CN115122371A

CN115122371A - Combined type gripper

Info

Publication number: CN115122371A
Application number: CN202210897495.7A
Authority: CN
Inventors: 李学忠; 陈龙; 田乐意; 张凌; 王清峰; 阮绍刚; 王军发; 陈航; 肖聪; 杨林; 邱响林; 李淑健; 蒋开勇
Original assignee: CCTEG Chongqing Research Institute Co Ltd
Current assignee: CCTEG Chongqing Research Institute Co Ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-09-30

Abstract

The invention belongs to the field of mechanical design, and relates to a combined type mechanical claw, which comprises a supporting seat connected with a mechanical arm, and a claw assembly, a power assembly and a push plate assembly which are arranged on the supporting seat; the supporting seat is provided with a plurality of mounting grooves for installing the clamping jaw components and a push plate guide groove for installing the push plate components, and the power component is arranged on the supporting seat and is respectively connected with the clamping jaw components and the push plate components. The invention realizes the overlapping of the gripper operation space and the workpiece space; the realization is in snatching the in-process, both realized the centre gripping of work piece and opened, still realizes the displacement of work piece simultaneously, simplifies the robot motion orbit, promotes automatic unloading efficiency of going up.

Description

Combined type gripper

Technical Field

The invention belongs to the field of mechanical design and relates to a combined type mechanical claw.

Background

Along with the implementation of intelligent manufacturing and industrial 4.0, the robot is widely popularized, and the application of the mechanical claw in the industry is wider and wider. In industrial manufacturing, the mechanical claw mainly grasps a part at present, cannot realize the movement of the position, realizes the movement of a workpiece by the movement of a mechanical hand, and mainly has the following defects: (1) the feeding space is large, in order to meet the requirements of the upper part and the lower part of a workpiece, the feeding space is at least the sum of the shapes of the mechanical claw and the part, and large space waste is caused; (2) the feeding and discharging efficiency is influenced, and in order to meet the requirements of the position of a workpiece, the manipulator needs to move more space to meet the change of the position of the workpiece, so that the production efficiency is influenced.

The friction welding realizes the welding between the same metal material and different metal materials and has wide application. Due to the space limitation of friction welding equipment, in automatic welding, the clamping mode of workpieces seriously influences the welding efficiency, and a mechanical claw which saves space and improves efficiency is urgently needed to be developed.

Disclosure of Invention

In view of the above, the present invention provides a composite gripper, which reduces the occupied space of a manipulator and a workpiece, and realizes the clamping and opening and the axial displacement of the workpiece.

In order to achieve the purpose, the invention provides the following technical scheme: a combined type mechanical claw comprises a supporting seat connected with a mechanical arm, and a claw assembly, a power assembly and a push plate assembly which are arranged on the supporting seat; the supporting seat is provided with a plurality of mounting grooves for installing the clamping jaw components and a push plate guide groove for installing the push plate components, and the power component is arranged on the supporting seat and is respectively connected with the clamping jaw components and the push plate components.

Optionally, the supporting seat includes the spliced pole of being connected the usefulness with the manipulator to and set up a plurality of mounting grooves and push pedal guide way on the supporting seat, and a plurality of mounting grooves are evenly set up respectively at the supporting seat upper surface.

Optionally, a pin hole for mounting the jaw assembly is further formed in the mounting groove.

Optionally, the jaw assembly comprises a jaw seat, a slip and a pin shaft, and the slip and the pin shaft are both mounted on the jaw seat.

Optionally, the jaw seat is a carrier of the jaw assembly, and is composed of a sector gear, a rotating pin hole and a support body, and the pin shaft is arranged in the rotating pin hole; the sector gear is engaged with the push plate assembly in a matching way in work, and the push plate assembly moves to realize the rotation of the claw seat.

Optionally, the slips are mounted on the jaw seat, and an anti-slip structure is arranged on a contact surface of the slips and the workpiece.

Optionally, the power assembly consists of a motor, a key and a gear shaft and is connected with the supporting seat through a connecting pair; the gear shaft is provided with a power gear which is meshed with the push plate component.

Optionally, the push plate assembly comprises a push seat and a push plate, and the push seat and the push plate are connected into a whole through threads.

Optionally, the propelling seat comprises a plurality of clamping racks, a power rack, a power tooth groove and a guide body, the clamping racks are meshed with the jaw assembly gears, and the power racks are meshed with the power assembly gears.

The invention has the beneficial effects that: according to the combined type mechanical claw, the partial overlapping of the operation space of the claw and the space of a workpiece is realized; the realization is in snatching the in-process, both realized the centre gripping of work piece and opened, still realizes the displacement of work piece simultaneously, simplifies the robot motion orbit, promotes automatic unloading efficiency of going up.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a perspective view of a composite gripper according to the present invention;

FIG. 2 is a top view of a composite gripper according to the present invention;

FIG. 3 is a schematic view of a support base of a composite gripper according to the present invention;

FIG. 4 is a schematic view of a jaw assembly of a composite gripper according to the present invention;

FIG. 5 is a schematic view of a power assembly of a composite gripper according to the present invention;

FIG. 6 is an isometric view of a power assembly of a composite gripper of the present invention;

FIG. 7 is a schematic view of a pusher plate assembly of a composite gripper according to the present invention.

Reference numerals: the support seat 1, the connecting column 11, the mounting groove 12, the pin hole 13, the push plate guide groove 14, the jaw assembly 2, the jaw seat 21, the sector gear 211, the rotating pin hole 212, the support body 213, the slip 22, the pin shaft 23, the power assembly 3, the motor 31, the key 32, the gear shaft 33, the power gear 331, the push plate assembly 4, the propelling seat 41, the clamping rack 411, the power rack 412, the power tooth groove 413, the guide body 414 and the push plate 42.

