CN214186312U

CN214186312U - Gripper and gripping device

Info

Publication number: CN214186312U
Application number: CN202023338690.1U
Authority: CN
Inventors: 黄志辉; 崔全彪; 汪志伟; 陈政澔
Original assignee: Sanlead Metal Shenzhen Co ltd
Current assignee: Sanlead Metal Shenzhen Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-09-14
Anticipated expiration: 2030-12-31

Abstract

The utility model discloses a gripper and grabbing device. The mechanical claw comprises a first driving mechanism, a clamping mechanism and at least one positioning mechanism, the clamping mechanism is connected with the first driving mechanism, and the first driving mechanism drives the clamping mechanism to open or close; the positioning mechanism is arranged at one end of the clamping mechanism, which is far away from the first driving mechanism, and is provided with a sensor and an abutting surface, the sensor is electrically connected with the first driving mechanism, and the sensor is used for detecting the abutting state of the abutting surface and the cavity wall of the inner cavity; when the abutting surface abuts against the cavity wall of the inner cavity, the first driving mechanism drives the clamping mechanism to be opened to the cavity wall of the abutting inner cavity so as to clamp the workpiece. The utility model discloses a set up positioning mechanism and sensor, play the effect of the response that targets in place, realize snatching the locate function.

Description

Gripper and gripping device

Technical Field

The utility model relates to a snatch equipment technical field, in particular to gripper and grabbing device.

Background

With the development of science and technology, many industries use machinery to replace manpower, and the production efficiency of enterprises is improved. When the workpiece with the inner cavity is machined outside the workpiece, the purpose of grabbing the workpiece can be achieved through the inner clamping type mechanical claw. The existing internal-clamping mechanical claw is used for grabbing in advance or in a delayed manner in the process of inserting into an inner cavity, so that grabbing failure is caused, the production efficiency is reduced, or the grabbing position is caused to deviate, and then a poor product is generated in the process of carrying out subsequent machining on a workpiece.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a gripper and grabbing device aims at solving the snatching location problem of gripper.

In order to achieve the above object, the utility model provides a gripper for press from both sides and get the work piece, the work piece is equipped with the inner chamber, gripper includes:

a first drive mechanism;

the clamping mechanism is connected with the first driving mechanism, and the first driving mechanism drives the clamping mechanism to open or close; and

the positioning mechanism is arranged at one end, far away from the first driving mechanism, of the clamping mechanism, and is provided with a sensor and an abutting surface, and the sensor is electrically connected with the first driving mechanism; the sensor is used for detecting the abutting state of the abutting surface and the cavity wall of the inner cavity;

when the abutting surface abuts against the cavity wall of the inner cavity, the first driving mechanism drives the clamping mechanism to be opened to abut against the cavity wall of the inner cavity so as to clamp the workpiece.

In an embodiment of the present invention, the positioning mechanism includes:

the positioning mounting plate is connected with the clamping mechanism; and

the positioning plate is provided with the abutting surface; and

the two ends of the elastic piece are respectively connected with the positioning mounting plate and the positioning plate;

wherein, the sensor is located the location mounting panel or the locating plate.

The utility model discloses an in the embodiment, the location mounting panel is equipped with the locating hole, the locating plate towards one side of location mounting panel is equipped with the locating lever, the locating lever activity is worn to locate in the locating hole, the elastic component cover is located the locating lever.

In an embodiment of the present invention, the clamping mechanism includes a plurality of clamping jaws, each of the clamping jaws is connected to the first driving mechanism, and the first driving mechanism drives the plurality of clamping jaws to open or close; at least one positioning mechanism is arranged at one end, far away from the first driving mechanism, of at least one clamping jaw.

In an embodiment of the present invention, the clamping jaw is provided with a clamping portion, and the clamping portion is used for abutting against the cavity wall of the inner cavity; one side of the clamping part, which deviates from the clamping jaw, is provided with a plurality of anti-skidding convex ribs.

The utility model discloses an in one embodiment, the clamping jaw is equipped with the clamping part, the clamping jaw is equipped with the strengthening rib, the strengthening rib is followed the clamping jaw is close to first actuating mechanism's one end is to being close to positioning mechanism's one end extends.

In an embodiment of the invention, the plurality of jaws comprises at least one first jaw and at least one second jaw;

the first drive mechanism includes:

a drive member;

the driving piece is arranged on the fixing plate, and the first clamping jaw is connected with the fixing plate;

the telescopic plate is connected with the output end of the driving piece and the second clamping jaw;

the driving piece drives the expansion plate to be close to or far away from the fixed plate, so that the second clamping jaw is close to or far away from the first clamping jaw.

