CN214003294U

CN214003294U - Mechanical grabbing device

Info

Publication number: CN214003294U
Application number: CN202023048699.9U
Authority: CN
Inventors: 于举辉; 周树浩; 路佳宾; 任鹏; 王平
Original assignee: Yantai Eddie Precision Machinery Co Ltd
Current assignee: Yantai Eddie Precision Machinery Co Ltd
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-08-20
Anticipated expiration: 2030-12-17

Abstract

The utility model discloses a mechanical gripping device, which comprises a bottom plate, an inner hole clamping mechanism and an outer diameter clamping mechanism, wherein the inner hole clamping mechanism and the outer diameter clamping mechanism are fixed on the bottom plate; the inner hole clamping mechanism and the outer diameter clamping mechanism are respectively positioned at two end parts of the bottom plate; the inner hole clamping mechanism comprises three inner hole clamping fingers, three first cylinder sliding blocks and a first clamping cylinder, and the three first cylinder sliding blocks are arranged oppositely; the inner hole clamping fingers are fixed on the first cylinder sliding blocks, and the first clamping cylinders drive the three first cylinder sliding blocks to move relatively close to or far away from each other; the first position sensor is matched with the position of the inner hole clamping mechanism; the outer diameter clamping mechanism is used for clamping the workpiece from the periphery of the workpiece to be clamped. Therefore, the utility model discloses a mode that mechanical grabbing device can select hole centre gripping or external diameter centre gripping carries out the centre gripping to the work piece, and the work piece of being convenient for carries out the fixed of different modes on next station, and is unlikely to because this clamping device's centre gripping mode hinders the fixed on next station.

Description

Mechanical grabbing device

Technical Field

The utility model relates to an automatic field especially relates to a mechanical grabbing device.

Background

Along with the popularization of intelligent manufacturing, intelligent robot also accelerates the application in intelligent manufacturing, and wherein intelligent robot wants to realize the operation, becomes a ring that intelligent manufacturing, and grabbing device is indispensable.

The workpiece is grabbed through the mechanical grabbing device, and the transfer on different stations can be realized. Because the positions of the workpieces to be processed on different stations are different, and the fixing modes of the workpieces on different stations are different, the mechanical grabbing device has to grab the workpieces from different angles.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: a mechanical grasping device is provided.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

a mechanical gripping device comprises a bottom plate, an inner hole clamping mechanism and an outer diameter clamping mechanism, wherein the inner hole clamping mechanism and the outer diameter clamping mechanism are fixed on the bottom plate; the inner hole clamping mechanism and the outer diameter clamping mechanism are respectively positioned at two end parts of the bottom plate;

the inner hole clamping mechanism comprises three inner hole clamping fingers, three first cylinder sliding blocks and a first clamping cylinder;

the inner hole clamping fingers are fixed on the first cylinder sliding blocks, and the first clamping cylinders drive the three first cylinder sliding blocks to move relatively close to or far away from each other;

the first position sensor is matched with the position of the inner hole clamping mechanism;

the outer diameter clamping mechanism is used for clamping a workpiece from the periphery of the workpiece to be clamped.

Compared with the prior art, the utility model discloses following technological effect has:

the workpiece can be clamped by selecting an inner hole clamping mode or an outer diameter clamping mode, so that the workpiece can be fixed on the next station in different modes conveniently, and the phenomenon that the workpiece is fixed on the next station is prevented due to the clamping mode of the clamping device.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

Preferably, the inner hole clamping fingers are provided with anti-skidding grooves, so that the friction force between the inner hole clamping fingers and a workpiece can be increased, and the slippage in the clamping and transferring process is avoided.

Preferably, the first clamping cylinder is fixed on a base, and the base is fixed on the bottom plate through a support rod.

Preferably, the first position sensor is fixed on the bottom plate through a sensor support and used for detecting whether a workpiece or an obstacle exists at the current position or not, and collision between the inner hole clamping mechanism and the outside is avoided.

Preferably, the outer diameter clamping mechanism comprises three outer diameter clamping fingers, three second air cylinder sliding blocks and a second driving air cylinder; the three outer diameter clamping fingers are respectively fixed on a second air cylinder sliding block, the second driving air cylinder is fixed on the bottom plate, and the second driving air cylinder drives the second air cylinder sliding block to perform actions of contracting, clamping or expanding and releasing.

Preferably, the inner side of the outer diameter clamping finger is fixed with a clamping block, the clamping block is made of a polyurethane PU elastomer, and the flexible clamping block protects a clamped workpiece from being scratched.

Preferably, the second position sensor is fixed on one of the outer diameter clamping fingers through a screw, and detects the position relation between the current clamping mechanism and other workpieces to prevent collision.

Preferably, the surface of the clamping block for clamping the workpiece is a curved surface matched with the clamped surface of the workpiece. The contact area during the centre gripping is improved, improves clamping-force, and the centre gripping is more firm.

