CN212372200U

CN212372200U - Mechanical gripper

Info

Publication number: CN212372200U
Application number: CN201922242970.3U
Authority: CN
Inventors: 付杰勤; 邓志华
Original assignee: Suntown Technology Group Co Ltd
Current assignee: Suntown Technology Group Co Ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2021-01-19
Anticipated expiration: 2029-12-13

Abstract

The utility model belongs to the technical field of industrial robot, a mechanical tongs is disclosed, include: the device comprises a main mounting plate, a linear power piece, a first clamping unit and a second clamping unit; the first clamping unit and the second clamping unit are oppositely arranged on two sides of the main mounting plate; the linear power part is fixed on the main mounting plate and used for driving the first clamping unit and/or the second clamping unit to move back and forth along a straight line. Compared with the prior art, the utility model relates to a mechanical tongs degree of automation is high, closes up or separates through parallel switching type sharp power part drive jack catch, and cooperation truss or robot work can snatch automatically or release the aluminium template, and the robot of being convenient for or other haulage machines have enough to meet the need the transport to the aluminium template. Simple structure, the reliability is high, can adapt to the change of template system.

Description

Mechanical gripper

Technical Field

The utility model belongs to the technical field of industrial robot, concretely relates to mechanical tongs.

Background

The aluminum alloy templates for building are widely applied, the most common templates in the aluminum templates are flat-shaped overall, and mainly comprise a bottom plate, side plates, end sealing plates, longitudinal ribs and transverse ribs, and mounting holes with fixed intervals are formed in the side plates. In order to improve the benefit and meet the requirements of concrete pouring of different buildings, the aluminum template is continuously optimized into a serialized template system. The general aluminum template mainly comprises a width series and a length series, wherein the width series has 10 specifications, the length series has 20-30 specifications, and 200-300 aluminum templates with different sizes are formed by combination. When the aluminum template is processed, the method mainly comprises the following steps: extrusion molding, sawing and blanking, punching a side plate connecting hole, milling two side pull sheet grooves, welding reinforcing ribs, sandblasting, surface treatment and the like. Because the demand of the aluminum template is large, the production automation degree of the aluminum template is higher and higher, and the sawing, punching, milling and welding are completed by adopting the integrated production line automatic processing. After the processing is finished, the workpiece needs to be transported to a sand blasting and surface treatment workshop for further processing. Because of the numerous specifications and models of the aluminum template, the aluminum template is usually produced by adopting a mixed line. Aluminum templates of different lengths may be processed simultaneously, and aluminum templates of different widths also need to be produced on one production line. In the related art, in order to realize the stacking of the aluminum templates at the tail end of the production line, a manual mode is adopted in the related art, namely: arranging a worker at the tail end of the production line for blanking and stacking. The related art has the disadvantages that, on one hand, the labor cost is high; on the other hand, the weight of the aluminum template is dozens of kilograms, and workers carry and stack the aluminum template for a long time, so that the labor intensity is high.

Therefore, there is a need to provide a new mechanical gripper to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that needs to solve provides a can realize the mechanical tongs of automatic unloading stacking.

In order to achieve the above purpose, the technical scheme of the utility model is that: a mechanical gripper comprising: the device comprises a main mounting plate, a linear power piece, a first clamping unit and a second clamping unit; the first clamping unit and the second clamping unit are oppositely arranged on two sides of the main mounting plate; the linear power part is fixed on the main mounting plate and used for driving the first clamping unit and/or the second clamping unit to move back and forth along a straight line.

Preferably, the first clamping unit comprises a clamping mounting plate, a first pressing plate and a top pin; the clamping mounting plate is integrally a rectangular plate, the first pressing plates are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate, the number of the ejector pins is the same as that of the first pressing plates, and the ejector pins are correspondingly arranged at one end, far away from the second clamping unit, of each first pressing plate; the first pressing plate is plate-shaped, and the ejector pin is columnar.

Preferably, the ejector pin is conical, and the diameter of one end of the ejector pin, which is far away from the main mounting plate, is smaller than the diameter of one end of the ejector pin, which is close to the main mounting plate.

Preferably, the mechanical gripper further comprises a guide unit, the guide unit comprising: the sliding block body is fixed on the sliding block mounting plate, one side part of the sliding block body is matched with the guide rail, and the other side part of the sliding block body is fixed on the sliding block mounting plate; one end of the linear power piece is connected with the sliding block body.