In an embodiment of the present invention, the retractable plate is provided with a slide rail, the fixing plate is provided with a slider, and the slide rail is slidably connected to the slider.

The utility model discloses an in an embodiment, actuating mechanism still includes and prevents dust encloses the fender, prevent dust to enclose that the fender can extend or contract, prevent dust enclose the fender the fixed plate with the expansion plate encloses to close and forms and hold the chamber, the driving piece the slider with the slide rail all is located hold the intracavity.

The utility model discloses still provide a grabbing device, grabbing device includes:

a second drive mechanism; and

in the gripper according to the above embodiment, the gripper is connected to the second driving mechanism, and the second driving mechanism drives the gripper to move, so that the clamping mechanism of the gripper is inserted into or withdrawn from the inner cavity of the workpiece.

The utility model discloses the in-process of clamping mechanism's inner chamber of inserting the work piece among the technical scheme drives positioning mechanism and inserts the inner chamber, and when positioning mechanism's butt face and the chamber wall butt of inner chamber, the sensor obtains the signal, and sign clamping mechanism has removed and has targetting in place, and first actuating mechanism drive clamping mechanism opens to the butt this moment the chamber wall of inner chamber to press from both sides tight work piece. The utility model discloses a set up positioning mechanism and sensor, play the effect of the response that targets in place, realize snatching the locate function.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of a state of the gripper according to an embodiment of the present invention clamping a workpiece;

fig. 2 is a schematic structural diagram of an embodiment of the gripper of the present invention;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

fig. 4 is a schematic structural diagram of the first driving mechanism in fig. 2.

The reference numbers illustrate:

the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a gripper for press from both sides and get work piece 5, work piece 5 is equipped with inner chamber 51, as shown in fig. 1, the week side of work piece 5 seted up with the opening of inner chamber 51 intercommunication, gripper follows the opening part inserts or withdraws from inner chamber 51. The gripper may be used in a grinding system for grinding a workpiece 5. The traditional mode of snatching is for snatching work piece 5 in the outside of work piece 5, snatchs work piece 5 and removes to the equipment department of polishing of the system of polishing, and the equipment of polishing is once polished for the periphery of work piece 5, because the contact department of gripper and work piece 5 is not polished, needs put down work piece 5 and replaces once more and snatch, polishes work piece 5 for the second time, realizes polishing comprehensively. And the utility model discloses can realize once polishing to the work piece 5 that figure 1 is shown as an example, the gripper inserts the inner chamber 51 after, presss from both sides tightly at the chamber wall of inner chamber 51, can realize snatching workpiece 5, can snatch workpiece 5 and remove to the equipment department of polishing of the system of polishing, and the equipment of polishing is comprehensively polished for workpiece 5's periphery, realizes polishing workpiece 5 fast, improves production efficiency.

In the embodiment of the present invention, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the gripper includes a first driving mechanism 1, a clamping mechanism 2 and at least one positioning mechanism 3, the clamping mechanism 2 is connected to the first driving mechanism 1, and the first driving mechanism 1 drives the clamping mechanism 2 to open or close; the clamping mechanism 2 can be inserted into or withdrawn from the inner cavity 51; the positioning mechanism 3 is arranged at one end of the clamping mechanism 2 far away from the first driving mechanism 1, the positioning mechanism 3 is provided with a sensor 31 and an abutting surface 331, the sensor 31 is electrically connected with the first driving mechanism 1, and the sensor 31 is used for detecting the abutting state of the abutting surface 331 and the cavity wall of the inner cavity 51; when the abutting surface 331 abuts against the cavity wall of the inner cavity 51, the first driving mechanism 1 drives the clamping mechanism 2 to open to abut against the cavity wall of the inner cavity 51, so as to clamp the workpiece 5.

It can be understood that the first driving mechanism 1 provides a power source to drive the clamping mechanism 2 to open or close, the clamping mechanism 2 is inserted into the inner cavity 51 and then opened to abut against the cavity wall of the inner cavity 51, and the clamping mechanism 2 is tightly abutted against the cavity wall of the inner cavity 51, so that the purpose of clamping the workpiece 5 from the inner cavity 51 of the workpiece 5 can be achieved. The positioning mechanism 3 is arranged at one end, far away from the first driving mechanism 1, of the clamping mechanism 2, the positioning mechanism 3 can be abutted against the cavity wall of the inner cavity 51 prior to the clamping mechanism 2, on one hand, the in-place sensing effect is achieved, and on the other hand, the purpose of avoiding the clamping mechanism 2 from impacting the workpiece 5 is achieved. In this embodiment, the positioning mechanism 3 is movable to face the side wall of the opening opposite to the cavity 51, and the clamping mechanism 2 is movable to abut against the side wall of the cavity 51 adjacent to the opening.

