to drive first arm lock slip with first arm lock, and stop device can with first arm lock looks butt. The support arms with different cross-sectional areas can be matched with workpieces with different apertures, so that transition displacement of the workpieces in the clamping process is avoided, the clamping stability is improved, and loosening and even falling of the workpieces in the transferring process are avoided. The position of the first clamping arm is limited through the limiting device, and the distance between the first clamping arm and the second clamping arm is controlled.

Description

Multifunctional mechanical gripper and workpiece transferring method

Technical Field

The invention relates to the technical field of mechanical grippers, in particular to a multifunctional mechanical gripper and a workpiece transferring method.

Background

The high flexibility of the industrial robot can meet various special requirements in modern green casting production, and in the production of medium and large workpieces, the workpieces are large in size and weight, and the carrying operation is difficult to execute, so that the requirement is high. The robot can save labor force and improve the production efficiency, the manufacturing precision and the quality of workpieces. With the development of workpieces to various types and small batches, a high-flexibility transfer robot capable of meeting the requirements of workpiece mixed line production operation is urgently needed, and the robot can complete transfer operation by means of an end effector, namely various mechanical grippers. When the mechanical gripper grabs a workpiece (such as a cylinder body, a cylinder hole is formed in the cylinder body) provided with a through hole, because the aperture and the aperture of the through hole which is formed in different types of workpieces are different, if the type of the workpiece is changed in the grabbing process, different clamping arms need to be changed along with the aperture and the hole distance of the through hole, so that the clamping and transferring stability is guaranteed, the whole production line needs to be closed when the clamping arms are changed, the work load is increased, and the clamping efficiency of the workpiece is seriously reduced.

Disclosure of Invention

Technical problem to be solved

In view of the above disadvantages and shortcomings of the prior art, the present invention provides a multifunctional mechanical gripper and a workpiece transferring method, which solves the technical problem of low gripping efficiency caused by the need of replacing different clamping arms according to the hole diameter and the hole pitch of the mechanical gripper.

(II) technical scheme

In order to achieve the above object, the multi-functional mechanical gripper of the present invention comprises:

the clamping device comprises a mounting frame, a first clamping arm, a second clamping arm, a driving device and a limiting device;

the first end of the first clamping arm is connected with the mounting frame in a sliding mode, the first end of the second clamping arm is detachably connected with the mounting frame, the first clamping arm and the second clamping arm respectively comprise a plurality of sections of support arms which are sequentially connected, and central axes of the support arms are collinear;

the cross-sectional areas of the support arms are reduced in sequence from the first end to the second end of the first clamping arm and the second clamping arm;

the driving device and the limiting device are arranged on the mounting frame, the driving device is connected with the first clamping arm to drive the first clamping arm to slide, and the limiting device can be abutted against the first clamping arm.

Optionally, the limiting device comprises a limiting mounting seat, a limiting driving mechanism and a movable limiting block;

the limiting mounting seat is detachably connected with the mounting frame;

the limiting driving mechanism is arranged on the limiting mounting seat and connected with the movable limiting block to drive the movable limiting block to move, and the moving direction of the movable limiting block is parallel to the sliding direction of the first clamping arm;

the movable limiting block is positioned between the first clamping arm and the second clamping arm and can be abutted against the first clamping arm.

Optionally, the limit driving mechanism comprises a speed reduction motor, a lead screw assembly and a plurality of guide assemblies;

the lead screw of the lead screw assembly is rotationally arranged on the limiting mounting seat, the speed reducing motor and the guiding assembly are arranged on the limiting mounting seat, a rotating shaft of the speed reducing motor is connected with the lead screw of the lead screw assembly, and the lead screw of the lead screw assembly is connected with the guiding assembly and the moving limiting block.

Optionally, the guide assembly includes a guide rod and a linear bearing, the linear bearing is arranged on the limiting mounting seat, the guide rod is sleeved in the linear bearing, the central axis of the guide rod is parallel to the sliding direction of the first clamping arm, and the guide rod is connected with the movable limiting block.