Detailed Description

The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the invention, shown in the drawings are schematic representations and not in the form of actual drawings; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 7, a composite gripper is shown, which comprises a support base 1, a jaw assembly 2, a power assembly 3 and a push plate assembly 4.

(1) The support seat 1 is a composite mechanical claw carrier, the jaw component 2, the power component 3 and the push plate component 4 are all arranged on the support seat and are also a connecting carrier for connecting a manipulator, and the support seat is composed of a connecting column 11, a plurality of mounting grooves 12, a pin hole 13 and a push plate guide groove 14.

Connecting a column 11: the connection with the manipulator is realized;

mounting groove 12: the jaw assembly is arranged in the mounting groove and can slide or swing in the groove;

pin hole 13: the clamping jaw assembly is used for mounting the clamping jaw assembly, and can rotate around the center of the pin hole to clamp and open the mechanical jaw;

guide groove 14: the push plate component is arranged in the guide groove and can move back and forth in the guide groove to realize the axial movement of the workpiece.

(2) The jaw component 2: the push plate component is arranged in the supporting seat and swings along the center of the pin hole 13 under the action of clamping the rack, so that the workpiece is clamped and opened. The slip type pipe joint comprises a jaw seat 21, slips 22 and a pin shaft 23, wherein the slips 22 and the pin shaft 23 are installed on the jaw seat.

The jaw seat 21 is a carrier of the jaw assembly and consists of a sector gear 211, a rotating pin hole 212 and a support body 213, wherein the sector gear 211 is meshed with a clamping rack of the push plate assembly in work, and the push plate assembly moves to realize the rotation of the jaw seat;

the slip 22: the clamping jaw is arranged on the clamping jaw seat and is contacted with a workpiece to clamp the workpiece;

(3) the power assembly 3: the power is provided for clamping and propelling, and the device consists of a motor 31, a key 32 and a gear shaft 33, and is connected with the supporting seat 1 through a connecting pair, and the gear shaft is provided with a power gear 331 meshed with the push plate component.

(4) The push plate component 4: the axial movement of a workpiece is completed, the clamping jaw assembly is driven to rotate to clamp the workpiece, the workpiece is arranged in a guide groove of the supporting seat 1, the workpiece is meshed with a gear of the power assembly and simultaneously meshed with a sector gear of the clamping jaw assembly, the motor rotates to drive the push plate assembly to move, a rack of the push plate assembly synchronously moves to drive the clamping jaw assembly to swing, and the push plate assembly 4 consists of a pushing seat 41 and a push plate 42 which are connected into a whole through threads; the thrust block 41 is composed of a plurality of clamping racks 411, a power rack 412, a power spline 413, and a guide 414. The clamping rack 411 is engaged with the jaw seat sector gear 211, and the power rack 412 is engaged with the power gear 331.

The working principle and the operation method of the invention (initial state: slips are opened) are adopted, and the workpiece is clamped and opened:

(1) the mechanical claw moves, the end face of the workpiece is contacted with the push plate 42, the power component 3 is started, and the push plate component 4 moves backwards (when the mechanical claw moves backwards along with the push plate component, the mechanical claw moves forwards to ensure the contact with the push plate 42);

(2) the slips 22 are in contact with the appearance of the workpiece, so that the workpiece is clamped, and the mechanical claw moves to a workpiece mounting position;

(3) the power component 3 is started, and the push plate component 4 moves forwards;

(4) the workpiece is loosened and sent to a designated position.

In this embodiment, when the pushing function is not required, a limiting device can be designed on the jaw assembly 2 to provide a space for the push plate assembly 4 to get out of position.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims

1. A combined type gripper is characterized in that: the manipulator comprises a supporting seat connected with the manipulator, and a clamping jaw assembly, a power assembly and a push plate assembly which are arranged on the supporting seat;

the supporting seat is provided with a plurality of mounting grooves for installing the clamping jaw components and a push plate guide groove for installing the push plate components, and the power component is arranged on the supporting seat and is respectively connected with the clamping jaw components and the push plate components.

2. The composite gripper of claim 1, wherein: the supporting seat comprises a connecting column connected with the manipulator and a plurality of mounting grooves and a push plate guide groove which are arranged on the supporting seat, and the mounting grooves are respectively and uniformly arranged on the upper surface of the supporting seat.

3. The composite gripper of claim 2, wherein: and a pin hole for mounting the jaw assembly is further formed in the mounting groove.

4. The composite gripper of claim 1, wherein: the jack catch subassembly comprises jack catch seat, slips and round pin axle, and slips and round pin axle are all installed on the jack catch seat.

5. The composite gripper of claim 4, wherein: the jaw seat is a carrier of the jaw assembly and consists of a sector gear, a rotating pin hole and a support body, and the pin shaft is arranged in the rotating pin hole;

the sector gear is engaged with the push plate assembly in a matching mode in work, and the push plate assembly moves to achieve rotation of the jaw seat.

6. The composite gripper of claim 5, wherein: the slips are arranged on the jaw seat, and the contact surface of the slips and the workpiece is provided with an anti-slip structure.

7. The composite gripper of claim 1, wherein: the power assembly consists of a motor, a key and a gear shaft and is connected with the supporting seat through a connecting pair;

the gear shaft is provided with a power gear which is meshed with the push plate component.

8. The composite gripper of claim 1, wherein: the push plate component consists of a pushing seat and a push plate which are connected into a whole through threads.

9. The composite gripper of claim 8, wherein: the propulsion seat is composed of a plurality of clamping racks, a power rack, a power tooth groove and a guide body, the clamping racks are meshed with the jaw assembly gears, and the power racks are meshed with the power assembly gears.