The utility model discloses among the technical scheme clamping mechanism 2 inserts the in-process of the inner chamber 51 of work piece 5, drives positioning mechanism 3 and inserts inner chamber 51, and when positioning mechanism 3's butt face 331 and inner chamber 51's chamber wall butt, sensor 31 obtained the signal, and sign clamping mechanism 2 has moved in place, and first actuating mechanism 1 drive clamping mechanism 2 this moment opens to the butt inner chamber 51's chamber wall to press from both sides tight work piece 5. The utility model discloses a set up positioning mechanism 3 and sensor 31, play the effect of the response that targets in place, realize snatching the locate function.

It should be noted that, when the gripper of this embodiment is applied to an automated mechanical system such as a polishing system, the first driving mechanism 1 and the sensor 31 are both electrically connected or communicatively connected to a control system of the mechanical system to implement signal transmission and on-off control, and the control system controls the first driving mechanism 1 to start after receiving a signal from the sensor 31.

In an embodiment of the present invention, as shown in fig. 3, the positioning mechanism 3 includes a positioning mounting plate 32 and a positioning plate 33, and the positioning mounting plate 32 is connected to the clamping mechanism 2; the positioning plate 33 is provided with the abutting surface 331, and the positioning plate 33 is movably arranged on the positioning mounting plate 32 to be close to or far away from the positioning mounting plate 32; the sensor 31 is provided on the positioning mounting plate 32 or the positioning plate 33.

In this embodiment, the sensor 31 is provided on the positioning and mounting plate 32.

It will be appreciated that the stable connection to the clamping mechanism 2 is achieved by locating the mounting plate 32 and that the mounting of the location plate 33 does not provide a mounting basis. Locating plate 33 activity is located location mounting panel 32 to be close to or keep away from location mounting panel 32, for locating plate 33 and the chamber wall's of inner chamber 51 butt provide the buffering, play the guard action. In this embodiment, the sensor 31 may be a distance sensor 31, after the abutting surface 331 abuts in place, the positioning plate 33 moves toward the positioning mounting plate 32 under the acting force of the workpiece 5, and the sensor 31 detects that the distance between the positioning plate 33 and the positioning mounting plate 32 is reduced, and obtains and sends out an in-place signal. In other embodiments, the sensor 31 may directly detect the distance from itself to the wall of the lumen 51, and obtain and send the in-position signal when the distance reaches a set value. In still other embodiments, a sensing strip may be disposed on the contact surface to signal that the sensing strip is in contact with the wall of the cavity 51.

In this embodiment, one side of the positioning plate 33 departing from the positioning mounting plate 32 is provided with a flexible buffer member, and one side of the flexible buffer member departing from the positioning plate 33 is an abutting surface 331. The flexible buffer piece is made of soft rubber.

In an embodiment of the present invention, as shown in fig. 3, the positioning mechanism 3 further includes an elastic member 34, and two ends of the elastic member 34 are respectively connected to the positioning mounting plate 32 and the positioning plate 33. In this embodiment, the elastic member 34 is a spring.

It can be understood that, under the effect of elastic component 34, the stability of butt can be guaranteed on the one hand, and on the other hand after locating plate 33 and work piece 5 separate, can realize resetting of locating plate 33, be convenient for press from both sides next work piece 5 and get, realize automaticly, improve production efficiency.

In an embodiment of the present invention, as shown in fig. 3, the positioning mounting plate 32 is provided with a positioning hole, the positioning plate 33 faces the positioning rod 35 disposed on one side of the positioning mounting plate 32, the positioning rod 35 is movably disposed in the positioning hole, and the elastic member 34 is sleeved on the positioning rod 35.

It can be understood that, the positioning rod 35 and the positioning hole are provided to guide the movement of the positioning plate 33, thereby improving the stability of the positioning plate 33.

In this embodiment, the positioning and mounting plate 32 includes a first plate and a second plate vertically disposed, the first plate is connected to the clamping jaw, the second plate is parallel to the positioning plate 33 and disposed at an interval, and the second plate is provided with the positioning hole. The first plate is provided with an adjusting hole, an adjusting fastening screw is inserted into the adjusting hole, the position of the first plate on the clamping jaw can be adjusted by loosening the adjusting fastening screw, and the first plate can be fixed on the clamping jaw by tightening the adjusting fastening screw.

