CN115533958A - Adjustable displacement tongs - Google Patents
Adjustable displacement tongs Download PDFInfo
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- CN115533958A CN115533958A CN202211506624.1A CN202211506624A CN115533958A CN 115533958 A CN115533958 A CN 115533958A CN 202211506624 A CN202211506624 A CN 202211506624A CN 115533958 A CN115533958 A CN 115533958A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention relates to a gripping device, in particular to a variable-pitch gripper. The robot comprises an automatic distance adjusting structure, an interface conversion structure and a plurality of groups of automatic in-place grabbing structures, wherein the interface conversion structure is used for being connected with a robot; the bottom of the interface conversion structure is transversely provided with two transverse fixed slide rails and a plurality of transverse fixed slide blocks which are in sliding fit with the transverse fixed slide rails, and the plurality of groups of automatic in-place grabbing structures are respectively connected with the plurality of transverse fixed slide blocks; the automatic distance adjusting structure is arranged on the interface conversion structure and is sequentially connected with the multiple groups of automatic in-place grabbing structures, and the automatic distance adjusting structure is used for realizing automatic distance adjustment of the multiple groups of automatic in-place grabbing structures. According to the requirements of large batch and consistent operation process of product boxing operation, the grabbing, rotating and distance adjusting of the products are accurately controlled, the multiple products are ensured to simultaneously execute the boxing operation, and the boxing efficiency is improved.
Description
Technical Field
The invention relates to a gripping device, in particular to an adjustable variable-pitch gripper.
Background
In the process of product processing, the pitch-variable packing of products is always operated manually, the manual operation is low in efficiency and easy to cause danger, and particularly, the full-manual operation packing mode is adopted for inflammable and explosive products, so that great hidden dangers exist in the life safety of operators. Because the traditional manipulator has the following disadvantages: firstly, due to the fact that rotation is needed, a traditional manipulator can only grab a single product and place the product into a box after rotating for a fixed angle, and therefore production efficiency is seriously affected; secondly, if the traditional group-row grippers are adopted, although the gripping quality of products can be improved, gripping and placing of the interval change when the interval between the products in the carrying tray is different from the interval between the products in the box cannot be realized; and thirdly, the mode of simultaneously boxing a plurality of groups of mechanical arms is adopted, so that the requirements of rotation and variable pitch can be met, the cost can be greatly increased, the control process is complicated, and the packing with the closer product spacing is difficult to realize.
At present, no high-precision mechanical gripper forming equipment is available in the field of multi-product synchronous rotating boxing in the domestic market, and the operation mode at the present stage cannot meet the requirements of boxing automation and safety of various products.
Disclosure of Invention
In view of the above problems, the invention aims to provide an adjustable variable-pitch gripper to solve the problem that the existing manipulator cannot meet the requirements of automation and safety of boxing of various products.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a variable-pitch gripper, which comprises:
the bottom of the interface conversion structure is transversely provided with a transverse fixed slide rail and a plurality of transverse fixed slide blocks which are in sliding fit with the transverse fixed slide rail;
the multiple groups of automatic in-place grabbing structures are respectively connected with the multiple transverse fixed sliding blocks;
the automatic distance adjusting structure is arranged on the interface conversion structure and is sequentially connected with the multiple groups of automatic in-place grabbing structures, and the automatic distance adjusting structure is used for realizing automatic distance adjustment of the multiple groups of automatic in-place grabbing structures.
The automatic distance adjusting structure comprises an automatic distance adjusting driving mechanism, distance adjusting slide rails and a distance adjusting screw connector, wherein the two distance adjusting slide rails are arranged below the transverse fixed slide rails in parallel, a plurality of groups of automatic in-place grabbing structures are in sliding fit with the two distance adjusting slide rails, and the two adjacent automatic in-place grabbing structures are movably connected through the distance adjusting screw connector; the automatic distance adjusting driving mechanism is arranged at the top of the interface conversion structure and connected with the automatic in-place grabbing structure located on the outermost side, and the automatic distance adjusting driving mechanism drives the automatic in-place grabbing structures to sequentially expand or contract.
The distance adjusting screw connector comprises a connector and two distance adjusting screws, wherein the connector comprises a connecting plate, and a connecting lug seat I and a connecting lug seat II which are arranged at two ends of the connecting plate, and the connecting lug seat I and the connecting lug seat II are respectively provided with an unthreaded hole and a threaded hole; the connecting plate with automatically, target in place and snatch the structural connection, and adjacent two automatic target in place snatchs structural connecting plate installation opposite direction, and the corresponding connecting lug seat I in both ends of two adjacent connecting plates is connected through two roll adjustment screwed connection with connecting lug seat II, and has the displacement volume between connecting lug seat I and the connecting lug seat II.