Preferably, in the first clamping unit: the clamping mounting plate is provided with a plurality of groups of mounting holes used for mounting the first pressing plates along the length direction, the plurality of groups of mounting holes are arranged at intervals, and the number of the groups of the mounting holes is 2-6 times of the number of the first pressing plates.

Preferably, the second clamping unit and the first clamping unit are symmetrical structures.

Preferably, the number of the guide rails is two, two sliding block bodies are arranged at two ends of each guide rail respectively, the number of the linear power parts is two, and two ends of each group of linear power parts are respectively connected with the two sliding block bodies at two ends of the same guide rail.

Preferably, the first clamping unit comprises a clamping mounting plate, a second pressing plate and a protrusion; the clamping mounting plate is integrally a rectangular plate, the second pressing plates are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate, the number of the bulges is the same as that of the second pressing plates, and the bulges are correspondingly arranged at one end, far away from the second clamping unit, of each second pressing plate; the second pressing plate is plate-shaped, and the protrusions are plate-shaped and made of plastic materials.

Preferably, the first clamping unit comprises a clamping mounting plate and a second pressing plate; the whole rectangle board that is of centre gripping mounting panel, the second clamp plate is for following a plurality of clamp plates that the length direction interval of centre gripping mounting panel set up, the second clamp plate is made by plastic materials.

Preferably, the linear power element is a double-rod cylinder or a cylinder group consisting of two single-rod cylinders arranged in parallel.

Compared with the prior art, the utility model relates to a mechanical tongs degree of automation is high, closes up or separates through parallel switching type sharp power part drive jack catch, and cooperation truss or robot work can snatch automatically or release the aluminium template, and the robot of being convenient for or other haulage machines have enough to meet the need the transport to the aluminium template. The mechanical gripper has simple structure and high reliability, only one horizontal opening and closing motion is required for gripping, and the mechanical gripper has few motion mechanisms, simple structure and light weight; the change that can adapt to the template system through the interval between the adjacent first clamp plate of adjustment, can adapt to the change of future template system, satisfies the operation demand that the unloading was put things in good order in the aluminium template mixed line production of different length, different width.

Drawings

Fig. 1 is an overall schematic view of a first structure of a mechanical gripper according to the present invention;

FIG. 2 is a first state of use diagram of the mechanical grip of FIG. 1;

FIG. 3 is a second state of use diagram of the mechanical grip of FIG. 1;

FIG. 4 is a third state of use diagram of the mechanical grip of FIG. 1;

FIG. 5 is a partial schematic illustration of the mechanical grip of FIG. 1;

fig. 6 is a schematic diagram of a second structure of the mechanical gripper of the present invention.

In the figure:

mechanical gripper 100, short template 200, middle template 300 and long template 400

The device comprises a main mounting plate 1, a linear power part 2, a first clamping unit 3, a second clamping unit 4 and a guide unit 5;

the clamping mounting plate 31, the first pressing plate 32, the top pin 33, the second pressing plate 34 and the protrusion 35;

a guide rail 51, a slider mounting plate 52, a slider body 53;

and a mounting hole 311.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Referring to fig. 1-6, a mechanical gripper 100 includes: the device comprises a main mounting plate 1, a linear power piece 2, a first clamping unit 3 and a second clamping unit 4; the first clamping unit 3 and the second clamping unit 4 are oppositely arranged on two sides of the main mounting plate 1; the linear power part 2 is fixed on the main mounting plate 1 and is used for driving the first clamping unit 3 and/or the second clamping unit 4 to move back and forth along a straight line. The first clamping unit 3 comprises a clamping mounting plate 31, a first pressing plate 32 and a top pin 33; the clamping mounting plate 31 is a rectangular plate as a whole, the first pressing plates 32 are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate 31, and the number of the ejector pins 33 is the same as that of the first pressing plates 32 and is arranged at one end, far away from the second clamping unit 4, of each first pressing plate 32 in a one-to-one correspondence manner; the first presser plate 32 is plate-shaped, and the knock pin 33 is columnar. The linear power part 2 is a double-rod cylinder or a cylinder group consisting of two single-rod cylinders which are arranged in parallel.