Optionally, the guide assembly further comprises a shaft-holding oil cylinder, a cone angle pressing block, an elastic hoop and a connecting block;

the shaft holding oil cylinder is arranged on the limiting mounting seat, and the cone angle pressing block is connected with a piston rod of the shaft holding oil cylinder;

the cross section of the elastic hoop is of an open circular ring structure, the elastic hoop comprises a fixed end and a movable end, the fixed end is connected with the limiting mounting seat, and the connecting block is connected with the movable end;

the guide rod is sleeved in the elastic hoop, and a gap is formed between the outer wall of the guide rod and the inner wall of the elastic hoop;

the connecting block is provided with an inclined plane parallel to the conical surface of the cone angle pressing block, the conical surface of the cone angle pressing block is in sliding connection with the inclined plane of the connecting block, and the cone angle pressing block can drive the elastic hoop to be closed through the connecting block.

Optionally, the mounting rack is provided with paired slide rails, and the central axes of the first clamping arm and the second clamping arm are perpendicular to the extending direction of the slide rails;

the first end of the first clamping arm is connected with the sliding rail in a sliding mode through a sliding seat, and the driving device is connected with the sliding seat.

Optionally, the driving device comprises a driving oil cylinder and a driving plate;

the cylinder body of the driving oil cylinder is arranged on the mounting frame, and the central axis of the piston rod of the driving oil cylinder is parallel to the extending direction of the slide rail;

and a piston rod of the driving oil cylinder is connected with the driving plate, and the driving plate is connected with the sliding seat.

Optionally, a connecting seat is arranged on the mounting frame, and the connecting seat can be connected with the mechanical arm.

Optionally, the first clamping arm and the second clamping arm both include a first arm and a second arm;

the first end of the first support arm of the first clamping arm is connected with the mounting frame in a sliding mode, and the first end of the first support arm of the second clamping arm is detachably connected with the mounting frame;

the first end of the second support arm is connected with the second end of the first support arm.

Optionally, the cross-sectional area of the first arm is larger than the cross-sectional area of the second arm;

and anti-skidding teeth are arranged on the first support arm and the second support arm.

Further, the present invention also provides a workpiece transfer method, which is applied to the multifunctional mechanical gripper described above, and the workpiece transfer method includes:

s1, detecting tooth surface abrasion, tooth root sand dipping and spacing of the first clamping arm and the second clamping arm through the visual detection device, and determining that the current states of the first clamping arm and the second clamping arm meet preset requirements;

s2, driving the multifunctional mechanical gripper to move to an upper workpiece point through a mechanical arm, carrying out first positioning detection on a workpiece by the visual detection device to obtain a first position of the workpiece, and adjusting the position of the multifunctional mechanical gripper according to the first position;

s3, clamping the workpiece through the first clamping arm and the second clamping arm, and performing second positioning detection on the workpiece through the visual detection device after the workpiece is clamped firmly to obtain a second position of the workpiece;

s4, conveying the workpiece to the position of the tool through the mechanical arm, adjusting the current position of the workpiece according to the second position and the position of the tool, and then placing the workpiece on the tool;

s5, carrying out third positioning detection on the workpiece through the visual detection device, obtaining a third position of the workpiece, judging whether the third position is within a required range of the tool, if so, completing a primary transferring process, and otherwise, carrying out secondary workpiece placing after taking the workpiece through the multifunctional mechanical gripper.

(III) advantageous effects

The supporting arm with the insertion cross-sectional area slightly smaller than the aperture is selected according to the aperture of the through hole, the driving device drives the first supporting arm to move towards the direction away from the limiting device, and the first supporting arm and the second supporting arm are both abutted to the inner wall of the through hole after the first supporting arm pushes the workpiece to move for a small distance, so that the workpiece is connected with the mechanical gripper. The support arms of different cross-sectional areas can match the work piece in different apertures, avoids work piece transition displacement among the clamping process, simultaneously, has improved the stability of centre gripping effectively, avoids work piece transportation in-process not hard up even drop. The position of the first clamping arm is limited through the limiting device, and the distance between the first clamping arm and the second clamping arm is controlled.

Drawings

FIG. 1 is a front view of a multi-function mechanical grip of the present invention;

FIG. 2 is a partial cross-sectional view of a front view of the multi-function mechanical grip of the present invention;

FIG. 3 is a right side view of the multi-function mechanical gripper of the present invention;

FIG. 4 is a bottom view of the multi-function mechanical grip of the present invention;

FIG. 5 is a schematic structural view of a position-limiting device of the multifunctional mechanical gripper of the present invention;

FIG. 6 is a schematic side view of the position limiting device of the multi-function mechanical gripper of the present invention;

FIG. 7 isbase:Sub>A schematic cross-sectional view taken at A-A of FIG. 6;

fig. 8 is a flowchart of a workpiece transfer method of the present invention.

