CN216577904U - Slender workpiece linkage mechanical gripper - Google Patents

Abstract

The utility model relates to a slender workpiece linkage mechanical gripper, which is connected with a robot through a connecting support and also comprises: the device comprises an air cylinder driving mechanism, a fixed bottom plate, a first sliding seat, a second sliding seat, a first clamping arm and a second clamping arm; wherein the fixed bottom plate is mechanically connected with the connecting bracket and the cylinder driving mechanism respectively; the first push block and the second push block on the cylinder driving mechanism can simultaneously move in left and right opposite directions under the driving of a cylinder in the cylinder driving mechanism; the first sliding seat is mechanically connected with the first clamping arm and the first pushing block to realize the left-right movement of the first clamping arm, and the second sliding seat is mechanically connected with the second clamping arm and the second pushing block to realize the left-right movement of the second clamping arm. The utility model has simple and reasonable structural design, is suitable for being connected with various industrial robots, is beneficial to realizing the automation of a production line, ensures the stable and reliable work of the production line, has good safety, quick response and high production efficiency, and can meet the requirement of mass production.

Description

Slender workpiece linkage mechanical gripper

Technical Field

The utility model belongs to the field of industrial automation equipment, and relates to a slender workpiece linkage mechanical gripper.

Background

In the field of industrial automatic production, an industrial robot is an essential element in an automatic production line, the degree of automation and intellectualization of equipment directly influences the production efficiency and the production quality, because of the variety of types and specifications of workpieces, special mechanical grippers are required to be designed in most cases to meet the requirements of automatic mass production, for slender workpieces, mechanical grippers are often designed into various shapes and specifications in consideration of the difference of specification size, shape and robot operating space of the workpieces, the existing mechanical grippers are difficult to adapt to the workpieces with specific specifications, the manual operation mode is time-consuming and labor-consuming, the production efficiency is low, the labor cost is high, and in order to guarantee the grabbing precision and grabbing reliability of the slender workpiece and achieve quick and automatic grabbing, a special mechanical gripper for the slender workpiece is needed to meet the requirement of automatic mass production.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a slender workpiece linkage mechanical gripper, which solves the problem of automatic and reliable gripping of slender workpieces in an automatic production line, ensures the gripping precision and improves the gripping reliability.

In order to achieve the above object, an embodiment of the present invention provides an elongated workpiece linkage mechanical gripper, which is provided with a connecting support, and a robot arm connected to the connecting support through the connecting support, and the elongated workpiece linkage mechanical gripper includes: the device comprises an air cylinder driving mechanism, a fixed bottom plate, a first sliding seat, a second sliding seat, a first clamping arm and a second clamping arm; the cylinder driving mechanism, the fixed bottom plate, the first sliding seat, the second sliding seat, the first clamping arm and the second clamping arm are symmetrically arranged in two at the front side and the rear side of the connecting support, and the fixed bottom plate is mechanically connected with the connecting support and the cylinder driving mechanism respectively; the cylinder driving mechanism comprises a fixed support, a first push block and a second push block, the cylinder driving mechanism is mechanically connected with the fixed bottom plate through the fixed support and is used for fixing the cylinder driving mechanism, and the first push block and the second push block can simultaneously move in the left-right opposite directions under the driving of a cylinder in the cylinder driving mechanism; the first slide with first arm lock first ejector pad carries out mechanical connection and realizes the side-to-side motion of first arm lock, the second slide with the second arm lock the second ejector pad carries out mechanical connection and realizes the side-to-side motion of second arm lock, first arm lock sets up directly over the second arm lock, first arm lock is provided with first clamping part, the second arm lock is provided with the second clamping part under cylinder actuating mechanism's the drive, first clamping part with the second clamping part can be simultaneously opposite direction motion realize the clamp of elongate work piece with loosen the operation.

