CN220051897U - Flexible composite gripper structure with adjustable travel of revolving body part - Google Patents
Flexible composite gripper structure with adjustable travel of revolving body part Download PDFInfo
- Publication number
- CN220051897U CN220051897U CN202321712257.0U CN202321712257U CN220051897U CN 220051897 U CN220051897 U CN 220051897U CN 202321712257 U CN202321712257 U CN 202321712257U CN 220051897 U CN220051897 U CN 220051897U
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- slide rail
- rail mounting
- flexible composite
- gripper
- mounting plate
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- 239000002131 composite material Substances 0.000 title claims abstract description 15
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 6
- 239000002994 raw material Substances 0.000 claims description 8
- 238000013461 design Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 13
- 238000009987 spinning Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 6
- 239000003921 oil Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 239000013067 intermediate product Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model relates to a flexible composite gripper structure with an adjustable travel of a revolving body part, which comprises a connecting seat body structure and a vacuum gripper structure arranged on the seat body structure, wherein the connecting seat body structure comprises a connecting plate body, a connecting flange arranged on the connecting plate body, a slide rail mounting plate and a vacuum chuck group, the vacuum gripper structure comprises a driving structure arranged on the slide rail mounting plate, a group of gripper assemblies connected with the driving structure, and the driving structure comprises a servo motor provided with a speed reducer, a gear connected with the servo motor, a rack group meshed with the gear and a slide rail structure arranged on the slide rail mounting plate. The utility model has reasonable structural design and convenient installation, adopts the servo motor to drive the gear rack, increases the opening and closing stroke, and the swinging design of the contact block, so that the contact block can better envelope products, can be compatible with grabbing of various gyrorotors, and is stable and reliable; meanwhile, the structure is simple, the production and manufacturing cost is low, and the post-maintenance is easy.
Description
Technical Field
The utility model relates to the field of industrial automation and robot integrated plates, in particular to a multifunctional composite flexible gripper with an adjustable stroke, which not only can grasp a raw material sheet, but also can clamp rotary body products such as cylinders/cones after spinning.
Background
In spinning automation line, the material is generally circular sheet spare, and the manual work needs to go up the sheet spare on the spinning machine, and the spinning machine is with sheet spare gyration cylinder or cone, in the gyration in-process, not only need spout lubricating oil to the spinning cutter, and the noise is very big moreover, and part surface temperature is very high after the gyration, and artifical upper/lower piece intensity of labour is high, operational environment is abominable, and has the risk of industrial injury yet, and adopts a set of stroke adjustable multi-functional compound flexible tongs, not only can compatible multiple type product, but also can replace the manual work to carry out safe operation for labor condition is improved.
The general thickness of the spinning product is thinner, the flexible multifunctional composite gripper is easy to deform in the clamping process, the flexible multifunctional composite gripper is driven by a servo motor, the deformation of the product in the clamping process is effectively prevented by adopting a torque control mode of the servo motor, and the flexible multifunctional composite gripper and a product contact block are designed to be in a swinging mode, so that the contact of a cylinder or a cone is firmer;
the mechanical gripper is beneficial to realizing the conveying of materials, the replacement of cutters, the loading and unloading of workpieces, the assembly of machines and the like, so that the labor productivity can be improved and the production cost can be reduced. Some factories already use industrial robots for carrying materials, intermediate products and final products, however, because of the different shape of the outer packages of the materials, intermediate products and final products, different mechanical grippers need to be replaced for carrying, but the replacement of the mechanical grippers is time-consuming on the one hand and results in a relatively complex structure of the mechanical grippers on the other hand.
Disclosure of Invention
In order to solve the problems, the utility model provides the multifunctional flexible composite gripper which can be compatible with grabbing of a plurality of cylindrical or conical revolving body workpieces, and according to the shape and size of the workpieces, the servo motor drives the gear rack to drive so as to control the sliding block to move on the guide rail, a servo motor torque control mode is adopted to drive the stroke of the gear rack to stop to an accurate position so as to effectively clamp the products, the contact block is designed to be in a swinging structure and better contact with the revolving body workpieces, and the stability and efficiency of the workpieces in the grabbing process are ensured.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a flexible compound tongs structure of solid of revolution part stroke adjustable, includes the connecting seat body structure and establishes the vacuum tongs structure on the seat body structure, the connecting seat body structure include the connecting plate body, establish the flange that connects on the connecting plate body, slide rail mounting panel and vacuum chuck group, the vacuum tongs structure including establish the drive structure on the slide rail mounting panel, connect a set of tongs subassembly of drive structure, drive structure including the servo motor that is equipped with the speed reducer, connect servo motor's gear, with gear engagement's rack group and establish the slide rail structure on the slide rail mounting panel.
The gripper assembly comprises an L-shaped base arranged on each sliding rail structure and an inner clamping jaw structure arranged on the inner side surface of the L-shaped base.
The inner clamping jaw structure comprises V-shaped centering blocks arranged on the L-shaped base and the inner side surface, a group of contact blocks arranged on the inner inclined surfaces of the V-shaped centering blocks, and raw material thin plate clamping contact blocks arranged on the inner surface of the top end of each V-shaped centering block.
And a pin shaft and a check ring for the shaft are arranged between the contact block and the V-shaped centering block.
And a cam follower is arranged on the slide rail mounting plate outside each slide rail structure.
An oil sprayer is arranged at the outer end of the back of the sliding rail mounting plate, and a vacuum generator is arranged at the other outer end of the back of the sliding rail mounting plate.
