CN217123233U

CN217123233U - Translational mechanical gripping apparatus and robot

Info

Publication number: CN217123233U
Application number: CN202220133271.4U
Authority: CN
Inventors: 袁跃龙; 庞帅; 崔振锐
Original assignee: Nanjing Lightway Lightweight Technology Research Institute Co ltd
Current assignee: Nanjing Lightway Lightweight Technology Research Institute Co ltd
Priority date: 2022-01-18
Filing date: 2022-01-18
Publication date: 2022-08-05
Anticipated expiration: 2032-01-18

Abstract

The utility model relates to a translation mechanical gripper and robot, translation mechanical gripper are provided with the connection pad and can carry out mechanical connection with the robot, still include: the device comprises at least two fixed bases, a first air cylinder driving mechanism, a first swing arm, a second swing arm, a connecting support and a clamping mechanism; the fixed base is mechanically connected with the connecting disc, the first cylinder driving mechanism is provided with a piston rod and a fixing ring, the first cylinder driving mechanism is hinged with the fixed base through the fixing ring, the second swing arm is provided with a connecting shaft, and one end of the piston rod is hinged with the connecting shaft; the first swing arm and the second swing arm are respectively hinged with the fixed base and the connecting bracket to realize left-right swing; the clamping mechanism is arranged below the connecting support and realizes the loosening and the grabbing of the translational mechanical grab through a second cylinder driving mechanism on the connecting support. The utility model discloses save operating space, expanded the application of robot, be fit for automation line batch production's needs.

Description

Translational mechanical gripping apparatus and robot

Technical Field

The utility model belongs to the technical field of the intelligence is made, a translation machinery gripping apparatus and robot is related to.

Background

Along with the development of intelligent manufacturing technique, in intelligent manufacturing technical field such as car, boats and ships, aerospace, large-scale machinery, automation and intelligent level are higher and higher, and the production line constantly carries out intelligent upgrading, and work efficiency also obtains constantly promoting, to the industrial robot of work in automated production line or workstation, accomplishes a kind of work that work is more and snatchs and place work, for example: workpiece carrying, loading and unloading, transfer among stations and the like on the production line, and when workpieces of different specifications need to be grabbed, corresponding mechanical grabhook needs to be designed or improved to meet the requirements of an automatic production line.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a translation machinery gripping apparatus and robot through the translation that uses cylinder actuating mechanism to realize mechanical gripping apparatus, is fit for less operating space's work piece and snatchs, is fit for mass production.

In order to achieve the above object, the utility model provides a translation mechanical gripper is provided with the connection pad, the connection pad carries out mechanical connection with the robot, and translation mechanical gripper still includes: the device comprises at least two fixed bases, a first air cylinder driving mechanism, a first swing arm, a second swing arm, a connecting support and a clamping mechanism; the fixing base is mechanically connected with the connecting disc, the fixing base is of a cuboid cavity structure, a piston rod and a fixing ring are arranged on the first cylinder driving mechanism, the first cylinder driving mechanism is arranged in the cavity of the fixing base and hinged with the fixing base through the fixing ring, a connecting shaft is arranged on the second swing arm, and one end of the piston rod is hinged with the connecting shaft; the first swing arm and the second swing arm are respectively hinged with the fixed base and the connecting bracket and are used for realizing left-right swing under the driving of the first cylinder driving mechanism; the clamping mechanism is arranged below the connecting support and is mechanically connected with the connecting support, the clamping mechanism comprises a second cylinder driving mechanism, end blocks and clamping blocks, the front end and the rear end of the second cylinder driving mechanism are respectively in driving connection with one end block, each end block is connected with one clamping block, and the second cylinder driving mechanism can drive the clamping blocks to move through the end blocks to realize the opening and clamping of the mechanical gripper.

Furthermore, the clamping block is provided with a protruding part for positioning the workpiece.

Optionally, the clamping mechanism further comprises a first connecting block and a second connecting block, and the end block is mechanically connected with the clamping block through the first connecting block and the second connecting block for realizing the position adjustment of the clamping block.

Preferably, the first cylinder driving mechanism is a single-acting cylinder, and the second cylinder driving mechanism is a double-acting cylinder.

Further, the first swing arm and the second swing arm are parallel and equal in length.

Furthermore, the clamping block is also provided with a guide surface, and the guide surface is an inclined plane for guiding the workpiece.

