CN104826974A - Flexibility and rigidity controllable switching gripper - Google Patents
Flexibility and rigidity controllable switching gripper Download PDFInfo
- Publication number
- CN104826974A CN104826974A CN201510293475.9A CN201510293475A CN104826974A CN 104826974 A CN104826974 A CN 104826974A CN 201510293475 A CN201510293475 A CN 201510293475A CN 104826974 A CN104826974 A CN 104826974A
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- Prior art keywords
- flexible
- controlled switching
- paw
- seat
- float plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
Abstract
A flexibility and rigidity controllable switching gripper comprises a clamping mechanism. A floating mechanism, a reset mechanism and a mounting flange plate are sequentially arranged behind the clamping mechanism. The clamping mechanism comprises a finger block, a clamping arm and a clamping driving device. The floating mechanism comprises a primary floating plate, a dual-lug seat, a rotary shaft, a single-lug seat and a secondary floating plate. The reset mechanism comprises a limiting block and a reset driving device. The flexibility and rigidity controllable switching gripper has the advantages that the gripper can float in two directions after grabbing a workpiece, and displacement caused by workpiece deformation is eliminated in the forging process; meanwhile, the gripper can be switched to the rigid state in the grabbing, placing and moving process to meet the grabbing or placing accuracy of a robot.
Description
Technical field
The present invention relates to robot gripper apparatus field in forging or punch process automated production process, especially relate to a kind of flexible and controlled switching paw of rigidity.
Background technology
Along with automation is fast-developing, forging industry starts to adopt robot to substitute in enormous quantities and manually forges and presses.But most of robot can only put into mould with after paw grabbing workpiece, and paw unclamps workpiece, after forging equipment drives mould by workpiece forging forming, more again capture.Due to the initial round bar often of forging and stamping workpiece, and a lot of first road forging and stamping operation only forges and presses the local of workpiece, workpiece is caused entirety not to be placed on mould, if now robot lets go, then workpiece may occur to roll or upset, thus cause waster, or after causing forging and stamping operation, the location of workpiece changes, and robot cannot grabbing workpiece again.
Summary of the invention
For overcoming the problems referred to above, the invention provides a kind of flexible and controlled switching paw of rigidity, floating in the two directions after grabbing workpiece can be realized, eliminate the displacement that when forging and pressing, workpiece deformation produces; In crawl, placement, moving process, paw can switch to rigid state simultaneously, to meet accuracy when robot captures or places.
The technical solution used in the present invention is as follows:
A kind of flexible and controlled switching paw of rigidity, comprise clamp system, described clamp system rear portion is provided with relocation mechanism, resetting-mechanism and mounting flange plate successively.
Described clamp system comprises finger block, clamp arm, driving clamping device, and finger is fixed on inside clamp arm soon, and is limited by clamp arm, and clamp arm rear portion is provided with driving clamping device.
Described relocation mechanism comprises one-level float plate, ears seat, rotating shaft, monaural seat, secondary float plate, described driving clamping device is connected with the one-level float plate in relocation mechanism, one-level float plate is connected with monaural seat by ears seat and rotating shaft, is limited, and monaural seat is fixed in secondary float plate.
Described resetting-mechanism comprises limited block and reset drives device; Secondary float plate side is provided with ears seat, and ears seat is connected by the limited block on rotating shaft, monaural seat and resetting-mechanism, and limited block top is provided with reset drives device.
Resetting-mechanism bottom is provided with mounting flange plate.
Described clamp system pivots floating in vertical both direction or one direction.
Described relocation mechanism can realize floating of vertical two directions.
Described reset drives device can adopt cylinder/hydraulic pressure/electronic mode, as power.
Advantage of the present invention: float in the two directions after realizing grabbing workpiece, eliminates the displacement that when forging and pressing, workpiece deformation produces; In crawl, placement, moving process, paw can switch to rigid state simultaneously, to meet accuracy when robot captures or places.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 clamp system schematic diagram.
Fig. 3 relocation mechanism schematic diagram.
Fig. 4 resetting-mechanism and mounting flange plate schematic diagram.
In figure: 1, clamp system; 2, relocation mechanism; 3, resetting-mechanism; 4, mounting flange plate; 5, block is pointed; 6, clamp arm; 7, driving clamping device; 8, one-level float plate; 9, ears seat; 10, rotating shaft; 11, monaural seat; 12, secondary float plate; 13, reset drives device; 14, limited block.