Further, still include: the two slide rail mechanisms are symmetrically arranged on the front side and the rear side of the connecting bracket; the sliding rail mechanism comprises a sliding rail, a first sliding block and a second sliding block, the sliding rail is fixed on the fixed bottom plate, the first sliding block and the second sliding block are connected with the sliding rail in a sliding fit mode, and the cross section shapes of the first sliding block and the second sliding block are matched with the cross section shape of the sliding rail to achieve positioning and left-right sliding of the first sliding block and the second sliding block; the first sliding block is mechanically connected with the first sliding seat, and the second sliding block is mechanically connected with the second sliding seat.

Optionally, the method further comprises: and the second positioning stop blocks are mechanically connected with the fixed bottom plate or the slide rail, and the two second positioning stop blocks are respectively positioned at the left end and the right end of the slide rail and used for realizing the limiting of the first slide block and the second slide block.

Furthermore, be provided with the location opening on the second slide, first arm lock the second arm lock can pass the location opening, the width of first arm lock the second arm lock with the width of location opening suits and is used for realizing the guide positioning of first arm lock the second arm lock.

Optionally, the clamp comprises a first clamping arm and a second clamping arm, wherein the first clamping arm is arranged between the first clamping arm and the second clamping arm, and the second clamping arm is arranged between the first clamping arm and the second clamping arm.

Optionally, a roller is arranged between the two first positioning stoppers, the roller is hinged to the two first positioning stoppers, and the second clamping arm is arranged above the roller and is in contact connection with the roller to position the second clamping arm.

Further, a first protruding portion is arranged on the first clamping portion, a second protruding portion is arranged on the second clamping portion, and the first protruding portion and the second protruding portion are in contact connection with the elongated workpiece for positioning the elongated workpiece in the vertical direction.

The utility model relates to a slender workpiece linkage mechanical gripper, which has the beneficial effects that: the utility model has simple and reasonable structural design, drives the first clamping arm and the second clamping arm to clamp and loosen through linkage of the push blocks at the two ends of the cylinder driving mechanism, is suitable for quickly grabbing slender workpieces, reduces the inclination and shaking of the slender workpieces in the clamping process due to the arrangement of two clamping positions, can enhance the supporting and positioning effects of the first clamping arm and the second clamping arm through the slide rail mechanism, and ensures the reliability and safety of grabbing of a mechanical gripper.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

Fig. 1 is a schematic perspective view of an elongated workpiece linkage mechanical gripper according to an embodiment of the present invention;

FIG. 2 is a schematic front view of an elongated workpiece linkage mechanical gripper according to an embodiment of the present invention;

FIG. 3 is an enlarged view of part A of FIG. 2;

FIG. 4 is a schematic diagram illustrating a top view of a mechanical gripper in the form of an elongated workpiece linkage according to an embodiment of the present invention;

fig. 5 is a schematic bottom view of an elongated workpiece linkage mechanical gripper according to an embodiment of the present invention;

FIG. 6 is a perspective view of a slide rail mechanism according to an embodiment of the present invention;

fig. 7 is a schematic perspective view of a first clamping arm and a second clamping arm according to an embodiment of the present invention.

In the figure:

1. connecting a bracket; 2. a cylinder driving mechanism; 201. fixing a bracket; 202. a first push block; 203. a second push block; 3. fixing the bottom plate; 4. a first slider; 5. a second slide; 6. a first clamp arm; 601. a first clamping portion; 602. a first boss portion; 7. a second clamp arm; 701. a second clamping portion; 702. a second boss portion; 8. a slide rail mechanism; 801. a slide rail; 802. a first slider; 803. a second slider; 9. positioning the opening; 10. a first positioning stop block; 11. a roller; 12. a second positioning stop.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the utility model without any inventive step, are within the scope of protection of the utility model.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the utility model can be understood in specific cases to those of ordinary skill in the art.

