CN219504782U

CN219504782U - Flexible mechanical gripper and mounting equipment

Info

Publication number: CN219504782U
Application number: CN202223397237.7U
Authority: CN
Inventors: 林巨广; 陈正元; 刘欢; 王元山; 童浩
Original assignee: Anhui Juyi Technology Co Ltd
Current assignee: Anhui Juyi Technology Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-08-11
Anticipated expiration: 2032-12-15

Abstract

The embodiment of the utility model provides a flexible mechanical gripper and mounting equipment, and belongs to the field of machine manufacturing and automation. The mechanical gripper comprises: a gripper base; the at least three supporting airlock mechanisms are respectively arranged at least three points of the base on a non-straight line and are used for elastically supporting a plurality of points of a workpiece so as to be compatible with a contact surface with a height difference on the workpiece; the mechanism that rises, wherein, the mechanism that rises includes: the positioning rod is used for being inserted into the positioning hole of the workpiece; and the tightening cylinder is connected with the positioning rod and used for driving the positioning rod to tighten the positioning hole under the condition that the positioning rod is inserted into the positioning hole. The flexible mechanical gripper and the mounting equipment can be compatible with various workpieces, reduce debugging workload and design cost and improve equipment stability.

Description

Flexible mechanical gripper and mounting equipment

Technical Field

The utility model relates to the field of machine manufacturing and automation, in particular to a flexible mechanical gripper and mounting equipment.

Background

The market field of die castings comprises industries such as automobiles, motorcycles, communication, instruments, household appliances, toys, IT and the like, and with the improvement of the requirements of light weight, energy conservation and environmental protection of automobiles in China, the die casting industry is rapidly developed, and particularly the production level and the yield of the die castings in the automobile industry are higher and higher, so that the production efficiency of the die castings in the whole automobile industry is also higher.

In the automatic processing process, the workpiece is required to be automatically clamped by using the mechanical gripper, and at least two types and more than two types of machine types are required to be compatible on the production line generally, so that the clamping jaw of each robot is required to have compatibility, the difficulty in compatibility is high, a designer can consider to use a gun changing disc, one type of machine type is produced, and the clamping jaw is replaced by the gun changing disc, so that the purpose of adapting to various machine types is achieved. The conventional scheme has higher manufacturing cost, increases the debugging work of the robot, and has higher requirement on the accuracy of the position degree of the positioning hole.

Disclosure of Invention

The utility model provides a flexible mechanical gripper and mounting equipment, which can be compatible with various workpieces, can adapt to positioning surfaces with different heights, reduce the position requirement of positioning holes, facilitate the gripping of a robot and reduce the debugging difficulty.

In order to achieve the above object, an embodiment of the present utility model provides a flexible mechanical gripper, including:

a gripper base;

the at least three supporting airlock mechanisms are respectively arranged at least three points of the gripper base on a non-straight line and are used for elastically supporting a plurality of point positions of a workpiece so as to be compatible with a contact surface with a height difference on the workpiece;

a tensioning mechanism comprising:

the positioning rod is used for being inserted into the positioning hole of the workpiece;

and the tightening cylinder is connected with the positioning rod and used for driving the positioning rod to tighten the positioning hole under the condition that the positioning rod is inserted into the positioning hole.

Optionally, the supporting airlock mechanism includes: the support airlock is arranged on the back surface of the gripper base far away from the workpiece, and an elastic column of the support airlock penetrates through the gripper base to be abutted with the contact surface of the workpiece;

and the spring is sleeved on the periphery of the elastic column.

Optionally, the number of the supporting airlock mechanisms is 3.

Optionally, the number of the tensioning mechanisms is at least two;

the tightening mechanism further comprises a follow-up bearing, the tightening cylinder is connected with the positioning rod through the follow-up bearing, the tightening cylinder is used for driving the follow-up bearing under the condition that the positioning rod is inserted into the positioning hole, so that the positioning rod moves to the side edge of the positioning hole, and the stress between the positioning rods of the tightening mechanism is symmetrical about the center of the contact surface of the gripper base and the workpiece.

Optionally, the number of the tensioning mechanisms is 2.

Optionally, the mechanical gripper further comprises a pneumatic tightening mechanism disposed on a back surface of the gripper base and penetrating through the gripper base to tighten a bolt for fixing the workpiece to the mounting position.