Detailed description of the invention
As Figure 1-4, a kind of flexible and controlled switching paw of rigidity, comprise clamp system 1, described clamp system 1 rear portion is provided with relocation mechanism 2, resetting-mechanism 3 and mounting flange plate 4 successively.
Described clamp system 1 comprises finger block 5, clamp arm 6, driving clamping device 7, pointing fast 5 is fixed on inside clamp arm 6, and limited by clamp arm 6, clamp arm 6 rear portion is provided with driving clamping device 7, when needs robot grabbing workpiece do not let go forge and press time, clamp system for holding workpiece can pivot floating in vertical both direction or one direction, to eliminate the instant impact that forging and stamping produce, reduce the impact of vibration on robot, meet robot grabbing workpiece and not let go the demand of forging and stamping.
Described relocation mechanism 2 comprises one-level float plate 8, ears seat 9, rotating shaft 10, monaural seat 11, secondary float plate 12, described driving clamping device 7 is connected with the one-level float plate 8 in relocation mechanism 2, one-level float plate 8 is connected with monaural seat 11 by ears seat 9 and rotating shaft 10, is limited, monaural seat 11 is fixed in secondary float plate 12, and relocation mechanism does not adopt spring, avoid the problem that Long-Time Service rear spring lost efficacy.In addition, when both direction simultaneously float time, workpiece can realize diagonal from reduction point to limit point in certain rectangular extent position, arbitrfary point float.
Described resetting-mechanism 3 comprises limited block 13 and reset drives device 14; Secondary float plate 12 side is provided with ears seat, ears seat is connected by the limited block 13 on rotating shaft, monaural seat and resetting-mechanism 3, limited block 13 top is provided with reset drives device 14, time when needs robot grabbing workpiece or place work piece and in moving process, clamp system can be reset to rigid state by resetting-mechanism, to meet accuracy when robot captures or places.Reset drives device can adopt cylinder/hydraulic pressure/electronic mode, as power.Limited block limits the domain of walker when paw is in flexible state, facilitates the shorter stroke of reset drives device to reset.。
Resetting-mechanism 3 bottom is provided with mounting flange plate 4, and mounting flange plate 4 is used for carrying secondary floating rotating monaural seat and realizes docking of paw and robot arm.
Operation principle:
Reset drives device action, utilize limited block spacing, resetting-mechanism reset → now paw switch to rigid state → robot move to specific bit → clamp system grabbing workpiece → robot workpiece is placed into forging and stamping counterdie on → reset drives device action, resetting-mechanism unclamps → now paw be in quick condition → notifications press (patrix) and press down → workpiece raises paw → reset drives device action by swaging deformation → paw automatic floating to adapt to workpiece deformation → patrix rising → robot, utilize limited block spacing, resetting-mechanism action reset → paw switches to rigid state → robot and workpiece is placed into specific bit.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those of ordinary skill in the art are in the technical scope disclosed by the present invention; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (8)
1. flexibility and the controlled switching paw of rigidity, comprise clamp system, it is characterized in that: described clamp system rear portion is provided with relocation mechanism, resetting-mechanism and mounting flange plate successively.
2. a kind of flexible and controlled switching paw of rigidity according to claim 1, it is characterized in that: described clamp system comprises finger block, clamp arm, driving clamping device, finger is fixed on inside clamp arm soon, and is limited by clamp arm, and clamp arm rear portion is provided with driving clamping device.
3. a kind of flexible and controlled switching paw of rigidity according to claim 2, it is characterized in that: described relocation mechanism comprises one-level float plate, ears seat, rotating shaft, monaural seat, secondary float plate, described driving clamping device is connected with the one-level float plate in relocation mechanism, one-level float plate is connected with monaural seat by ears seat and rotating shaft, is limited, and monaural seat is fixed in secondary float plate.
4. a kind of flexible and controlled switching paw of rigidity according to claim 3, is characterized in that: described resetting-mechanism comprises limited block and reset drives device; Secondary float plate side is provided with ears seat, and ears seat is connected by the limited block on rotating shaft, monaural seat and resetting-mechanism, and limited block top is provided with reset drives device.
5. a kind of flexible and controlled switching paw of rigidity according to claim 4, is characterized in that: resetting-mechanism bottom is provided with mounting flange plate.
6. a kind of flexible and controlled switching paw of rigidity according to claim 2, is characterized in that: described clamp system pivots floating in vertical both direction or one direction.
7. a kind of flexible and controlled switching paw of rigidity according to claim 3, is characterized in that: described relocation mechanism can realize floating of vertical two directions.