An elongated workpiece-linkage mechanical gripper provided by an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

Examples

Fig. 1 is a schematic perspective view illustrating an elongated workpiece linkage mechanical gripper according to an embodiment of the present invention; FIG. 2 is a schematic diagram illustrating a front view of an elongated workpiece linkage mechanical gripper according to an embodiment of the present invention; FIG. 3 is an enlarged partial view of portion A of FIG. 2; FIG. 4 is a schematic diagram illustrating a top view of an elongated workpiece linkage mechanical gripper in accordance with an embodiment of the present invention; fig. 5 is a schematic diagram illustrating a bottom view of an elongated workpiece-linkage mechanical gripper provided in accordance with an embodiment of the present invention; FIG. 6 is a perspective view of a slide rail mechanism provided by an embodiment of the present invention; fig. 7 shows a perspective view of a first clamping arm and a second clamping arm provided by the embodiment of the utility model. As shown in fig. 1 to 7, an elongated workpiece-linkage gripper according to an embodiment of the present invention is provided with a connecting bracket 1, and a robot arm of a robot is connected to the connecting bracket 1, and the elongated workpiece-linkage gripper includes: the device comprises an air cylinder driving mechanism 2, a fixed bottom plate 3, a first sliding seat 4, a second sliding seat 5, a first clamping arm 6 and a second clamping arm 7; specifically, the cylinder driving mechanism 2, the fixed base plate 3, the first sliding seat 4, the second sliding seat 5, the first clamping arm 6 and the second clamping arm 7 are symmetrically arranged in two at the front side and the rear side of the connecting support 1, so that two positions on the slender workpiece can be grabbed, the swinging and the deviation of the slender workpiece in the grabbing process can be effectively prevented, and the grabbing reliability and the grabbing precision can be ensured; the fixed bottom plate 3 is mechanically connected with the connecting support 1 and the cylinder driving mechanism 2 respectively, the connecting support 1 and the cylinder driving mechanism 2 are fixed in position, and the connecting support 1 is mechanically installed in the middle of the fixed bottom plate 3, so that the linkage mechanical gripper is even in stress.

Further, the cylinder driving mechanism 2 comprises a fixing support 201, a first pushing block 202 and a second pushing block 203, the cylinder driving mechanism 2 is mechanically connected with the fixing bottom plate 3 through the fixing support 201 to fix the cylinder driving mechanism 2 on the fixing bottom plate 3, the fixing support 201 is mechanically fixed on the fixing bottom plate 3, one side of a cylinder body in the cylinder driving mechanism 2 is fixed on the fixing support 201, the first pushing block 202 and the second pushing block 203 can move left and right in opposite directions at the same time under the driving of a cylinder in the cylinder driving mechanism 2, wherein the first pushing block 202 and the second pushing block 203 are both connected with the cylinder in the cylinder driving mechanism 2 through a piston rod, when the cylinder driving mechanism 2 supplies air, the first pushing block 202 moves right, and simultaneously, the second pushing block 203 moves left; when the air supply to the air cylinder driving mechanism 2 is stopped, the first push block 202 moves leftward, and at the same time, the second push block 203 moves rightward, specifically as shown in fig. 4; the first sliding seat 4 is mechanically connected with the first clamping arm 6 and the first pushing block 202 to realize the left-right movement of the first clamping arm 6, so that when the cylinder in the cylinder driving mechanism 2 drives the first pushing block 202 to move, the first sliding seat 4 and the first clamping arm 6 are synchronously driven to move left and right; the second slide 5 is mechanically connected with the second clamping arm 7 and the second pushing block 203 to realize the left-right movement of the second clamping arm 7, so that when the cylinder in the cylinder driving mechanism 2 drives the second pushing block 203 to move, the second slide 5 and the second clamping arm 7 are synchronously driven to move left and right, and therefore, the linkage control of the first clamping arm 6 and the second clamping arm 7 is realized through the cylinder driving mechanism 2; the first clamping arm 6 is arranged right above the second clamping arm 7, mutual position interference is avoided, the first clamping arm 6 and the second clamping arm 7 are both horizontally arranged, the first clamping arm 6 is provided with a first clamping portion 601, the second clamping arm 7 is provided with a second clamping portion 701, under the driving of the cylinder driving mechanism 2, the first clamping portion 601 and the second clamping portion 701 can simultaneously move in opposite directions under the driving of the corresponding clamping arms to clamp and release slender workpieces, the control system controls the gas supply of the cylinder driving mechanism 2, and then a robot is used for completing automatic grabbing and carrying of the slender workpieces.