[ description of reference ]

100: a mounting frame; 101: a visual inspection device;

1: a first clamp arm; 11: a first support arm; 12: a second support arm;

2: a second clamp arm;

3: a drive device; 31: a driving oil cylinder; 32: a drive plate;

4: a limiting device; 41: a limiting mounting seat; 42: moving the limiting block; 43: a reduction motor; 44: a lead screw assembly; 45: a guide bar; 46: a shaft-holding oil cylinder; 47: pressing a cone angle block; 48: an elastic hoop; 481: a fixed end; 482: a movable end; 49: connecting blocks;

5: a slide rail;

6: a slide base;

7: a connecting seat.

Detailed Description

For a better understanding of the present invention, reference will now be made in detail to the present embodiments of the invention, which are illustrated in the accompanying drawings. In which the terms "upper", "lower", etc. are used herein with reference to the orientation of fig. 1.

While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

As shown in fig. 1, the present invention provides a multifunctional mechanical gripper for gripping a workpiece with a through hole, which includes a mounting frame 100, a visual inspection device 101, a first clamping arm 1, a second clamping arm 2, a driving device 3, and a limiting device 4. The visual inspection apparatus 101 is a conventional device, and the visual inspection apparatus 101 converts a captured target into an image signal through a machine vision product (i.e., an image capturing apparatus), transmits the image signal to a special image processing system, and converts the image signal into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Visual detection device 101 sets up on mounting bracket 100, and visual detection device 101 is used for detecting the interval between first arm lock 1 and the second arm lock 2 and the characteristic position of waiting to snatch the product and feed back to the controller of arm. Wherein, the first end and the mounting bracket 100 sliding connection of first arm lock 1, first arm lock 1 can slide on mounting bracket 100. The first end of second arm lock 2 can be dismantled with mounting bracket 100 and be connected, is convenient for change the arm lock, and first arm lock 1 is parallel to each other with second arm lock 2, and the slip direction of first arm lock 1 is straight line and perpendicular to second arm lock 2, is close to or keeps away from second arm lock 2 when first arm lock 1 slides. The first clamping arm 1 and the second clamping arm 2 respectively comprise a plurality of sections of supporting arms which are sequentially connected, and central axes of the plurality of sections of supporting arms are collinear. From the first end to the second end, the cross-sectional areas of the multiple sections of the support arms are reduced in sequence, that is, the cross-sectional area of the support arm closer to the first end is larger, the cross-sectional area of the support arm is unchanged, and the shape and the cross-sectional area of the support arm at the same position of the first clamp arm 1 and the second clamp arm 2 are the same. The driving device 3 is disposed on the mounting frame 100, and the driving device 3 is connected to the first clamping arm 1 to drive the first clamping arm 1 to slide, so as to adjust the distance between the first clamping arm 1 and the second clamping arm 2, so as to adapt to workpieces with different hole pitches. Stop device 4 sets up on mounting bracket 100, and when drive arrangement 3 drove first arm lock 1 and moved to stop device 4's position, stop device 4 and first arm lock 1 looks butt make first arm lock 1 unable continuation motion to control two arm lock intervals.

When a workpiece with through holes is clamped, the position of the limiting device 4 is adjusted according to the hole distance between the two through holes, the driving device 3 drives the first clamping arm 1 to move to the abutting limiting device 4, and the distance between the central axes of the two clamping arms is detected and determined to be equal to or slightly smaller than the hole distance between the two through holes through the visual detection device 101. And detecting the position of the through hole on the workpiece by the visual detection device 101, so that the first clamping arm 1 is inserted into the first through hole and the second clamping arm 2 is inserted into the second through hole on the premise that the clamping arms do not touch the inner wall of the through hole. According to the size of the aperture of the through hole, the supporting arm with the insertion cross-sectional area slightly smaller than the aperture is selected, the driving device 3 drives the first supporting arm 11 to move towards the direction far away from the limiting device 4, and the first supporting arm 11 and the second supporting arm 12 are both abutted against the inner wall of the through hole after the first supporting arm 11 pushes the workpiece to move for a small distance, so that the workpiece is connected with the mechanical gripper. The support arms with different cross-sectional areas can be matched with workpieces with different apertures, so that transition displacement of the workpieces in the clamping process is avoided, the clamping stability is effectively improved, and loosening and even dropping in the workpiece transferring process are avoided. The position of the first clamping arm 1 is limited through the limiting device 4, and the distance between the first clamping arm 1 and the second clamping arm 2 is controlled.