The automatic distance adjusting driving mechanism comprises four distance adjusting power cylinders which are uniformly distributed at the top of the interface conversion structure; the four distance-adjusting power cylinders drive the automatic in-place grabbing structure to move transversely from two sides.
The automatic in-place grabbing structure comprises an automatic steering structure, a synchronous rotating structure and a plurality of groups of mechanical arms, wherein the automatic steering structure is connected with the transverse fixed sliding block, the bottom of the automatic steering structure is connected with the plurality of groups of mechanical arms through the synchronous rotating structure, and the plurality of groups of mechanical arms are sequentially arranged along the longitudinal direction.
The automatic steering structure comprises a longitudinal slide rail, a longitudinal slide block and distance adjusting slide blocks, wherein the longitudinal slide rail is longitudinally connected to the bottom of the transverse fixed slide block, the longitudinal slide rail is in sliding fit with the two longitudinal slide blocks, and the bottoms of the two longitudinal slide blocks are in sliding fit with the two distance adjusting slide rails which are arranged in parallel through the two distance adjusting slide blocks.
The synchronous rotating structure comprises a bearing seat I, a middle bearing seat, a bearing seat II, a rotating shaft I, a middle rotating shaft, a rotating shaft II, an upper gear rack transmission structure and a lower gear rack transmission structure, wherein the synchronous rotating structure comprises a bearing seat I, a middle bearing seat, a bearing seat II, a rotating shaft I, a middle rotating shaft, a rotating shaft II, an upper gear rack transmission structure and a lower gear rack transmission structure
The upper ends of the rotating shaft I and the rotating shaft II are respectively connected with a bearing seat I and a bearing seat II through bearings, the bearing seats I and the bearing seats II are connected with the upper end of the middle rotating shaft through an upper gear rack transmission structure, the lower end of the middle rotating shaft is connected with a middle bearing seat through a bearing, and the middle bearing seat is connected with the lower ends of the rotating shaft I and the rotating shaft II through a lower gear rack transmission structure;
the bearing seat I and the bearing seat II are respectively connected with two corresponding distance adjusting slide blocks on the two distance adjusting slide rails; when two the longitudinal separation distance of roll adjustment slide rail changes, it is rotatory to drive middle rotation axis through last rack and pinion transmission structure, drives rotation axis I and rotation axis II and middle rotation axis syntropy through lower rack and pinion transmission structure.
The upper gear rack transmission structure comprises a steering rack I, a steering gear and a steering rack II, wherein the steering gear is arranged at the upper end of the middle rotating shaft, the steering rack I and the steering rack II are meshed at two opposite sides of the steering gear, and the steering rack I and the steering rack II are respectively connected with a bearing block I and a bearing block II;
the lower gear rack transmission structure comprises a synchronous gear I, a synchronous rack I, a synchronous gear II and a synchronous rack II, wherein the synchronous gear I and the synchronous gear II are respectively arranged at the lower ends of the rotating shaft I and the rotating shaft II, the synchronous rack I and the synchronous rack II are respectively arranged at two opposite sides of the middle bearing block, and the synchronous rack I and the synchronous rack II are respectively meshed with the synchronous gear I and the synchronous gear II.
The adjustable variable-pitch gripper also comprises a steering driving mechanism;
the steering driving mechanism comprises a steering power cylinder, cylinder supporting seats, a longitudinal fixed slide rail and longitudinal fixed slide blocks, wherein the longitudinal fixed slide rail is longitudinally arranged at the end part of the interface conversion structure, the longitudinal fixed slide rail is connected with two longitudinal fixed slide blocks in a sliding manner, the two longitudinal fixed slide blocks are respectively connected with the two cylinder supporting seats, the steering power cylinder is connected between the two cylinder supporting seats, and the end parts of the distance-adjusting slide rails are respectively connected with the two cylinder supporting seats.
The lower ends of the rotating shaft I, the middle rotating shaft and the rotating shaft II are respectively connected with the three manipulators; the manipulator comprises a gripper connector and a mechanical gripper.
The invention has the advantages and beneficial effects that: the invention solves the problem of insufficient automation degree in the product boxing industry, and improves the boxing production efficiency; according to the requirement that the product boxing operation is large in batch and the operation process is consistent, links such as grabbing, rotating and distance adjusting of the products are accurately controlled, the multiple products are guaranteed to perform boxing operation at the same time, and the boxing efficiency is improved.
According to the invention, the product on the mechanical clamp is precisely and synchronously rotated through the automatic steering structure and the synchronous rotating structure, so that the problem of low rotating efficiency of the product controlled by the traditional machine is solved.