In an embodiment of the present invention, as shown in fig. 1 and 2, the clamping mechanism 2 includes a plurality of clamping jaws 21, each clamping jaw 21 is connected to the first driving mechanism 1, the first driving mechanism 1 drives the plurality of clamping jaws 21 to open or close, and the clamping jaws 21 are used for inserting into or withdrawing from the inner cavity 51; the positioning mechanism 3 is arranged at one end of the clamping jaw 21 far away from the first driving mechanism 1.

It can be understood that the first driving mechanism 1 drives the plurality of clamping jaws 21 to move to abut against the cavity wall of the inner cavity 51 or move to be separated from the workpiece 5, so as to realize the picking and placing of the workpiece 5.

It should be noted that the number and arrangement of the grippers may be set according to the shape of the to-be-gripped attack, for example, in fig. 1, the workpiece 5 is in a strip shape, the clamping mechanism 2 is provided with two rows of grippers, and each row of grippers includes a plurality of grippers arranged at intervals, so that the workpiece 5 can be stably gripped.

In an embodiment of the present invention, as shown in fig. 2 and 3, the clamping jaw 21 is provided with a clamping portion 22, and the clamping portion 22 is used for abutting against the cavity wall of the inner cavity 51; a plurality of anti-skid convex ribs 221 are arranged on one side of the clamping part 22 departing from the clamping jaw 21.

In this embodiment, clamping part 22 is the imitative template of dominant force glue, can play the buffering guard action, sets up a plurality of protruding muscle 221 of antiskid for form the concave-convex surface on one side of clamping part 22 and the contact of work piece 5, improved the coefficient of friction between clamping part 22 and the work piece 5, and then improve frictional force, prevent dropping of work piece 5.

In an embodiment of the present invention, as shown in fig. 2, the clamping jaw 21 is provided with a reinforcing rib 23, and the reinforcing rib 23 extends from the end of the clamping jaw 21 close to the first driving mechanism 1 to the end close to the positioning mechanism 3.

It will be appreciated that the provision of the ribs 23 improves the strength and rigidity of the jaws 21.

In an embodiment of the present invention, as shown in fig. 2, 3 and 4, the plurality of jaws comprises at least one first jaw 21a and at least one second jaw 21 b;

the first driving mechanism 1 comprises a driving part 11, a fixed plate 12 and an expansion plate 13, wherein the driving part 11 is arranged on the fixed plate 12, and the first clamping jaw 21a is connected with the fixed plate 12; the expansion plate 13 is connected with the output end of the driving piece 11 and connected with the second clamping jaw 21 b;

the driving member 11 drives the expansion plate 13 to approach or separate from the fixed plate 12, so that the second clamping jaw 21b approaches or separates from the first clamping jaw 21 a.

In the present embodiment, the positioning mechanism 3 is provided on the first chuck jaw 21 a. After the in-place signal is obtained, the driving part 11 drives the expansion plate 13 to be far away from the fixing plate 12, the second clamping jaw 21b is driven to be far away from the first clamping jaw 21a, and the workpiece 5 is driven to be abutted against the first clamping jaw 21a after the second clamping jaw 21b is abutted against the workpiece 5, so that the clamping purpose is realized. The utility model discloses in set up a expansion plate 13 and a fixed plate 12, can reduce the energy resource consumption of driving piece 11, can carry out the position fine setting to work piece 5 simultaneously, that is to say, if there is the deviation in the initial locating position of work piece 5, at the tight in-process of clamp, can adjust. In the process of processing a large number of workpieces 5, the consistency of the position of each workpiece 5 after gripping can be ensured.

In this embodiment, the number of the positioning mechanisms 3 is two, and the two positioning mechanisms are respectively located on both sides of one first clamping jaw 21 a. The driving member 11 is a cylinder.

In other embodiments, the driving member 11 may be a bi-directional driving member 11, which drives the fixed plate 12 and the retractable plate 13 to move toward and away from each other to clamp or release the workpiece 5.

In an embodiment of the present invention, as shown in fig. 4, the retractable plate 13 is provided with a slide rail 14, the fixing plate 12 is provided with a slider 15, and the slide rail 14 is slidably connected to the slider 15.

It can be understood that the sliding fit of the sliding rail 14 and the sliding block 15 provides positioning and guiding for the movement of the telescopic plate 13, and ensures the stability of the movement of the telescopic plate 13.