As shown in fig. 2 and 3, the mounting rack 100 is provided with a pair of slide rails 5, and the extension directions of the slide rails 5 of the central axes of the first clamping arm 1 and the second clamping arm 2 are perpendicular. The first end of the first clamping arm 1 is connected with the slide rail 5 in a sliding manner through a slide seat 6, and the driving device 3 is connected with the slide seat 6 so as to drive the slide seat 6 to move along the slide rail 5. The driving device 3 includes a driving cylinder 31 and a driving plate 32. The cylinder body of the driving cylinder 31 is disposed on the mounting frame 100, and the central axis of the piston rod of the driving cylinder 31 is parallel to the extending direction of the slide rail 5. The piston rod of the driving oil cylinder 31 is connected with a driving plate 32, and the driving plate 32 is connected with the sliding base 6. The slide carriage 6 is driven to move through the driving oil cylinder 31, and in the process of clamping a workpiece, the driving oil cylinder 31 always provides acting force for the first clamping arm 1, so that the clamping stability is ensured.

As shown in fig. 4 and 5, the limiting device 4 includes a limiting mounting seat 41, a limiting driving mechanism and a movable limiting block 42, the limiting mounting seat 41 is detachably connected with the mounting frame 100, so that the limiting device 4 is convenient to disassemble and assemble integrally, and convenience is improved. The limiting driving mechanism is arranged on the limiting mounting seat 41, the limiting driving mechanism is connected with the movable limiting block 42 to drive the movable limiting block 42 to move so as to adjust the position of the movable limiting block 42, and the moving direction of the movable limiting block 42 is parallel to the sliding direction of the first clamping arm 1. The movable limiting block 42 is located between the first clamping arm 1 and the second clamping arm 2, the limiting driving mechanism drives the movable limiting block 42 to move to a set position according to the hole pitch of the workpiece, the driving oil cylinder 31 drives the first clamping arm 1 to move to the position of the movable limiting block 42, the blocking surface of the movable limiting block 42 is abutted to the first clamping arm 1, the piston rod of the driving oil cylinder 31 cannot move continuously and stops, when the same workpiece is clamped subsequently, the driving oil cylinder 31 returns to the position of the blocking surface of the movable limiting block 42 every time, and then the driving oil cylinder 31 controls the distance between the two clamping arms to be the set distance before the workpiece is clamped every time.

As shown in fig. 5, the limit driving mechanism includes a reduction motor 43, a lead screw assembly 44, and a plurality of guide assemblies. The screw rod assembly comprises a screw rod and a nut, the screw rod of the screw rod assembly 44 is rotatably arranged on the limiting installation seat 41 through a bearing, the speed reducing motor 43 and the guide assembly are both arranged on the limiting installation, a rotating shaft of the speed reducing motor 43 is connected with the screw rod of the screw rod assembly to drive the screw rod to rotate, and the nut of the screw rod assembly 44 is connected with the movable limiting block 42. The guide assembly comprises a guide rod 45 and a linear bearing, the linear bearing is arranged on the limiting mounting seat 41, and the axial direction of the linear bearing is parallel to the movement direction of the first clamping arm 1. The guide rod 45 is sleeved in the linear bearing, and the guide rod 45 can slide along the axial direction of the linear bearing. The axis of guide bar 45 is parallel with the slip direction of first arm lock 1, and guide bar 45 is connected with removal stopper 42, and it is spacing to removing stopper 42 through a plurality of direction subassemblies, and it is rotatory along with the screw to avoid the lead screw to remove stopper 42 when rotatory, and when gear motor 43 drive lead screw was rotatory, it moved along with the screw to remove stopper 42 to the regulation removes the position of stopper 42 in first arm lock 1 direction of motion.