On the other hand, the utility model also provides flexible mechanical gripper mounting equipment, which comprises a plurality of mounting arms and the mechanical gripper, wherein the mechanical gripper is arranged on the mounting arms.

According to the technical scheme, the flexible mechanical gripper and the mounting equipment are respectively arranged at least three points of the gripper base on a non-straight line by arranging at least three supporting airlock mechanisms, and are used for elastically supporting a plurality of points of a workpiece so as to be compatible with contact surfaces with height differences on the workpiece, and the springs are telescopic and suitable for various heights to reach corresponding heights by arranging the springs, and are locked by the airlocks to ensure that the heights of the supporting surfaces are consistent and the positioning of the workpiece surfaces is achieved; the tensioning mechanism comprises a positioning rod and a tightening cylinder, wherein the positioning rod is used for being inserted into a positioning hole of a workpiece, the tightening cylinder is connected with the positioning rod and used for driving the positioning rod to be tensioned under the condition that the positioning rod is inserted into the positioning hole, so that the positioning rod is compatible with different sizes of the positioning hole of the workpiece, the robot is convenient to grasp, the debugging difficulty is reduced, and the working efficiency of the machine is improved.

Additional features and advantages of embodiments of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain, without limitation, the embodiments of the utility model. In the drawings:

FIG. 1 is a schematic view of a flexible mechanical gripper of one embodiment of the present utility model.

Description of the reference numerals

1. Tongs base 2, support airlock mechanism

3. Workpiece 4 and tensioning mechanism

5. Positioning rod 6 and tightening cylinder

7. Support airlock 8, spring

9. Follow-up bearing 10 and pneumatic tightening mechanism

Detailed Description

The following describes the detailed implementation of the embodiments of the present utility model with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

A schematic of an sexual mechanical gripper according to one embodiment of the utility model is shown in fig. 1. In this fig. 1, the mechanical gripper may comprise a gripper base 1, a supporting airlock mechanism 2 and a tensioning mechanism 4. The supporting airlock mechanisms 2 are at least three and are respectively arranged at least three points of the gripper base 1, which are positioned on a non-straight line, and are used for elastically supporting a plurality of points of the workpiece 3 so as to be compatible with contact surfaces with height differences on the workpiece 3. The tensioning mechanism 4 comprises a positioning rod 5 and a tightening cylinder 6, wherein the positioning rod 5 is used for being inserted into a positioning hole of the workpiece 3, and the tightening cylinder 6 is connected with the positioning rod 5 and used for driving the positioning rod 5 to tension the positioning hole under the condition that the positioning rod 5 is inserted into the positioning hole.

In order to realize the function of supporting the airlock mechanism 2 compatible with the workpiece surface with the height difference on the workpiece 3, the supporting airlock mechanism 2 may include a supporting airlock 7 and a spring 8. The supporting airlock 7 is disposed on the back surface of the gripper base 1 away from the workpiece 3, and the elastic column of the supporting airlock 7 passes through the gripper base 1 to be abutted with the contact surface of the workpiece 3. The spring 8 is sleeved on the periphery of the elastic column and is used for elastically supporting a plurality of points of the workpiece 3. Through setting up support airlock 7 and spring 8, support airlock mechanism 2 can be compatible the work piece face and have the product of difference in height, guarantees that the holding surface height is unanimous.

In this embodiment, the number of the supporting airlock mechanisms 2 may be a plurality of values known to those skilled in the art. However, in view of the number of support airlock mechanisms 2 that need to be sufficient to support the workpiece face, in a preferred example of the present utility model, the number of support airlock mechanisms 2 may be 3.

In order to ensure that the tensioning means 4 achieve a tensioning effect, the number of tensioning means 4 is at least 2, and the tensioning means 4 may further comprise a follower bearing 9. The tightening cylinder 6 is connected with the positioning rod 5 through the follow-up bearing 9, the tightening cylinder 6 is used for driving the follow-up bearing 9 to enable the positioning rod 5 to move to the side edge of the positioning hole under the condition that the positioning rod 5 is inserted into the positioning hole, the stress between the positioning rods 5 of different tensioning mechanisms 4 is symmetrical about the center of the contact surface of the gripper base 1 and the workpiece 3, the tensioning mechanism 4 is enabled to tension the positioning hole in such a working mode, and the positioning holes with different sizes of the workpiece 3 can be compatible.