In the mechanical gripper for linking elongated workpieces according to the embodiment of the present invention, further, the first clamping portion 601 is provided with a first protrusion 602, the second clamping portion 701 is provided with a second protrusion 702, the first protrusion 602 and the second protrusion 702 are in contact connection with the elongated workpiece for positioning the elongated workpiece in the vertical direction, and the first protrusion 602 and the second protrusion 702 are used for clamping two sides of the elongated workpiece, so as to prevent the elongated workpiece from slipping down due to the excessive weight, improve the gripping reliability and safety, and prevent accidents, as shown in fig. 3. It should be noted that, the shapes of the first protruding portion 602 and the second protruding portion 702 are designed specifically according to the shape of the elongated workpiece, so as to reliably grasp the elongated workpiece, and if it is necessary to grasp elongated workpieces of various specifications, it is only necessary to replace the corresponding first clamping arm 6 and the corresponding second clamping arm 7 and change the shapes of the first protruding portion 602 and the second protruding portion 702.

In an embodiment of the present invention, an elongated workpiece linkage mechanical gripper is provided, further including: the two slide rail mechanisms 8 are also symmetrically arranged on the front side and the rear side of the connecting support 1, the slide rail mechanisms 8 are arranged below the first sliding seat 4 and the second sliding seat 5, the first clamping arm 6 and the second clamping arm 7 can be effectively supported and positioned through the slide rail mechanisms 8, the grabbing precision is ensured, and meanwhile, when the weight of a slender workpiece is large, the stress of the cylinder driving mechanism 2 can be reduced, and the cylinder driving mechanism 2 is prevented from being damaged; the sliding rail mechanism 8 comprises a sliding rail 801, a first sliding block 802 and a second sliding block 803, the sliding rail 801 is fixed on the fixed bottom plate 3, the first sliding block 802 and the second sliding block 803 are connected with the sliding rail 801 in a sliding fit manner, the cross-sectional shapes of the first sliding block 802 and the second sliding block 803 are adapted to the cross-sectional shape of the sliding rail 801 to realize the positioning and the left-right sliding of the first sliding block 802 and the second sliding block 803, and the first sliding block 802 and the second sliding block 803 can only move left and right along the direction of the sliding rail 801; preferably, the cross-sectional shape of the sliding rail 801 may be configured as a trapezoid, an i-shape, a triangle, or a combination of the above figures, including but not limited to the above shapes, as long as the sliding engagement of the first sliding block 802 and the second sliding block 803 with the sliding rail 801 can be achieved and the effective positioning of the first sliding block 802 and the second sliding block 803 can be ensured; here, the first slider 802 is mechanically connected to the first carriage 4, so as to provide a supporting location for the first clamping arm 6 and enable the first clamping arm 6 to slide left and right; the second slider 803 is mechanically connected to the second carriage 5, so as to provide a supporting location for the second clamping arm 7 and enable the second clamping arm 7 to slide left and right.

In an embodiment of the present invention, an elongated workpiece linkage mechanical gripper is provided, further including: a second positioning block 12, generally, two ends of each sliding rail 801 are respectively provided with one second positioning block 12, the second positioning blocks 12 are mechanically connected with the fixed bottom plate 3, and the two second positioning blocks 12 are respectively located at the left and right ends of the sliding rail 801 to limit the first sliding block 802 and the second sliding block 803, so that the first sliding block 802 and the second sliding block 803 can be effectively limited; of course, the second positioning stopper 12 may be mechanically connected to the slide rail 801, and mounted at both ends of the slide rail 801, so as to effectively limit the first slider 802 and the second slider 803. Here, the specific mounting position of the positioning stopper 12 is not limited.