As shown in fig. 6 and 7, the guiding assembly further includes an axle-embracing cylinder 46, a taper angle pressing block 47, an elastic hoop 48 and a connecting block 49, the axle-embracing cylinder 46 is arranged on the limiting mounting seat 41, the taper angle pressing block 47 is connected with a piston rod of the axle-embracing cylinder 46, the taper angle pressing block 47 is driven to move by the axle-embracing cylinder 46, the taper angle pressing block 47 is in a cone shape, the cone comprises a space three-dimensional figure including a cone, a pyramid and the like, and is limited by a plane formed by a round or other closed plane substrate and a line segment connecting points on the boundary of the substrate to a common vertex, and the side wall of the taper angle pressing block 47 is an inclined plane. The cross section of elasticity staple bolt 48 is open-ended ring structure to elasticity staple bolt 48 includes stiff end 481 and expansion end 482, and stiff end 481 fixed mounting is on spacing mount pad 41, and connecting block 49 is installed at the expansion end 482 of elasticity staple bolt 48, and elasticity staple bolt 48 itself has elasticity, can make open-ended elasticity staple bolt 48 closed through promoting expansion end 482, and open-ended elasticity staple bolt 48 can resume the open-ended again after the thrust is removed. The guide rod 45 is sleeved in the elastic hoop 48, and a gap is arranged between the outer wall of the guide rod 45 and the inner wall of the elastic hoop 48. Be provided with the inclined plane on the connecting block 49, inclined plane sliding connection on cone angle briquetting 47's the inclined plane and the connecting block 49, when cone angle briquetting 47 moves along the x axle direction, through the relative slip on two inclined planes, turn cone angle briquetting 47 into the motion of connecting block 49 in the y axle direction along the motion of x axle direction, the y axle direction is perpendicular with the x axle direction, thereby make open-ended elasticity staple bolt 48 closed, and then hold guide bar 45 tightly, the function of axle is embraced in the realization, avoid guide bar 45 to slide. Specifically, a certain fit clearance is left between the inner hole of the elastic hoop 48 and the guide rod 45, a connecting block 49 provided with an inclined plane is arranged on the elastic hoop 48, and the inclined plane is extruded through the taper angle pressing block 47 to eliminate the fit clearance between the elastic hoop 48 and the guide rod 45, so that the shaft holding purpose is achieved. When oil is fed into a rodless cavity of the shaft holding oil cylinder 46, the piston rod pushes the conical surface of the conical angle pressing block 47 to extrude the inclined surface of the elastic hoop 48, so that the fit tolerance between the elastic hoop 48 and the guide rod 45 is from clearance to interference, a large shaft holding force is generated, and when the sliding seat 6 contacts the movable limiting block 42, the screw rod assembly 44 and the speed reducing motor 43 are effectively protected and prevented from being damaged by impact; when the position of the movable limiting block 42 needs to be adjusted, oil is fed into a rod cavity of the shaft-holding oil cylinder 46 to drive the cone angle pressing block 47 to retreat, the cone surface is separated from the inclined surface of the connecting block 49, the elastic hoop 48 returns under the elastic action of the elastic hoop, a certain fit clearance is formed between the inner hole of the elastic hoop 48 and the shaft, the shaft-holding force disappears, and the speed reduction motor 43 drives the movable limiting block 42 to move by driving the lead screw assembly 44. The conical surface small angle setting of cone angle briquetting 47 forms power multiplication mechanism, so little hydro-cylinder can realize very big armful of axial force. The limiting device 4 is basically not stressed except the movable limiting block 42, so that the speed reducing motor 43 is protected, the power of the motor is reduced, and the structure of the clamp is more compact.

As shown in fig. 3, a connecting seat 7 is provided on the mounting rack 100, and the mechanical gripper is connected to the mechanical arm through the connecting seat 7, so as to transport the workpiece.

As shown in fig. 1 to 3, each of the first and

second clamp arms

1 and 2 includes a first arm 11 and a second arm 12. The first end of the first arm 11 of the first arm 1 is slidably connected to the mounting block 100, and the first end of the first arm 11 of the second arm 2 is detachably connected to the mounting block 100. The first end of the second arm 12 is connected to the second end of the first arm 11. The cross-sectional area of the first arm 11 is larger than the cross-sectional area of the second arm 12 to match two castings of different bore diameters. The position that is close to the tip on the lateral wall of first arm lock 1 and second arm lock 2 all is provided with anti-skidding tooth, wherein, anti-skidding tooth can be directly set up in a plurality of interval distribution's of the lateral wall of first arm lock 1 and second arm lock 2 bar groove, also can have the pinion rack of anti-skidding tooth at the side wall mounting polylith of first arm lock 1 and second arm lock 2, the flank of tooth of pinion rack and the surface coplane of arm lock, improve the frictional force between arm lock and the work piece through anti-skidding tooth, and then improve the stability of centre gripping.