In this embodiment, the number of the tensioning mechanisms 4 may be a plurality of values known to those skilled in the art. However, in consideration of the number of the tensioning mechanisms 4 required to achieve the tensioning effect of the tensioning mechanisms 4, the number of the tensioning mechanisms 4 may be 2 in a preferred example of the present utility model.

In the actual production process, the robot grabs the workpiece 3 and installs to the cylinder body, and due to the vertical installation, the robot can drop when no screw is screwed to a specific position after grabbing the workpiece 3, and in order to fix the workpiece 3, the embodiment can further comprise a pneumatic screwing mechanism 10. The pneumatic tightening mechanism 10 is provided at the back of the grip base 1 and penetrates the grip base 1 to tighten a bolt for fixing the workpiece 3 to the mounting position.

According to the technical scheme, the flexible mechanical gripper and the mounting equipment are respectively arranged at least three points of the base on a non-straight line through the arrangement of the at least three supporting airlock mechanisms, and are used for elastically supporting a plurality of points of a workpiece so as to be compatible with contact surfaces with height differences on the workpiece, the springs are arranged, the springs stretch and retract to adapt to various heights to reach corresponding heights, and the airlock locking ensures that the heights of the supporting surfaces are consistent and the positioning of the workpiece surfaces is achieved; the tensioning mechanism comprises a positioning rod and a tightening cylinder, wherein the positioning rod is used for being inserted into a positioning hole of a workpiece, the tightening cylinder is connected with the positioning rod and used for driving the positioning rod to be tensioned under the condition that the positioning rod is inserted into the positioning hole, so that the positioning rod is compatible with different sizes of the positioning hole of the workpiece, the robot is convenient to grasp, the debugging difficulty is reduced, and the working efficiency of the machine is improved.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.

Claims

1. A flexible mechanical gripper, the mechanical gripper comprising:

a gripper base (1);

the three supporting airlock mechanisms (2) are respectively arranged at least three points of the gripper base (1) which are positioned on a non-straight line and are used for elastically supporting a plurality of points of the workpiece (3) so as to be compatible with contact surfaces with height differences on the workpiece (3);

tensioning mechanism (4), comprising:

a positioning rod (5) for inserting into a positioning hole of the workpiece (3);

and the tightening cylinder (6) is connected with the positioning rod (5) and is used for driving the positioning rod (5) to tighten the positioning hole under the condition that the positioning rod (5) is inserted into the positioning hole.

2. The mechanical gripper according to claim 1, characterized in that the supporting airlock mechanism (2) comprises: the supporting airlock (7) is arranged on the back surface of the gripper base (1) far away from the workpiece (3), and an elastic column of the supporting airlock (7) penetrates through the gripper base (1) to be in butt joint with the contact surface of the workpiece (3);

and the spring (8) is sleeved on the periphery of the elastic column.

3. The mechanical gripper according to claim 1, characterized in that the number of support airlock mechanisms (2) is 3.

4. The mechanical gripper according to claim 1, characterized in that the tensioning mechanism (4) is at least two;

the tensioning mechanism (4) further comprises a follow-up bearing (9), the tightening cylinder (6) is connected with the positioning rod (5) through the follow-up bearing (9), the tightening cylinder (6) is used for driving the follow-up bearing (9) under the condition that the positioning rod (5) is inserted into the positioning hole, so that the positioning rod (5) moves towards the side edge of the positioning hole, and the stress between the positioning rods (5) of the tensioning mechanism (4) is different and is symmetrical with respect to the center of the contact surface of the gripper base (1) and the workpiece (3).

5. The mechanical gripper according to claim 4, characterized in that the number of tensioning mechanisms (4) is 2.

6. The mechanical gripper according to claim 1, further comprising a pneumatic tightening mechanism (10) provided at the back of the gripper base (1) and penetrating the gripper base (1) to tighten a bolt for fixing the workpiece (3) to a mounting position.

7. A mounting apparatus comprising a plurality of mounting arms and the mechanical gripper of any one of claims 1 to 6, wherein the mechanical gripper is disposed on the mounting arms.