The manipulator is used for grabbing and adjusting the distance of the products, so that the production requirement of rapid boxing of large-batch products is met, and detection workers are far away from dangerous places in the production process.
The invention ensures that the products are linearly arranged when being put into the box by forming rows and synchronously rotating and grabbing the products in groups, thereby avoiding the occurrence of the condition of irregular product stacking.
Drawings
FIG. 1 is an isometric view of an adjustable grip of the present invention;
FIG. 2 is a front view of an adjustable pitch gripper of the present invention;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic structural view of the pitch adjusting screw connector according to the present invention;
FIG. 5 is a schematic connection diagram of the pitch screw connector according to the present invention;
FIG. 6 is a schematic view of the automatic in-place grasping configuration of the present invention;
FIG. 7 is a schematic view of an automatic steering mechanism according to the present invention;
FIG. 8 is a schematic view of a synchronous rotation structure according to the present invention;
in the figure: the connector comprises a distance adjusting screw connector 1, a connecting plate 101, a connecting lug seat I102, a unthreaded hole 103, a connecting lug seat II 104, a threaded hole 105, an automatic in-place grabbing structure 2, an automatic steering structure 3, a synchronous rotating structure 4, a bearing seat I401, a rotating shaft I402, a synchronous gear I403, a steering rack I404, a steering gear 405, a steering gear 406, an intermediate rotating shaft 407, a steering rack II 408, a bearing seat II 409, a rotating shaft II 410, a synchronous gear II 411, an intermediate bearing seat 412, a synchronous rack I, a synchronous rack II 413, an interface conversion structure 5, a transverse fixed sliding rail 6, a transverse fixed sliding block 7, a distance adjusting sliding rail 8, a distance adjusting sliding block 9, a distance adjusting power cylinder 10, a distance adjusting screw 11, a clamping hand connector 12, a mechanical clamp 13, a longitudinal sliding rail 15, a longitudinal sliding block 16, a steering power cylinder 17, an interface converter 24, an interface base 25, an air cylinder 27, a supporting block 28, a limiting pin 29, a limiting pin 31 and a limiting plate 31.
Detailed Description
In order to make the technical solution of the present invention clearer and the design advantages clearer, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the variable-pitch gripper provided by the invention comprises an automatic pitch adjusting structure, an interface conversion structure 5 and a plurality of groups of automatic in-place gripping structures 2, wherein the interface conversion structure 5 is used for connecting with a robot; the bottom of the interface conversion structure 5 is transversely provided with two transverse fixed slide rails 6 and a plurality of transverse fixed slide blocks 7 which are in sliding fit with the transverse fixed slide rails 6, and the multiple groups of automatic in-place grabbing structures 2 are respectively connected with the transverse fixed slide blocks 7. Specifically, the transverse fixing slide block 7 is buckled below the transverse fixing slide rail 6, so that the structure 2 can be conveniently and automatically grabbed in place, and the sliding stability in the distance adjusting process is realized. The automatic distance adjusting structure 1 is arranged on the interface conversion structure 5 and is sequentially connected with the multiple groups of automatic in-place grabbing structures 2, and the automatic distance adjusting structure 1 is used for achieving automatic in-place automatic distance adjustment of the multiple groups of automatic in-place grabbing structures 2. The automatic in-place grabbing structure 2 realizes grabbing of products and placing of the products after reaching the placing position through the action of the robot after reaching the corresponding position.
As shown in fig. 1-2, in the embodiment of the present invention, the interface conversion structure 5 includes an interface base 25 and an interface converter 24 disposed at a middle position of a top of the interface base 25, the interface converter 24 facilitates the robot to change mechanical grippers of different product types, and the two transverse fixed sliding rails 6 are disposed at two sides of a bottom of the interface base 25. The automatic distance adjusting structure 1 comprises an automatic distance adjusting driving mechanism, distance adjusting slide rails 8 and a distance adjusting screw connector, wherein the two distance adjusting slide rails 8 are arranged below the transverse fixed slide rails 6 in parallel, a plurality of groups of automatic in-place grabbing structures 2 are in sliding fit with the two distance adjusting slide rails 8, and the two adjacent automatic in-place grabbing structures 2 are movably connected through the distance adjusting screw connector; the automatic distance adjusting driving mechanism is arranged at the top of the interface base 25 and connected with the automatic in-place grabbing structures 2 located on the outermost side, and the automatic distance adjusting driving mechanism drives the multiple groups of automatic in-place grabbing structures 2 to sequentially expand or contract.