8. a kind of flexible and controlled switching paw of rigidity according to claim 4, is characterized in that: described reset drives device can adopt cylinder/hydraulic pressure/electronic mode, as power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510293475.9A CN104826974B (en) | 2015-06-02 | 2015-06-02 | A kind of flexibility and rigidity controlled switching paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510293475.9A CN104826974B (en) | 2015-06-02 | 2015-06-02 | A kind of flexibility and rigidity controlled switching paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104826974A true CN104826974A (en) | 2015-08-12 |
| CN104826974B CN104826974B (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510293475.9A Active CN104826974B (en) | 2015-06-02 | 2015-06-02 | A kind of flexibility and rigidity controlled switching paw |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN110356373A (en) * | 2019-06-27 | 2019-10-22 | 博众精工科技股份有限公司 | A kind of lateral force eliminating machine |
| CN114102568A (en) * | 2021-12-06 | 2022-03-01 | 东南大学 | Mechanical arm knuckle, mechanical arm, equipment and knuckle switching method |
| CN116038667A (en) * | 2023-02-16 | 2023-05-02 | 西南交通大学 | Grabbing device of flexible adhesion of coupling and mechanical closure |
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| DE4220796A1 (en) * | 1992-06-25 | 1994-01-05 | Langenstein & Schemann Gmbh | Forging workpiece holder - has a packing to give a hydraulic chamber with variable pressure to give pliable or rigid holding action |
| CN1128692A (en) * | 1995-01-11 | 1996-08-14 | 三星电子株式会社 | Flotation movement device fo manipulator |
| WO2005089979A1 (en) * | 2004-03-20 | 2005-09-29 | Müller Weingarten AG | Device for manipulating workpieces during a die forging process |
| DE102005033767A1 (en) * | 2005-07-15 | 2007-01-18 | Müller Weingarten AG | Device for manipulating workpieces during forging, with a gripper mechanism that can be adjusted to be either pliable or rigid, comprises rollers that advance along contact surfaces to put gripper arms in the rigid position |
| CN103273498A (en) * | 2013-06-09 | 2013-09-04 | 沈阳工业大学 | Rigidity variable flexible mechanical arm |
| CN204639026U (en) * | 2015-06-02 | 2015-09-16 | 连云港杰瑞自动化有限公司 | A kind of flexible and controlled switching paw of rigidity |
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2015
- 2015-06-02 CN CN201510293475.9A patent/CN104826974B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220796A1 (en) * | 1992-06-25 | 1994-01-05 | Langenstein & Schemann Gmbh | Forging workpiece holder - has a packing to give a hydraulic chamber with variable pressure to give pliable or rigid holding action |
| CN1128692A (en) * | 1995-01-11 | 1996-08-14 | 三星电子株式会社 | Flotation movement device fo manipulator |
| WO2005089979A1 (en) * | 2004-03-20 | 2005-09-29 | Müller Weingarten AG | Device for manipulating workpieces during a die forging process |
| DE102005033767A1 (en) * | 2005-07-15 | 2007-01-18 | Müller Weingarten AG | Device for manipulating workpieces during forging, with a gripper mechanism that can be adjusted to be either pliable or rigid, comprises rollers that advance along contact surfaces to put gripper arms in the rigid position |
| CN103273498A (en) * | 2013-06-09 | 2013-09-04 | 沈阳工业大学 | Rigidity variable flexible mechanical arm |
| CN204639026U (en) * | 2015-06-02 | 2015-09-16 | 连云港杰瑞自动化有限公司 | A kind of flexible and controlled switching paw of rigidity |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN108247613B (en) * | 2018-02-12 | 2024-01-23 | 上海发那科机器人有限公司 | Double-hand claw |
| CN110356373A (en) * | 2019-06-27 | 2019-10-22 | 博众精工科技股份有限公司 | A kind of lateral force eliminating machine |
| CN114102568A (en) * | 2021-12-06 | 2022-03-01 | 东南大学 | Mechanical arm knuckle, mechanical arm, equipment and knuckle switching method |
| CN114102568B (en) * | 2021-12-06 | 2023-08-04 | 东南大学 | Manipulator knuckle, manipulator, equipment and knuckle switching method |
| CN116038667A (en) * | 2023-02-16 | 2023-05-02 | 西南交通大学 | Grabbing device of flexible adhesion of coupling and mechanical closure |
| CN116038667B (en) * | 2023-02-16 | 2024-01-23 | 西南交通大学 | Grabbing device of flexible adhesion of coupling and mechanical closure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104826974B (en) | 2016-09-21 |
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