Preferably, the first and second position sensors are proximity switches.

Drawings

Fig. 1 is a schematic perspective view of a mechanical gripping device according to the present invention;

fig. 2 is a schematic view of a first detailed structure of the mechanical gripping device of the present invention;

fig. 3 is a schematic diagram of a second detailed structure of the mechanical gripping device of the present invention;

fig. 4 is a schematic structural view of a workpiece gripped by the mechanical gripping device of the present invention;

fig. 5 is a schematic view of the workpiece grabbing device of the present invention.

In the drawings, the parts names represented by the respective reference numerals are listed as follows:

1. a base plate; 2. an inner hole clamping finger; 3. a first clamping cylinder; 4. a base; 5. a support bar; 6. a first sensor mount; 7. a first position sensor; 8. an outer diameter clamping finger; 9. a clamping block; 10. a second clamping cylinder; 11. a second sensor support; 12. a second position sensor; A. and (5) a workpiece.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

Referring to fig. 1-3, the mechanical gripping device includes a bottom plate 1, and an inner hole clamping mechanism and an outer diameter clamping mechanism fixed on the bottom plate 1; the inner hole clamping mechanism and the outer diameter clamping mechanism are respectively positioned at two end parts of the bottom plate 1;

the inner hole clamping mechanism comprises three inner hole clamping fingers 2, three first cylinder sliding blocks and a first clamping cylinder 3; the first clamping cylinder 3 is fixed on a base 4, and the base 4 is fixed on the bottom plate 1 through a support rod 5;

the inner hole clamping fingers 2 are provided with anti-skidding grooves, so that the friction force between the inner hole clamping fingers 2 and a workpiece can be increased, and the slippage in the clamping and transferring process is avoided; the inner hole clamping finger 2 is fixed on the first cylinder sliding block, and the first clamping cylinder 3 drives the first cylinder sliding block to move relatively close to or far away from the inner hole clamping finger;

the device also comprises a first position sensor 7 which is fixed on the bottom plate 1 through a first sensor bracket 6 and used for detecting whether a workpiece or an obstacle exists at the current position so as to avoid the collision of the inner hole clamping mechanism with the outside;

The outer diameter clamping mechanism comprises three outer diameter clamping fingers 8, three second cylinder sliding blocks and a second clamping cylinder 10; the three outer diameter clamping fingers 8 are respectively fixed on a second cylinder sliding block, the second clamping cylinder 10 is fixed on the bottom plate 1, and the second clamping cylinder 10 drives the second cylinder sliding block to perform actions of contraction clamping or expansion loosening; the inner side of the outer diameter clamping finger 8 is fixed with a clamping block 9, the clamping block 9 is made of a polyurethane PU elastomer, and the flexible clamping block 9 protects a clamped workpiece from being scratched.

And the second position sensor 12 is fixed on one of the outer diameter clamping fingers 8 through the second sensor support 11, detects the position relation between the current clamping mechanism and other workpieces, and prevents collision.

The surface of the clamping block 9 for clamping the workpiece is a curved surface matched with the clamped surface of the workpiece. The contact area during the centre gripping is improved, improves clamping-force, and the centre gripping is more firm.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanical grabbing device is characterized by comprising a bottom plate, an inner hole clamping mechanism and an outer diameter clamping mechanism, wherein the inner hole clamping mechanism and the outer diameter clamping mechanism are fixed on the bottom plate; the inner hole clamping mechanism and the outer diameter clamping mechanism are respectively positioned at two end parts of the bottom plate;

2. The mechanical grasping apparatus according to claim 1, wherein the inner bore gripping fingers are provided with non-slip grooves.

3. The mechanical grasping apparatus according to claim 1 or 2, wherein the first grasping cylinder is fixed to a base, the base being fixed to the base plate by a support rod.

4. The mechanical grasping apparatus according to claim 1 or 2, wherein the first position sensor is fixed on the base plate by a sensor holder.

5. The mechanical grabbing device of claim 1 or 2, wherein the outer diameter clamping mechanism comprises three outer diameter clamping fingers, three second air cylinder sliding blocks and a second driving air cylinder; the three outer diameter clamping fingers are respectively fixed on a second air cylinder sliding block, the second driving air cylinder is fixed on the bottom plate, and the second driving air cylinder drives the second air cylinder sliding block to perform actions of contracting, clamping or expanding and releasing.

6. The mechanical grabbing device of claim 5, wherein a clamping block is fixed to the inner side of the outer diameter clamping finger, and the clamping block is made of a Polyurethane (PU) elastomer.

7. The mechanical grasping apparatus according to claim 6, further comprising a second position sensor fixed to one of the outer diameter gripping fingers by a screw.

8. The mechanical grabbing device of claim 6, wherein the surface of the clamping block for clamping the workpiece is a curved surface matched with the clamped surface of the workpiece.

9. The mechanical grab arrangement of claim 7, wherein the first and second position sensors are proximity switches.