As shown in fig. 1, in the embodiment of the present invention, the automatic distance adjusting driving mechanism includes four distance adjusting power cylinders 10, and the four distance adjusting power cylinders 10 are uniformly distributed on the top of the interface base 25; the four distance-adjusting power cylinders 10 drive the automatic in-place grabbing structure 2 to move transversely from two sides, and the distance-adjusting power cylinders 10 provide distance-adjusting power for the automatic in-place grabbing structure 2.
In the embodiment of the invention, the pitch adjusting screw connector 1 is used for automatically changing the position of products loaded on trays with different transfer distances. As shown in fig. 4-5, the pitch-adjusting screw connector comprises a connector and two pitch-adjusting screws 11, wherein the connector comprises a connecting plate 101, and a connecting ear seat i 102 and a connecting ear seat ii 104 which are arranged at two ends of the connecting plate 101, wherein the connecting ear seat i 102 and the connecting ear seat ii 104 are respectively provided with an unthreaded hole 103 and a threaded hole 105; connecting plate 101 with automatic to target in place snatch structure 2 and be connected, and two adjacent automatic connecting plate 101 installation opposite direction that target in place on snatch structure 2, the corresponding connection ear seat I102 in both ends of two adjacent connecting plates 101 is connected through two roll adjustment screws 11 with connection ear seat II 104, and has the displacement volume between connection ear seat I102 and the connection ear seat II 104. That is to say, the roll adjustment screw 11 passes through the unthreaded hole 103 on the connecting lug seat I102 and is connected with the screw hole 105 threaded connection on the connecting lug seat II 104, and the connecting lug seat I102 has the degree of freedom that moves on the roll adjustment screw 11 for when dragging the roll adjustment slider 9 that is located the outermost side, can drag other roll adjustment sliders 9 and move outwards in proper order, realize the function of roll adjustment. As long as the length of the distance adjusting screws 11 in the distance adjusting screw connector is the same, the distance adjusting sliders 9 can be uniformly distributed in the distance adjusting process, the maximum distance between the sliders 7 is fixed, and the accuracy and the safety of the automatic distance adjusting structure are guaranteed.
As shown in fig. 2-3, in the embodiment of the present invention, the automatic in-place grabbing structure 2 includes an automatic steering structure 3, a synchronous rotating structure 4 and a plurality of sets of manipulators, wherein the automatic steering structure 3 is connected to the transverse fixed slide 7, the bottom of the automatic steering structure 3 is connected to the plurality of sets of manipulators through the synchronous rotating structure 4, and the plurality of sets of manipulators are arranged in sequence along the longitudinal direction. Specifically, the robot arm includes a gripper connector 12 and a mechanical gripper 13, and the mechanical gripper 13 is connected to the synchronous rotating structure 4 through the gripper connector 12.
As shown in fig. 6, in the embodiment of the present invention, the automatic steering structure 3 includes a longitudinal slide rail 15, a longitudinal slide block 16, and a distance adjustment slide block 9, wherein the longitudinal slide rail 15 is longitudinally connected to the bottom of the transverse fixing slide block 7, the longitudinal slide rail 15 is in sliding fit with the two longitudinal slide blocks 16, the bottoms of the two longitudinal slide blocks 16 are in sliding fit with the two distance adjustment slide rails 8 arranged in parallel through the two distance adjustment slide blocks 9, and the distance adjustment slide blocks 9 ensure that the automatic in-place grabbing structure 2 moves smoothly along the distance adjustment slide rails 8. Preferably, the connection plate 101 in the pitch screw connector is connected with the pitch slider 9.
As shown in fig. 3, the variable-pitch gripper provided by the invention further comprises a steering driving mechanism; turn to actuating mechanism and include and turn to power cylinder 17, cylinder supporting seat 27, vertical fixed slide rail 30 and vertical fixed slider 31, wherein vertical fixed slide rail 30 sets up in interface base 25 bottom both ends along vertical, sliding connection has two vertical fixed sliders 31 on vertical fixed slide rail 30, two vertical fixed sliders 31 are connected with two cylinder supporting seats 27 respectively, turn to power cylinder 17 and connect between two cylinder supporting seats 27, the tip of two roll adjustment slide rails 8 is connected with two cylinder supporting seats 27 respectively, turn to power cylinder 17 and be used for adjusting the interval between two roll adjustment slide rails 8. The steering power cylinder 17 provides power for longitudinal movement to the distance adjusting slide rail 8, so that the distance adjusting slide rail 8 drives the longitudinal fixing slide block 31 to move smoothly along the direction of the longitudinal fixing slide rail 30.
Further, both ends of the longitudinally fixed slide rail 30 are provided with mechanical limiting structures. Specifically, the mechanical limiting structure includes a limiting plate 28 and a limiting pin 29, wherein the limiting plate 28 is disposed at an end of the longitudinal fixed slide rail 30, and an upper end of the limiting plate is connected with the interface base 25, and the limiting pin 29 is disposed at a lower end of the limiting plate 28 for limiting a stroke of the cylinder support seat 27.