When snatching the aluminum mould board, the utility model relates to a mechanical tongs 100 is fixed a position on the central plane of aluminum mould board, with mounting hole 311 on the knock pin 33 alignment aluminum mould board, first clamping unit 3 and second clamping unit 4 remove to the direction of keeping away from the other side, promote the mounting panel and open along guide rail 51, and knock pin 33 inserts mounting hole 311 on the aluminum mould board, and first clamp plate 32 compresses tightly the aluminum mould board inboard. After the carrying is in place, the linear power part is closed to drive the mounting plate to be folded along the guide rail 51, and the ejector pin 33 is pulled out of the mounting hole 311 and stacked in place. Fig. 2 shows and does benefit to the utility model relates to a mode of short template 200 of mechanical tongs centre gripping 800mm, two knock pins 33 centre grippings of unilateral adoption. Fig. 3 shows and does benefit to the utility model relates to a mode of template 300 in mechanical tongs centre gripping 1000mm, the unilateral three knock pin 33 centre gripping that adopts. Fig. 4 shows and does benefit to the utility model relates to a mode of long template 400 of mechanical tongs centre gripping 2700mm, four knock pins 33 centre grippings of unilateral adoption.

More specifically, the knock pin 33 has a conical shape, and a diameter of an end of the knock pin 33 remote from the main mounting plate 1 is smaller than a diameter of an end of the knock pin 33 close to the main mounting plate 1. In the present embodiment, the conical knock pin 33 is advantageously inserted into the mounting hole 311 of the aluminum die plate.

More specifically, the mechanical gripper 100 further comprises a guide unit 5, the guide unit 5 comprising: a guide rail 51 fixed on the main mounting plate 1, a slider mounting plate 52 fixed on the clamping mounting plate 31, and a slider body 53 having one side matched with the guide rail 51 and the other side fixed on the slider mounting plate 52; one end of the linear power member 2 is connected to the slider body 53. The two guide rails 51 are provided, two sliding block bodies 53 are respectively arranged at two ends of each guide rail 51, the two linear power parts 2 are two groups, and two ends of each group of linear power parts 2 are respectively connected with the two sliding block bodies 53 at two ends of the same guide rail 51. In the present embodiment, the guide unit 5 is used to provide guidance for the first clamping unit 3 and the second clamping unit 4, and ensure that the first clamping unit 3 and the second clamping unit 4 move smoothly.

More specifically, in the first clamp unit 3: the clamping mounting plate 31 is provided with a plurality of groups of mounting holes 311 used for mounting the first pressing plates 32 along the length direction, the plurality of groups of mounting holes 311 are arranged at intervals, and the number of the groups of the mounting holes 311 is 2-6 times of the number of the first pressing plates 32. The second clamping unit 4 and the first clamping unit 3 are of symmetrical structures. This design facilitates adjustment of the position of the first presser plate 32, and thus the position of the knock pin 33 at the time of clamping, according to different die plates.

As another embodiment of the present invention, the first clamping unit 3 includes a clamping mounting plate 31 and a second pressing plate 34; the whole rectangle board that is of centre gripping mounting panel 31, second clamp plate 34 is for following a plurality of clamp plates that the length direction interval of centre gripping mounting panel 31 set up, second clamp plate 34 is made by plastic materials. In the embodiment, under the action of clamping force, the pressing plate with the elastic structure is embedded into the side hole of the aluminum template to realize grabbing, the clamping process is stable and reliable, and the aluminum template can be prevented from being damaged.

As another embodiment of the present invention, the first clamping unit 3 includes a clamping mounting plate 31, a second pressing plate 34 and a protrusion 35; the clamping mounting plate 31 is a rectangular plate as a whole, the second pressing plates 34 are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate 31, the number of the protrusions 35 is the same as that of the second pressing plates 34, and the protrusions are correspondingly arranged at one end of each second pressing plate 34 far away from the second clamping unit 4; the second presser plate 34 is plate-shaped, and the protrusions 35 are plate-shaped and made of a plastic material. In this embodiment, under the effect of clamping force, the side opening through elastic structure's protruding 35 embedding aluminum mould board realizes snatching, and relatively speaking more reliable and more stable just can avoid aluminum mould board's damage.