In this embodiment, a first connecting plate 121 is disposed on one side of the fixing plate 12 facing the expansion plate 13, a second connecting plate 131 is disposed on one side of the expansion plate 13 facing the fixing plate 12, the first connecting plate 121 and the second connecting plate 131 are disposed in parallel and at an interval, the slide rail 14 is disposed on one side of the first connecting plate 121 facing the second connecting plate 131, the slide block 15 is disposed on one side of the second connecting plate 131 facing the first connecting plate 121, or the slide block 15 is disposed on one side of the first connecting plate 121 facing the second connecting plate 131, and the slide rail 14 is disposed on one side of the second connecting plate 131 facing the first connecting plate 121.

In an embodiment of the present invention, as shown in fig. 2 and 4, the driving mechanism further includes a dustproof enclosure 16, the dustproof enclosure 16 can be extended or retracted, the dustproof enclosure 16, the fixed plate 12 and the expansion plate 13 enclose to form an accommodation cavity 17, and the driving member 11, the sliding block 15 and the sliding rail 14 are all located in the accommodation cavity 17.

It can be understood that in the long-term operation of the mechanical claw, the dustproof enclosure 16 plays a dustproof role, and avoids that excessive impurities are adsorbed on the components in the accommodating cavity 17 to influence the precision and the fluency of the driving piece 11 and the slide rail 14. In this embodiment, the dust enclosure 16 is a flexible organ-type shield.

The utility model discloses still provide a grabbing device, as shown in FIG. 1, this grabbing device includes:

a second drive mechanism; and

the gripper according to the above embodiment is connected to the second driving mechanism, and the second driving mechanism drives the gripper to move, so that the clamping mechanism of the gripper is inserted into or withdrawn from the cavity 51 of the workpiece 5.

The specific structure of the gripper refers to the above embodiments, and since the gripping device adopts all technical solutions of all the above embodiments, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

In this embodiment, the second driving mechanism provides a driving force for the entire movement of the gripper. In this embodiment, the gripper is provided on the mount 4. The mounting seat 4, the expansion plate 13, the fixing plate 12 and the dustproof enclosure 16 enclose to form a closed accommodating cavity 17. The second driving mechanism is rotatably connected with the mounting seat 4.

The above is only the optional embodiment of the present invention, and not therefore the scope of the present invention is limited, all under the inventive concept, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. A gripper for gripping a workpiece, the workpiece having an interior cavity, the gripper comprising:

a first drive mechanism;

2. The gripper of claim 1, wherein the positioning mechanism comprises:

the positioning mounting plate is connected with the clamping mechanism; and

the positioning plate is provided with the abutting surface; and

3. The gripper of claim 2, wherein the positioning plate has a positioning hole, a positioning rod is disposed on a side of the positioning plate facing the positioning plate, the positioning rod is movably inserted into the positioning hole, and the elastic member is sleeved on the positioning rod.

4. The gripper of claim 1, wherein said gripping mechanism comprises a plurality of jaws, each of said jaws being coupled to said first drive mechanism, said first drive mechanism driving a plurality of said jaws to open or close; at least one positioning mechanism is arranged at one end, far away from the first driving mechanism, of at least one clamping jaw.

5. The gripper of claim 4, wherein said gripping jaw is provided with a gripping portion for abutting against a wall of said internal cavity; one side of the clamping part, which deviates from the clamping jaw, is provided with a plurality of anti-skidding convex ribs.

6. The gripper of claim 5, wherein said gripping jaw is provided with a stiffener extending from an end of said gripping jaw adjacent said first drive mechanism to an end adjacent said positioning mechanism.

7. The gripper of claim 5, wherein said plurality of jaws comprises at least one first jaw and at least one second jaw;

the first drive mechanism includes:

a drive member;

8. The gripper of claim 7, wherein said retractable plate is provided with a slide rail, and said fixed plate is provided with a slide block, said slide rail being slidably connected to said slide block.

9. The gripper of claim 8, wherein said drive mechanism further comprises a dust enclosure that is extendable or retractable, said dust enclosure, said fixed plate and said retractable plate enclosing a receiving cavity, said drive member, said slider, and said slide rail all being located within said receiving cavity.

10. A grasping apparatus, characterized in that the grasping apparatus comprises:

a second drive mechanism; and

the gripper of any of claims 1-9, wherein the gripper is coupled to the second drive mechanism, and wherein the second drive mechanism drives the gripper to move to insert or withdraw the gripping mechanism of the gripper into or out of an interior cavity of a workpiece.