As shown in fig. 7 to 8, in the embodiment of the present invention, the synchronous rotating structure 4 includes a bearing seat i 401, an intermediate bearing seat 411, a bearing seat ii 408, a rotating shaft i 402, an intermediate rotating shaft 406, a rotating shaft ii 409, an upper rack and pinion transmission structure, and a lower rack and pinion transmission structure, where the rotating shaft i 402, the intermediate rotating shaft 406, and the rotating shaft ii 409 are arranged in parallel, upper ends of the rotating shaft i 402 and the rotating shaft ii 409 are respectively connected to the bearing seats i 401 and the bearing seats ii 408 through bearings, the bearing seats i 401 and the bearing seats ii 408 are connected to an upper end of the intermediate rotating shaft 406 through the upper rack and pinion transmission structure, a lower end of the intermediate rotating shaft 406 is connected to the intermediate bearing seat 411 through a bearing, and the intermediate bearing seat 411 is connected to lower ends of the rotating shaft i 402 and the rotating shaft ii 409 through the lower rack and pinion transmission structure. The tops of the bearing seat I401 and the bearing seat II 408 are respectively connected with two corresponding distance adjusting slide blocks 9 on two distance adjusting slide rails 8; when the two distance-adjusting slide rails 8 drive the two corresponding distance-adjusting slide blocks 9 to change the longitudinal distance, the middle rotating shaft 406 is driven to rotate through the upper gear-rack transmission structure, and the rotating shaft I402, the rotating shaft II 409 and the middle rotating shaft 406 are driven to rotate in the same direction through the lower gear-rack transmission structure.
In the embodiment of the invention, the upper gear rack transmission structure comprises a steering rack I404, a steering gear 405 and a steering rack II 407, wherein the steering gear 405 is arranged at the upper end of the middle rotating shaft 406, the steering rack I404 and the steering rack II 407 are meshed at two opposite sides of the steering gear 405, and the steering rack I404 and the steering rack II 407 are respectively connected with a bearing seat I401 and a bearing seat II 408. The lower gear rack transmission structure comprises a synchronous gear I403, a synchronous rack I412, a synchronous gear II 410 and a synchronous rack II 413, wherein the synchronous gear I403 and the synchronous gear II 410 are respectively arranged at the lower ends of a rotating shaft I402 and a rotating shaft II 409, the synchronous rack I412 and the synchronous rack II 413 are respectively arranged at two opposite sides of an intermediate bearing seat 411, and the synchronous rack I412 and the synchronous rack II 413 are respectively meshed with the synchronous gear I403 and the synchronous gear II 410.
During operation, when two roll adjustment slide rails 8 along vertical reverse motion, drive bearing frame I401 and bearing frame II 408 reverse motion, and then make relative steering rack I404 and steering rack II 407 that set up act on steering gear 405 simultaneously, the pulling steering gear 405 is rotatory, and the speed of both sides all can be used in steering gear 405 this moment, forms same speed for the mechanical clamp 12 who is located the centre rotates. When the rotating shaft I402 and the rotating shaft II 409 move reversely in the longitudinal direction, the synchronizing gear I403 and the synchronizing gear II 410 rotate along the synchronizing rack I412 and the synchronizing rack II 413 respectively, so that the rotating shaft I402 and the rotating shaft II 409 are driven to rotate. Since the synchronization rack i 412 and the synchronization rack ii 413 are provided to face each other, the rotation direction of the rotation shaft i 402 and the rotation shaft ii 409 is the same as the rotation direction of the intermediate rotation shaft 406. Can guarantee through synchronous revolution mechanic 4 that holistic rotation angle is unanimous, promote a plurality of product synchronous revolution's accuracy greatly.
In the embodiment of the present invention, the lower ends of the rotating shaft i 402, the intermediate rotating shaft 406, and the rotating shaft ii 409 are connected to three manipulators, respectively. The upper end of a clamping hand connector 12 in the manipulator is connected with a rotating shaft I306, a middle rotating shaft 308 or a rotating shaft II 307, the lower end of the clamping hand connector 12 is connected with a mechanical clamp 13, and the clamping hand connector 12 realizes synchronous rotation with each rotating shaft; the clamping cylinder is arranged above the mechanical clamp 13, provides power for clamping and releasing the product for the mechanical clamp 13, and can ensure that the mechanical clamp 13 can safely and stably transport the product to a designated place.