In the present embodiment, the air cylinder may be replaced by other forms of air cylinders or servo and stepping electric cylinders. The guide rail 51 may take other forms such as a slide groove. The pressure plate can be provided with a top pin 33, can also be provided with polyurethane elastomer, and can also be in other structural forms. The number and the spacing of the pressing plates can be adjusted according to the characteristics of different aluminum templates.

The utility model discloses a main utility model point includes: the first clamping unit 3 and the second clamping unit 4 are of symmetrical structures, and the aluminum template can be grabbed and released through opening and closing reciprocating motion of the first clamping unit and the second clamping unit, so that the long aluminum template can be reliably and stably grabbed, and the short template 200 can be grabbed by using the two inner claws. The ejector pin 33 is inserted into the side hole or the polyurethane elastomer is embedded into the side hole to realize grabbing, and the grabbing device is stable and reliable. The mounting plate with the series holes is adopted, and the mounting position of the pressing plate can be adjusted to meet the requirements of different aluminum templates. The guide rail 51 is combined with the cylinder, the cylinder realizes reciprocating motion, the guide rail 51 bears lifting gravity, and the structure is simple and reliable.

The above embodiments of the present invention are only described, and it should be noted that, for those skilled in the art, modifications can be made without departing from the inventive concept, but these all fall into the protection scope of the present invention.

Claims

1. A mechanical gripper, comprising: the device comprises a main mounting plate, a linear power piece, a first clamping unit and a second clamping unit; the first clamping unit and the second clamping unit are oppositely arranged on two sides of the main mounting plate; the linear power part is fixed on the main mounting plate and used for driving the first clamping unit and/or the second clamping unit to move back and forth along a straight line.

2. The mechanical gripper of claim 1, wherein the first clamping unit includes a clamping mounting plate, a first pressure plate, and a top pin; the clamping mounting plate is integrally a rectangular plate, the first pressing plates are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate, the number of the ejector pins is the same as that of the first pressing plates, and the ejector pins are correspondingly arranged at one end, far away from the second clamping unit, of each first pressing plate; the first pressing plate is plate-shaped, and the ejector pin is columnar.

3. The mechanical gripper of claim 2, wherein the lift pin is conical in shape, and wherein a diameter of an end of the lift pin distal from the main mounting plate is smaller than a diameter of an end of the lift pin proximal to the main mounting plate.

4. The mechanical gripper of claim 2, wherein the mechanical gripper further comprises a guiding unit, the guiding unit comprising: the sliding block body is fixed on the sliding block mounting plate, one side part of the sliding block body is matched with the guide rail, and the other side part of the sliding block body is fixed on the sliding block mounting plate; one end of the linear power piece is connected with the sliding block body.

5. The mechanical gripper of claim 4, wherein in the first gripping unit: the clamping mounting plate is provided with a plurality of groups of mounting holes used for mounting the first pressing plates along the length direction, the plurality of groups of mounting holes are arranged at intervals, and the number of the groups of the mounting holes is 2-6 times of the number of the first pressing plates.

6. The mechanical gripper of claim 5, wherein the second gripping unit and the first gripping unit are of symmetrical construction.

7. The mechanical gripper as claimed in claim 6, wherein said guide rails are two, two said slider bodies are provided at each end of each said guide rail, said linear power members are two groups, and each group of linear power members is connected at each end to two said slider bodies at each end of the same guide rail.

8. The mechanical gripper of claim 1, wherein the first clamping unit includes a clamping mounting plate, a second pressure plate, and a protrusion; the clamping mounting plate is integrally a rectangular plate, the second pressing plates are a plurality of pressing plates arranged at intervals along the length direction of the clamping mounting plate, the number of the bulges is the same as that of the second pressing plates, and the bulges are correspondingly arranged at one end, far away from the second clamping unit, of each second pressing plate; the second pressing plate is plate-shaped, and the protrusions are plate-shaped and made of plastic materials.

9. The mechanical gripper of claim 1, wherein the first clamping unit includes a clamping mounting plate, a second pressure plate; the whole rectangle board that is of centre gripping mounting panel, the second clamp plate is for following a plurality of clamp plates that the length direction interval of centre gripping mounting panel set up, the second clamp plate is made by plastic materials.

10. The mechanical gripper of claim 1 wherein the linear power member is a dual rod cylinder or a cylinder bank of two single rod cylinders mounted in parallel.