Further, the invention also provides a workpiece transferring method, which comprises the following steps:

step one, self-checking of a multifunctional mechanical gripper: visual detection device 101 detects flank of tooth wearing and tearing, the root of tooth sand and interval of first arm lock 1 and second arm lock 2, confirms that the current state of first arm lock 1 and second arm lock 2 satisfies and predetermines the requirement, predetermines the requirement and be: the tooth surface abrasion degree is lower than a set requirement (the set requirement can be set according to the requirements of a user), the volume of the sand dipping at the tooth root is smaller than a set value (the set value can be set according to the requirements of the user), and the distance between the first clamping arm 1 and the second clamping arm 2 reaches a preset value (the distance between two through holes on a preset value workpiece);

driving the multifunctional mechanical gripper to move to a workpiece upper point through the mechanical arm, carrying out first positioning detection on the workpiece by the vision detection device 101, acquiring a first position of the workpiece and sending position information to a controller for controlling the mechanical arm, and adjusting the position of the multifunctional mechanical gripper by the controller according to the first position to enable the position of the multifunctional mechanical gripper to be matched with the first position of the workpiece;

step three, the first clamping arm 1 and the second clamping arm 2 are inserted into the through hole, the workpiece is clamped through the first clamping arm 1 and the second clamping arm 2, and the workpiece is displaced to a certain extent in the clamping process, so that after the workpiece is clamped firmly, the visual detection device 101 is used for carrying out secondary positioning detection on the workpiece to obtain a second position of the workpiece;

conveying the workpiece to the position of the tool through the mechanical arm, adjusting the current position of the workpiece according to the second position and the position of the tool, eliminating displacement generated by the workpiece in the clamping process, and then placing the workpiece on the tool;

and step five, after the workpiece is placed, performing third positioning detection on the workpiece through the visual detection device 101 to obtain a third position of the workpiece, and judging whether the third position is within the required range of the tool, if so, completing a primary transferring process, otherwise, performing secondary placement after the workpiece is taken through a multifunctional mechanical gripper, wherein the secondary placement comprises the step two, the step three, the step four and the step five.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description of the present specification, the description of "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.

Claims

1. The multifunctional mechanical gripper is characterized by comprising a mounting frame (100), a visual detection device (101), a first clamping arm (1), a second clamping arm (2), a driving device (3) and a limiting device (4);

a connecting seat (7) is arranged on the mounting rack (100), and the connecting seat (7) is connected with the mechanical arm;

the first end of the first clamping arm (1) is connected with the mounting frame (100) in a sliding mode, the first end of the second clamping arm (2) is detachably connected with the mounting frame (100), the first clamping arm (1) and the second clamping arm (2) respectively comprise a plurality of sections of support arms which are sequentially connected, and central axes of the support arms are collinear;

the cross sectional areas of the multiple sections of the support arm are sequentially reduced from the first end to the second end of the first clamping arm (1) and the second clamping arm (2);

drive arrangement (3) with stop device (4) all set up in on mounting bracket (100), drive arrangement (3) with first arm lock (1) are connected in order to drive first arm lock (1) slides, stop device (4) can with first arm lock (1) looks butt.

Visual detection device (101) set up in on mounting bracket (100), visual detection device (101) are used for detecting interval between first arm lock (1) and second arm lock (2) and wait to snatch the characteristic position of product and feed back to the controller of arm.

2. The multifunctional mechanical gripper of claim 1, wherein the limiting device (4) comprises a limiting mounting seat (41), a limiting driving mechanism and a moving limiting block (42);

the limiting mounting seat (41) is detachably connected with the mounting rack (100);

the limiting driving mechanism is arranged on the limiting mounting seat (41), the limiting driving mechanism is connected with the movable limiting block (42) to drive the movable limiting block (42) to move, and the moving direction of the movable limiting block (42) is parallel to the sliding direction of the first clamping arm (1);

the movable limiting block (42) is positioned between the first clamping arm (1) and the second clamping arm (2), and the movable limiting block (42) can be abutted against the first clamping arm (1).

3. The multi-function mechanical gripper of claim 2, wherein the limit drive mechanism comprises a reduction motor (43), a lead screw assembly (44), and a plurality of guide assemblies;

the lead screw of lead screw subassembly (44) rotate set up in on spacing mount pad (41), gear motor (43) with the direction subassembly all set up in on the spacing installation, the pivot of gear motor (43) with the lead screw of lead screw subassembly is connected, the screw of lead screw subassembly (44) and a plurality of the direction subassembly all with remove stopper (42) and connect.