The invention provides a variable-pitch gripper, which is used for adjusting pitches of a plurality of products in two directions and rotating a certain angle along the axis of the product, and has the working principle that:
the automatic distance adjusting structure 1 is a core technology of the whole manipulator, and the automatic distance adjusting structure 1 is used for adjusting the mechanical clamp 13 to the distance suitable for products carried by a tray and adjusting the mechanical clamp 13 for taking and placing the products to the distance suitable for inner grids of a loading box for transporting the products, so that the operation of simultaneously boxing a plurality of groups of manipulators is facilitated, and the defect that the distance of the traditional manipulator cannot be changed is overcome. When in work, traction power is provided by the two distance-adjusting power cylinders 10 in the same row. Taking ten distance adjusting sliders 9 installed on each distance adjusting slide rail 8 as an example, the first row of distance adjusting sliders 9 are pulled to move outwards along the distance adjusting slide rails 8, when the limited length of the distance adjusting screws 11 is reached, the first distance adjusting slider 9 is driven by the distance adjusting power cylinders 10 to pull the second distance adjusting slider 9 to move outwards through the distance adjusting screws 11 along the direction of the distance adjusting slide rails 8, and the rest three distance adjusting sliders 9 also move outwards on the same principle. Meanwhile, the other two distance adjusting power cylinders 10 also synchronously drive the five distance adjusting sliders 9 on the other side to move towards the other outer side, when all the distance adjusting screws 11 reach the limited length, the mechanical gripper hand realizes the function of widening the distance, the first row of distance adjusting sliders 9 are pressed to move towards the inner side along the distance adjusting slide rails 8 by the retraction power provided by the two distance adjusting power cylinders 10 on the same row, when the limited length of the distance limiting screws 26 is reached, the first distance adjusting slider 9 is driven by the distance adjusting power cylinders 10 to push the second distance adjusting slider 9 to move towards the inner side along the direction of the distance adjusting slide rails 8 through the distance limiting screws 26, and the remaining three sliders also move towards the inner side according to the same principle. Meanwhile, the other two distance adjusting power cylinders 10 also synchronously drive the five distance adjusting slide blocks 9 on the other side to move inwards, and when all the distance adjusting screws 11 are extruded to the baffle plate of the next adjacent distance adjusting slide block 9, the hand grip realizes the distance reducing function.
The automatic in-place grabbing structure 2 is a basic structure of a gripper, the automatic in-place grabbing structure 2 can grab a product after reaching a corresponding position through the action of a robot and is used for completing the movement of the product, the product can be prevented from sliding down by clamping the product through the mechanical clamp 13, the risk of falling in the moving and rotating process is avoided, and meanwhile, the product can be placed by loosening the mechanical clamp 13 after reaching a placing position. Specifically, the rotating shaft (the rotating shaft i 402, the intermediate rotating shaft 406 or the rotating shaft ii 409) is connected with the gripper connector 12, when the rotating shaft starts to rotate, the rotating shaft drives the gripper connector 12 to rotate by the same angle, and the gripper connector 12 drives the mechanical clamp 13 to rotate, so that the rotation function of the gripper on the product is completed.
The automatic steering structure 3 is a power base for mechanical rotation of the gripper, the automatic steering structure 3 is used for automatically changing the positions of products loaded on trays with different placing angles, the automatic steering structure 3 drives the products to rotate through rotation of the mechanical clamp 13, so that the products are rotated, automatic operation of rotation is realized, and the automation level of a production line is higher. Specifically, the distance-adjusting slide rail 8 is pushed to move longitudinally through the steering power cylinder 17, the longitudinal slide block 16 connected with the distance-adjusting slide block 9 obtains outward thrust, the longitudinal slide block 16 moves laterally along the longitudinal slide rail 15, and when the limit of the outer side of the longitudinal slide rail 15 is reached, the steering power cylinder 17 pushes in place, so that the function of providing power for steering is completed. The power acts on a synchronous gear I403 and a synchronous gear II 410 which are connected with the rotating shaft, the synchronous gear I403 and the synchronous gear II 410 respectively move outwards along a synchronous rack I412 and a synchronous rack II 413, at the moment, the synchronous gear I403 and the synchronous gear II 410 move in a rotating mode, the rotating shaft I402 and the rotating shaft II 409 which are correspondingly connected rotate along with the synchronous rack I412 and the synchronous rack II 413, and therefore rotation control over the mechanical clamps 13 on the two sides is achieved. Meanwhile, the steering rack I404 and the steering rack II 407 move outwards along with the steering power, the steering gear 405 is pulled to rotate, the middle rotating shaft 406 connected with the steering gear 405 rotates along with the steering gear, the rotation control of the corresponding mechanical clamp 13 is realized, and the function of automatically rotating the product by the gripper is realized at the moment.