The robot with the translational mechanical gripper comprises the translational mechanical gripper and a six-axis robot, wherein a mechanical arm is arranged on the six-axis robot, and the tail end of the mechanical arm is mechanically connected with a connecting disc.

The utility model relates to a translation mechanical gripper and robot, beneficial effect is: the utility model relates to a rationally, simple structure, translation mechanical gripper can be connected and the cooperation is used with the robot, has realized the swing of first swing arm, second swing arm through using two kinds of cylinder actuating mechanism for clamping mechanism can stretch into and realize snatching and placing of work piece in the less operating space, has saved operating space, and automation, intelligent degree are high, have expanded the application of robot, are fit for the needs of automation line batch production.

Drawings

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

Fig. 1 is a schematic view of a three-dimensional structure of a translational mechanical gripper according to a first embodiment of the present invention;

fig. 2 is a front view of a translational mechanical gripper according to a first embodiment of the present invention;

fig. 3 is a schematic perspective view of a part of a translational mechanical gripper according to a first embodiment of the present invention;

fig. 4 is a front view of a clamping mechanism according to a first embodiment of the present invention;

fig. 5 is a schematic view of a three-dimensional structure of a robot with a translational mechanical gripper according to an embodiment of the present invention.

In the figure:

1. connecting the disc; 2. a fixed base; 3. a first cylinder drive mechanism; 31. a piston rod; 32. a fixing ring; 4. a first swing arm; 5. a second swing arm; 51. a connecting shaft; 6. connecting a bracket; 7. a clamping mechanism; 71. a second cylinder drive mechanism; 72. an end-block; 73. a first connection block; 74. a second connecting block; 75. a clamping block; 7501. a boss portion; 7502. a guide surface; 8. a six-axis robot; 81. a robotic arm.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.

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 of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, 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 is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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.

A translational mechanical gripper and a robot according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 shows a schematic perspective view of a translational mechanical gripper according to a first embodiment of the present invention;

fig. 2 shows a front view of a translational mechanical gripper according to a first embodiment of the present invention; fig. 3 shows a schematic perspective view of a part of a translational mechanical gripper according to a first embodiment of the present invention; fig. 4 is a front view of a clamping mechanism according to a first embodiment of the present invention; as shown in fig. 1 to 4, a first embodiment of the present invention provides a mechanical gripper for translation, which includes a connection pad 1, where the connection pad 1 is used to be mechanically connected to a robot, and the robot is used to automatically grip a workpiece, and the mechanical gripper for translation here further includes at least two fixing bases 2, a first cylinder driving mechanism 3, a first swing arm 4, a second swing arm 5, a connecting bracket 6, and a clamping mechanism 7; in the first embodiment of the present invention, two clamping mechanisms 7 are used, mainly to ensure the precision of grabbing workpieces, prevent workpieces of longer length from tilting, and ensure the grabbing precision by multi-point positioning grabbing, so that the translational mechanical grabbing tool provided by the embodiment of the present invention is more suitable for grabbing workpieces of slender shape; of course, if the length of the workpiece to be gripped is relatively short, only one clamping mechanism 7 may be used. Specifically, the fixed base 2 is mechanically connected with the connecting disc 1, the fixed base 2 is of a cuboid cavity structure, certainly, the fixed base 2 can also be of a cuboid frame structure, the first cylinder driving mechanism 3 is provided with a piston rod 31 and a fixing ring 32, wherein the first cylinder driving mechanism 3 is a single-acting cylinder, the piston rod 31 is located at one end of the first cylinder driving mechanism 3, the first cylinder driving mechanism 3 is arranged in the cavity of the fixed base 2 and is hinged with the fixed base 2 through the fixing ring 32, the fixing ring 32 is mechanically fixed on the first cylinder driving mechanism 3, the fixing ring 32 is provided with two shaft-shaped protrusions for being hinged with the fixed base 2, and therefore the first cylinder driving mechanism 3 rotates around a hinge point between the first cylinder driving mechanism and the fixed base 2; the piston rod 31 can extend and retract under the driving of the first cylinder driving mechanism 3, the second swing arm 5 is provided with a connecting shaft 51, the other end of the piston rod 31 is arranged in the first cylinder driving mechanism 3 and is in driving connection with the first cylinder driving mechanism, and the exposed end of the piston rod 31 is hinged with the connecting shaft 51; the first swing arm 4 and the second swing arm 5 are respectively hinged with the fixed base 2 and the connecting support 6 to realize the left-right swing of the first swing arm 4 and the second swing arm 5 under the driving of the first cylinder driving mechanism 3, so that the first swing arm 4, the second swing arm 5, the connecting support 6 and the fixed base 2 form a double-rocker mechanism, the first swing arm 4 and the second swing arm 5 are parallel and have the same length, and therefore, the first swing arm 4 and the second swing arm 5, and hinge joints of the connecting support 6 and the fixed base 2, which are hinged in pairs, form a parallelogram when seen from a front view in fig. 2, ensure that the connecting support 6 can translate, thereby preventing the connecting support 6 from position overturning in the motion process; connecting axle 51 on the piston rod 31 drive second swing arm 5 through on the first cylinder actuating mechanism 3, thereby drive second swing arm 5 and realize the horizontal hunting, realize the horizontal hunting of first swing arm 4 in step, specifically as shown in 2, linking bridge 6 is at first swing arm 4, the horizontal translation about reaching under the drive of second swing arm 5, like this, linking bridge 6 alright in deepening less operating space, and the arm of robot, connection pad 1 and fixed baseplate 2 all are located operating space's outside, thereby realize snatching and placing of work piece. The clamping mechanism 7 is arranged below the connecting bracket 6 and is mechanically connected with the connecting bracket, the clamping mechanism 7 comprises a second cylinder driving mechanism 71, an end block 72 and clamping blocks 75, the front end and the rear end of the second cylinder driving mechanism 71 are respectively in driving connection with one end block 72, each end block 72 is connected with one clamping block 75, the second cylinder driving mechanism 71 is a double-acting cylinder, when the second cylinder driving mechanism 71 acts, the end blocks at the front end and the rear end of the second cylinder driving mechanism 71 can simultaneously extend or retract so as to drive the corresponding clamping block 75 connected with the end block 72 to extend or retract, so that the second cylinder driving mechanism 71 can drive the clamping blocks 75 to move through the end blocks 72 to realize the opening and clamping actions of the mechanical gripper, and further realize the loosening and gripping actions of workpieces.