In the elongated workpiece linkage mechanical gripper provided by the embodiment of the utility model, the second sliding seat 5 is provided with the positioning opening 9, the first clamping arm 6 and the second clamping arm 7 can penetrate through the positioning opening 9, the widths of the first clamping arm 6 and the second clamping arm 7 are adapted to the width of the positioning opening 9 to realize the guiding and positioning of the first clamping arm 6 and the second clamping arm 7, and the phenomenon that the first clamping arm 6 and the second clamping arm 7 deform or shake due to overlarge stress is prevented from affecting the gripping precision.

In an embodiment of the present invention, an elongated workpiece linkage mechanical gripper is provided, further including: first locating stop 10, two first locating stop 10 set up respectively in the both sides of first arm lock 6 and carry out mechanical connection with first arm lock 6, and second arm lock 7 sets up the location that is used for realizing second arm lock 7 between two first locating stop 10, prevents to warp or rock because of first arm lock 6, second arm lock 7 atress too big production because of the arm of force overlength, and the influence snatchs the precision.

In the mechanical gripper for linking elongated workpieces provided by the embodiment of the utility model, a roller 11 is arranged between two first positioning stoppers 10, the roller 11 is hinged with the two first positioning stoppers 10, and a second clamping arm 7 is arranged above the roller 11 and is in contact connection with the roller 11 for positioning the second clamping arm 7; the roller 11 is mainly used for positioning the second clamping arm 7 in the vertical direction, and meanwhile, the friction force of the second clamping arm 7 is reduced, so that the phenomenon that the second clamping arm 7 sags or is blocked when a heavy and slender workpiece is grabbed is prevented, and the transmission efficiency of the cylinder driving mechanism 2 is also improved.

Compared with the prior art, the manipulator is simple and reasonable in structural design, the two push blocks at the two ends of the cylinder driving mechanism 2 are linked to drive the first clamping arm 6 and the second clamping arm 7 to clamp and loosen the elongated workpieces, the manipulator is suitable for quickly grabbing the elongated workpieces, the inclination and the shaking of the elongated workpieces in the clamping process are reduced due to the arrangement of the two clamping positions, the supporting and positioning effects of the first clamping arm 6 and the second clamping arm 7 can be enhanced through the slide rail mechanism, the reliability and the safety of grabbing of the mechanical gripper are guaranteed, the manipulator is suitable for being connected with various industrial robots, the automation of a production line is facilitated, the working stability and the reliability of the production line are guaranteed, the safety is good, the response is quick, the production efficiency is high, and the requirement of mass production can be met.

The following points need to be explained:

(1) in the embodiments of the present invention and the drawings, the same reference numerals refer to the same meanings unless otherwise defined.

(2) The drawings of the embodiments of the utility model only relate to the structures related to the embodiments of the utility model, and other structures can refer to the common design.

(3) In the drawings, which are used to describe embodiments of the utility model for purposes of clarity, certain features may be exaggerated or minimized in size, i.e., the drawings are not drawn to scale.