The synchronous rotating structure 4 of the invention ensures that the rotating angles of the products are the same, can realize the same rotating angle among a plurality of products, and ensures the synchronism and stability of the system. When the steering power cylinder 17 drives the two longitudinal fixed sliding blocks 31 to move towards two sides along the longitudinal fixed sliding rail 30, the steering rack I404 and the steering rack II 407 are driven to move towards the outer side, and the steering gear 405 is pulled to rotate. Meanwhile, the steering rack I404 and the steering rack II 407 are also limited to move the same distance by the rotation of the steering gear 405, so that the rotating angles of the mechanical clamps 13 on the left side and the right side are the same, the synchronous rotation function is realized, and the rotation accuracy of multiple products is greatly improved.
The interface conversion structure 5 is a key for improving the mechanical value of the mechanical gripper, can be butted with the mechanical arm of the robot through the interface converter 24 to realize a detachable function, and can be connected with the grippers of different types of products through the interface base 25 to maximize the utilization of the functions of the production line, thereby obviously improving the use value of the production line.
According to the variable-pitch gripper, variable-pitch rotary boxing of various products can be realized by adjusting the extension parameters of a machine, automatic production of product boxing is realized, boxing efficiency in the production process is improved, safety of the products in the variable-pitch rotary boxing process is improved, the production automation process is optimized, unmanned production in dangerous places is realized, high production efficiency is guaranteed, consistency of rotation angles of product boxing is realized, boxing requirements of various products at different pitches and different angles can be met, and the use value of the products is improved. The invention has high precision, strong stability and high execution efficiency, can effectively accelerate the production efficiency of products and ensure the production safety of the products.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The adjustable gauge-variable gripper is characterized by comprising:
the bottom of the interface conversion structure (5) is transversely provided with a transverse fixed slide rail (6) and a plurality of transverse fixed slide blocks (7) which are in sliding fit with the transverse fixed slide rail (6);
a plurality of groups of automatic in-place grabbing structures (2) which are respectively connected with a plurality of transverse fixed sliding blocks (7);
the automatic distance adjusting structure (1) is arranged on the interface conversion structure (5) and is sequentially connected with the multiple groups of automatic in-place grabbing structures (2), and the automatic distance adjusting structure (1) is used for achieving automatic in-place automatic distance adjustment of the multiple groups of automatic in-place grabbing structures (2).
2. The adjustable variable-pitch gripper according to claim 1, wherein the automatic pitch adjusting structure (1) comprises an automatic pitch adjusting driving mechanism, pitch adjusting slide rails (8) and a pitch adjusting screw connector, two pitch adjusting slide rails (8) are arranged below the transverse fixed slide rail (6) in parallel, a plurality of groups of automatic in-place gripping structures (2) are in sliding fit with the two pitch adjusting slide rails (8), and two adjacent automatic in-place gripping structures (2) are movably connected through the pitch adjusting screw connector; the automatic distance adjusting driving mechanism is arranged at the top of the interface conversion structure (5) and is connected with the automatic in-place grabbing structure (2) located on the outermost side, and the automatic distance adjusting driving mechanism drives the multiple groups of automatic in-place grabbing structures (2) to be sequentially unfolded or contracted.
3. The adjustable gauge-changing grip as claimed in claim 2, wherein the gauge-changing screw connector comprises a connector and two gauge-changing screws (11), wherein the connector comprises a connecting plate (101), and a connecting lug seat I (102) and a connecting lug seat II (104) which are arranged at two ends of the connecting plate (101), wherein the connecting lug seat I (102) and the connecting lug seat II (104) are respectively provided with an unthreaded hole (103) and a threaded hole (105); connecting plate (101) with automatically, target in place and snatch structure (2) and connect, and adjacent two automatically, target in place and snatch connecting plate (101) installation opposite direction on structure (2), connecting ear seat I (102) and connecting ear seat II (104) corresponding in both ends of two adjacent connecting plates (101) are connected through two roll adjustment screws (11), and have the displacement volume between connecting ear seat I (102) and connecting ear seat II (104).
4. The adjustable gauge-changing gripper as claimed in claim 2, characterized in that said automatic gauge-changing driving mechanism comprises four gauge-changing power cylinders (10), the four gauge-changing power cylinders (10) being uniformly distributed on the top of said interface conversion structure (5); the four distance-adjusting power cylinders (10) drive the automatic in-place grabbing structure (2) to move transversely from two sides.
5. The adjustable pitch gripper according to claim 2, wherein the automatic in-place gripping structure (2) comprises an automatic steering structure (3), a synchronous rotating structure (4) and a plurality of groups of mechanical arms, wherein the automatic steering structure (3) is connected with the transverse fixed slide block (7), the bottom of the automatic steering structure (3) is connected with the plurality of groups of mechanical arms through the synchronous rotating structure (4), and the plurality of groups of mechanical arms are sequentially arranged along the longitudinal direction.