In order to adapt to workpieces with various specifications, the positions and the distances of the two clamping blocks 75 on the same second cylinder driving mechanism 71 need to be adjusted as necessary, and specifically, the clamping mechanism 7 further comprises a first connecting block 73 and a second connecting block 74, and the end block 72 is mechanically connected with the clamping blocks 75 through the first connecting block 73 and the second connecting block 74 for realizing the position adjustment of the clamping blocks 75. It should be noted that, the first connecting block 73 and the second connecting block 74 may be selectively configured according to a workpiece, and of course, the first connecting block 73 and the second connecting block 74 may be combined into a single part for use, which is not specifically defined herein, and does not limit the embodiments of the present invention, and does not affect the protection of the embodiments of the present invention. In addition, the structure and shape of the clamping block 75 can be adjusted accordingly, so that the clamping block 75 and the corresponding end block 72 are directly mechanically connected, and when the clamping block 75 is required to be adapted to workpieces of different specifications, only the clamping block 75 of the corresponding shape and specification needs to be replaced.

The embodiment of the utility model provides a in the mechanical gripping apparatus of translation that provides, it is used for realizing the location chucking to the work piece to press from both sides to be provided with bellying 7501 on the tight piece 75, prevents through bellying 7501 that the work piece from dropping because of the work piece overweight causes the accident in the course of snatching. The clamping block 75 is further provided with a guide surface 7502, the guide surface 7502 is an inclined plane, so that when a workpiece is gripped, the workpiece falls into a clamping position on the clamping block 75, consistency of the gripping position is guaranteed, and gripping precision of the workpiece is improved.

The embodiment of the utility model provides a pair of translation machinery gripping apparatus, reasonable in design can be connected and the cooperation is used with the robot, has realized the swing of first swing arm 4, second swing arm 5 through using cylinder actuating mechanism for clamping mechanism 7 can stretch into and realize snatching and placing of work piece in the less operating space, has saved operating space, and is automatic, intelligent degree is high, has expanded the application of robot, is fit for the needs of automation line batch production.