4. The multifunctional mechanical gripper as recited in claim 3, characterized in that the guiding component comprises a guiding rod (45) and a linear bearing, the linear bearing is disposed on the limiting mounting seat (41), the guiding rod (45) is sleeved in the linear bearing, a central axis of the guiding rod (45) is parallel to a sliding direction of the first clamping arm (1), and the guiding rod (45) is connected with the moving limiting block (42).

5. The multi-function mechanical gripper of claim 4, wherein the guiding assembly further comprises an axle cylinder (46), a taper angle pressing block (47), an elastic hoop (48) and a connecting block (49);

the shaft-holding oil cylinder (46) is arranged on the limiting mounting seat (41), and the cone angle pressing block (47) is connected with a piston rod of the shaft-holding oil cylinder (46);

the cross section of the elastic hoop (48) is of an open ring structure, the elastic hoop (48) comprises a fixed end (481) and a movable end (482), the fixed end (481) is connected with the limiting mounting seat (41), and the connecting block (49) is connected with the movable end (482);

the guide rod (45) is sleeved in the elastic hoop (48), and a gap is formed between the outer wall of the guide rod (45) and the inner wall of the elastic hoop (48);

the connecting block (49) is provided with an inclined plane parallel to the conical surface of the cone angle pressing block (47), the conical surface of the cone angle pressing block (47) is in sliding connection with the inclined plane of the connecting block (49), and the cone angle pressing block (47) can drive the elastic hoop (48) to be closed through the connecting block (49).

6. Multifunctional mechanical gripper according to any one of claims 1 to 5, characterized in that a pair of slide rails (5) is arranged on the mounting frame (100), and the central axes of the first clamping arm (1) and the second clamping arm (2) are perpendicular to the extending direction of the slide rails (5);

the first end of the first clamping arm (1) is connected with the sliding rail (5) in a sliding mode through a sliding seat (6), and the driving device (3) is connected with the sliding seat (6).

7. Multifunctional mechanical gripper according to claim 6, characterized in that said actuation means (3) comprise an actuation cylinder (31) and an actuation plate (32);

the cylinder body of the driving oil cylinder (31) is arranged on the mounting frame (100), and the central axis of the piston rod of the driving oil cylinder (31) is parallel to the extending direction of the slide rail (5);

the piston rod of the driving oil cylinder (31) is connected with the driving plate (32), and the driving plate (32) is connected with the sliding seat (6).

8. Multi-functional mechanical gripper according to any one of claims 1 to 5, characterized in that the first gripping arm (1) and the second gripping arm (2) each comprise a first arm (11) and a second arm (12);

the first end of the first arm (11) of the first clamping arm (1) is connected with the mounting frame (100) in a sliding mode, and the first end of the first arm (11) of the second clamping arm (2) is detachably connected with the mounting frame (100);

the first end of the second support arm (12) is connected with the second end of the first support arm (11).

9. Multifunctional mechanical gripper according to claim 8, characterized in that the cross-sectional area of the first arm (11) is greater than the cross-sectional area of the second arm (12);

and anti-skidding teeth are arranged on the first support arm (11) and the second support arm (12).

10. A workpiece transfer method applied to the multi-functional mechanical gripper according to any one of claims 1 to 9, the workpiece transfer method comprising:

s1, detecting tooth surface abrasion, tooth root sand dipping and intervals of the first clamping arm (1) and the second clamping arm (2) through the visual detection device (101), and determining that the current states of the first clamping arm (1) and the second clamping arm (2) meet preset requirements;

s2, driving the multifunctional mechanical gripper to move to an upper workpiece point through a mechanical arm, carrying out first positioning detection on a workpiece by the visual detection device (101), obtaining a first position of the workpiece, and adjusting the position of the multifunctional mechanical gripper according to the first position;

s3, clamping the workpiece through the first clamping arm (1) and the second clamping arm (2), and performing second positioning detection on the workpiece through the visual detection device (101) after the workpiece is clamped firmly to obtain a second position of the workpiece;

s5, carrying out third positioning detection on the workpiece through the visual detection device (101), obtaining a third position of the workpiece, judging whether the third position is within a required range of the tool, if so, completing a transferring process, otherwise, carrying out secondary workpiece placing after workpiece taking through the multifunctional mechanical gripper.