6. The adjustable gauge-changing gripper according to claim 5, characterized in that the automatic steering structure (3) comprises a longitudinal slide rail (15), a longitudinal slide block (16) and a gauge-changing slide block (9), wherein the longitudinal slide rail (15) is longitudinally connected to the bottom of the transverse fixed slide block (7), the longitudinal slide rail (15) is in sliding fit with the two longitudinal slide blocks (16), and the bottoms of the two longitudinal slide blocks (16) are in sliding fit with the two gauge-changing slide rails (8) arranged in parallel through the two gauge-changing slide blocks (9).
7. Adjustable pitch gripper according to claim 6, characterized in that said synchronous rotating structure (4) comprises a bearing block I (401), an intermediate bearing block (411), a bearing block II (408), a rotating shaft I (402), an intermediate rotating shaft (406), a rotating shaft II (409), an upper rack and pinion transmission structure and a lower rack and pinion transmission structure, wherein
The rotary shaft I (402), the middle rotary shaft (406) and the rotary shaft II (409) are arranged in parallel, the upper ends of the rotary shaft I (402) and the rotary shaft II (409) are respectively connected with a bearing seat I (401) and a bearing seat II (408) through bearings, the bearing seats I (401) and the bearing seats II (408) are connected with the upper end of the middle rotary shaft (406) through an upper gear rack transmission structure, the lower end of the middle rotary shaft (406) is connected with a middle bearing seat (411) through a bearing, and the middle bearing seat (411) is connected with the lower ends of the rotary shaft I (402) and the rotary shaft II (409) through a lower gear rack transmission structure;
the bearing seat I (401) and the bearing seat II (408) are respectively connected with two corresponding distance adjusting slide blocks (9) on the two distance adjusting slide rails (8); when the longitudinal distance between the two distance-adjusting slide rails (8) is changed, the middle rotating shaft (406) is driven to rotate through the upper gear rack transmission structure, and the rotating shaft I (402), the rotating shaft II (409) and the middle rotating shaft (406) are driven to rotate in the same direction through the lower gear rack transmission structure.
8. The adjustable pitch gripper as claimed in claim 7, wherein the upper rack-and-pinion transmission structure comprises a steering rack I (404), a steering gear (405) and a steering rack II (407), wherein the steering gear (405) is arranged at the upper end of the intermediate rotating shaft (406), the steering rack I (404) and the steering rack II (407) are engaged on two opposite sides of the steering gear (405), and the steering rack I (404) and the steering rack II (407) are respectively connected with a bearing block I (401) and a bearing block II (408);
the lower gear rack transmission structure comprises a synchronous gear I (403), a synchronous rack I (412), a synchronous gear II (410) and a synchronous rack II (413), wherein the synchronous gear I (403) and the synchronous gear II (410) are respectively arranged at the lower end of the rotating shaft I (402) and the lower end of the rotating shaft II (409), the synchronous rack I (412) and the synchronous rack II (413) are respectively arranged at two opposite sides of the middle bearing seat (411), and the synchronous rack I (412) and the synchronous rack II (413) are respectively meshed with the synchronous gear I (403) and the synchronous gear II (410).
9. The adjustable reach gripper of claim 7, further comprising a steering drive mechanism;
turn to actuating mechanism including turning to power cylinder (17), cylinder supporting seat (27), vertical fixed slide rail (30) and vertical fixed slider (31), wherein vertical fixed slide rail (30) along vertically set up in the tip of interface conversion structure (5), sliding connection has two vertical fixed sliders (31) on vertical fixed slide rail (30), and two vertical fixed sliders (31) are connected with two cylinder supporting seats (27) respectively, turn to power cylinder (17) and connect between two cylinder supporting seats (27), two the tip of roll adjustment slide rail (8) is connected with two cylinder supporting seats (27) respectively.
10. The adjustable gauge-changing gripper as claimed in claim 7, characterized in that the lower ends of the rotating shaft I (402), the intermediate rotating shaft (406) and the rotating shaft II (409) are respectively connected with three said manipulators;
the manipulator comprises a gripper connector (12) and a mechanical gripper (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211506624.1A CN115533958B (en) | 2022-11-29 | 2022-11-29 | Adjustable displacement tongs |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211506624.1A CN115533958B (en) | 2022-11-29 | 2022-11-29 | Adjustable displacement tongs |
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| CN115533958B CN115533958B (en) | 2023-03-14 |
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Also Published As
| Publication number | Publication date |
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| CN115533958B (en) | 2023-03-14 |
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