Example two

Fig. 5 shows a schematic perspective view of a robot with a translational mechanical gripper according to a second embodiment of the present invention. In the second embodiment, the same reference numerals are used for the same parts as those in the first embodiment, and only the differences will be described below, the second embodiment of the present invention provides a robot with a translational mechanical gripper, including: the first embodiment provides a mechanical gripper for translation and a six-axis robot 8, wherein a mechanical arm 81 is arranged on the six-axis robot 8, the tail end of the mechanical arm 81 is mechanically connected with a connecting disc 1, and the mechanical gripper for translation is driven to reach a set position through the mechanical arm 81. In addition, the control system is used for controlling the gas supply of the first cylinder driving mechanism 3 and the second cylinder driving mechanism 71 on the translational mechanical gripper, so that the translational motion of the translational mechanical gripper and the grabbing and releasing actions of the slender workpiece in the figure 5 can be realized, and the specific application of the existing six-axis robot 8 in the limited operation space in the production line is realized.

It should be noted that the six-axis robot 8 may be replaced by other types of robots according to the specific situation of the production line, such as three-axis robot, four-axis robot, five-axis robot, etc., and the six-axis robot 8 and the robots listed above are not limited to the above examples.

Compared with the prior art, the embodiment of the utility model provides a translation machinery gripping apparatus and robot, reasonable in design, moreover, the steam generator is simple in structure, translation machinery gripping apparatus can be connected and cooperate the use with the robot, first swing arm 4 has been realized through using two kinds of cylinder actuating mechanism, the swing of second swing arm 5, make clamping mechanism 7 can stretch into and realize snatching and placing of work piece in the less operating space, operating space has been saved, the degree of automation is high, the application of robot has been expanded, be fit for the needs of automation line batch production.

The following points need to be explained:

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

(2) The embodiment of the present invention is only related to the structure related to the embodiment of the present invention, and other structures can refer to the common design.

(3) In the drawings, which are used to describe embodiments of the present invention for purposes of clarity, certain features may be exaggerated or minimized in the drawings, i.e., the drawings are not necessarily 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 protection 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 all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a translation machinery gripping apparatus, includes connection pad (1), connection pad (1) carries out mechanical connection with the robot, its characterized in that still includes: at least two fixing bases (2), a first air cylinder driving mechanism (3), a first swing arm (4), a second swing arm (5), a connecting support (6) and a clamping mechanism (7); the fixing base (2) is mechanically connected with the connecting disc (1), the fixing base (2) is of a cuboid cavity structure, a piston rod (31) and a fixing ring (32) are arranged on the first cylinder driving mechanism (3), the first cylinder driving mechanism (3) is arranged in the cavity of the fixing base (2) and is hinged with the fixing base (2) through the fixing ring (32), a connecting shaft (51) is arranged on the second swing arm (5), and one end of the piston rod (31) is hinged with the connecting shaft (51); the first swing arm (4) and the second swing arm (5) are respectively hinged with the fixed base (2) and the connecting bracket (6) and are driven by the first cylinder driving mechanism (3) to swing left and right; the clamping mechanism (7) is arranged below the connecting support (6) and is mechanically connected with the connecting support, the clamping mechanism (7) comprises a second air cylinder driving mechanism (71), an end block (72) and a clamping block (75), the front end and the rear end of the second air cylinder driving mechanism (71) are respectively in driving connection with the end block (72), each end block (72) is connected with one clamping block (75), and the second air cylinder driving mechanism (71) can drive the clamping block (75) to move through the end block (72) to realize the opening and clamping of the mechanical gripper.

2. A translating mechanical gripper according to claim 1 wherein the gripping block (75) is provided with a boss (7501) for positioning the workpiece.

3. A translating mechanical gripper according to claim 1 wherein the first cylinder drive (3) is a single acting cylinder and the second cylinder drive (71) is a double acting cylinder.

4. A translating mechanical gripper according to claim 1 wherein the first swing arm (4) and the second swing arm (5) are parallel and of equal length.

5. A translating mechanical gripper according to claim 1 wherein the gripping block (75) is further provided with a guide surface (7502), said guide surface (7502) being an inclined plane for guiding the workpiece.

6. A robot with translating mechanical gripper, comprising: translating mechanical gripper according to any of claims 1 to 5, a six axis robot (8), said six axis robot (8) having a robot arm (81) arranged thereon, the end of said robot arm (81) being mechanically connected to said connecting disc (1).