(4) Without conflict, embodiments of the present invention and features of the embodiments may be combined with each other to arrive at new embodiments.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (7)

1. The utility model provides a slender work piece linkage mechanical tongs, is provided with linking bridge (1), through linking bridge (1) connects the arm of robot, its characterized in that includes: the device comprises an air cylinder driving mechanism (2), a fixed bottom plate (3), a first sliding seat (4), a second sliding seat (5), a first clamping arm (6) and a second clamping arm (7); the cylinder driving mechanism (2), the fixed bottom plate (3), the first sliding seat (4), the second sliding seat (5), the first clamping arm (6) and the second clamping arm (7) are symmetrically arranged in two at the front side and the rear side of the connecting support (1), and the fixed bottom plate (3), the connecting support (1) and the cylinder driving mechanism (2) are respectively in mechanical connection; the cylinder driving mechanism (2) comprises a fixed support (201), a first push block (202) and a second push block (203), the cylinder driving mechanism (2) is mechanically connected with the fixed bottom plate (3) through the fixed support (201) and used for fixing the cylinder driving mechanism (2), and the first push block (202) and the second push block (203) can move in the left-right opposite directions simultaneously under the driving of a cylinder in the cylinder driving mechanism (2); the first sliding seat (4) is mechanically connected with the first clamping arm (6) and the first pushing block (202) to realize the left-right movement of the first clamping arm (6), the second sliding seat (5) is mechanically connected with the second clamping arm (7) and the second pushing block (203) to realize the left-right movement of the second clamping arm (7), the first clamping arm (6) is arranged right above the second clamping arm (7), the first clamping arm (6) is provided with a first clamping part (601), the second clamping arm (7) is provided with a second clamping part (701), and under the driving of the cylinder driving mechanism (2), the first clamping part (601) and the second clamping part (701) can simultaneously move in opposite directions to realize the clamping and loosening operations of slender workpieces.

2. The elongated workpiece linkage mechanical gripper of claim 1, further comprising: the two slide rail mechanisms (8) are symmetrically arranged at the front side and the rear side of the connecting bracket (1); the sliding rail mechanism (8) comprises a sliding rail (801), a first sliding block (802) and a second sliding block (803), the sliding rail (801) is fixed on the fixed base plate (3), the first sliding block (802) and the second sliding block (803) are connected with the sliding rail (801) in a sliding fit manner, and the cross section shapes of the first sliding block (802) and the second sliding block (803) are matched with the cross section shape of the sliding rail (801) to realize the positioning and the left-right sliding of the first sliding block (802) and the second sliding block (803); the first slider (802) is mechanically connected to the first carriage (4), and the second slider (803) is mechanically connected to the second carriage (5).

3. The elongated workpiece linkage mechanical gripper of claim 2, further comprising: the second positioning blocks (12) are mechanically connected with the fixed base plate (3) or the sliding rail (801), and the two second positioning blocks (12) are respectively positioned at the left end and the right end of the sliding rail (801) and used for limiting the first sliding block (802) and the second sliding block (803).

4. The mechanical gripper for linking elongated workpieces according to any one of claims 1 to 3, characterized in that said second slide (5) is provided with a positioning opening (9), said first clamping arm (6) and said second clamping arm (7) can pass through said positioning opening (9), and the width of said first clamping arm (6) and said second clamping arm (7) is adapted to the width of said positioning opening (9) for guiding and positioning said first clamping arm (6) and said second clamping arm (7).

5. The elongated workpiece linkage mechanical gripper of claim 4, further comprising: the clamping device comprises first positioning stop blocks (10), wherein the first positioning stop blocks (10) are arranged on two sides of the first clamping arm (6) and are mechanically connected with the first clamping arm (6), and the second clamping arm (7) is arranged between the first positioning stop blocks (10) and is used for realizing the positioning of the second clamping arm (7).

6. The mechanical gripper in linkage with elongated workpieces as recited in claim 5, characterized in that a roller (11) is disposed between two first positioning stops (10), said roller (11) is hinged to two first positioning stops (10), and said second gripper arm (7) is disposed above said roller (11) and in contact therewith for positioning said second gripper arm (7).

7. The elongated workpiece linkage mechanical gripper of claim 1, wherein the first clamping portion (601) is provided with a first protrusion (602), the second clamping portion (701) is provided with a second protrusion (702), and the first protrusion (602) and the second protrusion (702) are in contact connection with the elongated workpiece for vertical positioning of the elongated workpiece.

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