The beneficial effects of the utility model are as follows: the utility model has reasonable structural design and convenient installation, adopts the servo motor to drive the gear rack, increases the opening and closing stroke, and the swinging design of the contact block, so that the contact block can better envelope products, can be compatible with grabbing of various gyrorotors, and is stable and reliable; meanwhile, the structure is simple, the production and manufacturing cost is low, and the post-maintenance is easy.
The utility model will be described in more detail below with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic view of the construction of the present utility model.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a perspective view of fig. 1.
Fig. 5 is a steering perspective view of fig. 1.
In the figure: the device comprises a 1-L-shaped base 2-V-shaped centering block 3-rack 4-gear 5-L-shaped base 6-oil atomizer 7-connecting flange 8-speed reducer 9-vacuum generator 10-pin shaft 11-vacuum chuck 12-contact block 13-slide rail slide block 14-servo motor 15-cam follower 16-slide rail mounting plate 17-raw material sheet clamping contact block 18-connecting plate 19-shaft retainer ring.
Detailed Description
The terms "upper," "lower," "inner," "outer," "front," "rear," "both ends," "one end," "the other end," and the like in this application are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate the description of the utility model and to simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," 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 utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Embodiment 1, as shown in fig. 1-5, a flexible composite gripper structure with adjustable travel of a revolving body part comprises a connecting seat structure and a vacuum gripper structure arranged on the seat structure, wherein the connecting seat structure comprises a connecting plate body 18, a connecting flange 7 arranged on the connecting plate body 18, a sliding rail mounting plate 16 and a vacuum chuck group 11, the vacuum gripper structure comprises a driving structure arranged on the sliding rail mounting plate 16 and a group of gripper assemblies connected with the driving structure, and the driving structure comprises a servo motor 14 provided with a speed reducer 8, a gear 4 connected with the servo motor, a rack group 3 meshed with the gear and a sliding rail structure arranged on the sliding rail mounting plate 16.
The claw assembly comprises an L-shaped base 1 arranged on each sliding rail structure and an inner clamping jaw structure arranged on the inner side surface of the L-shaped base 1.
The inner clamping jaw structure comprises V-shaped centering blocks 2 arranged on the L-shaped base 1 and the inner side surface, a group of contact blocks 12 arranged on the inner inclined surfaces of the V-shaped centering blocks, and raw material thin plate clamping contact blocks 17 arranged on the inner surface of the top end of each V-shaped centering block.
And a pin shaft and a shaft check ring 19 are arranged between the contact block 12 and the V-shaped centering block 2.
A cam follower 15 is provided on the slide mounting plate outside each slide structure.
An oil sprayer is arranged at the outer end of the back of the sliding rail mounting plate, and a vacuum generator is arranged at the other outer end of the back of the sliding rail mounting plate.
Firstly, vacuum sucking disc sucks thin plate type raw materials through vacuum generated by a vacuum generator, and places the thin plate type raw materials on a secondary positioning table inclined by 45 degrees; then clamping the round plate material by a raw material thin plate clamping contact block 17, and placing the round plate material into spinning equipment; in the spinning process, the oil mist device 6 on the grip sprays oil to the product, so that the problems of noise and part surface in the spinning process are reduced, and the surface quality of the product after spinning is improved;
secondly, the servo motor 14 and the speed reducer 8 form a driving assembly, and the driving assembly formed by the driving gear 4 and the rack 3 drives the L-shaped base 1 and the V-shaped centering block 2 to move on the sliding rail sliding block 13, so that the contact block 12 can rotate around the pin shaft 10 when contacting the surface of a workpiece, a product is better enveloped, and the clamping is more stable and reliable.
Finally, the cam follower 15 of the limit guide assembly effectively ensures the accuracy and rigidity of the rack set 3 in the transmission process and ensures the accuracy of the clamping position; the slide rail mounting plate 16 and the connecting flange 7 are both provided with a mounting and fixing support, the mounting flange is arranged on the manipulator, and the manipulator is fixedly connected with the gripper;
the utility model has reasonable structural design and convenient installation, adopts the servo motor to drive the gear rack, increases the opening and closing stroke, and the swinging design of the contact block, so that the contact block can better envelope products, can be compatible with grabbing of various gyrorotors, and is stable and reliable; meanwhile, the structure is simple, the production and manufacturing cost is low, and the post-maintenance is easy.
The above examples are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solution of the present utility model should fall within the scope of protection defined by the claims of the present utility model without departing from the spirit of the design of the present utility model.
The utility model is not related in part to the same as or can be practiced with the prior art.
Claims (6)
1. A flexible composite gripper structure with adjustable travel of a revolving body part is characterized in that: including connecting seat body structure and establish the vacuum tongs structure on the seat body structure, connecting seat body structure include the connecting plate body, establish connect flange, slide rail mounting panel and the vacuum chuck group on the connecting plate body, vacuum tongs structure including establishing the drive structure on the slide rail mounting panel, connect a set of tongs subassembly of drive structure, drive structure including the servo motor that is equipped with the speed reducer, connect servo motor's gear, with gear engagement's rack group and establish the slide rail structure on the slide rail mounting panel.
2. The flexible composite gripper structure with adjustable travel of rotary parts according to claim 1, wherein: the gripper assembly comprises an L-shaped base arranged on each sliding rail structure and an inner clamping jaw structure arranged on the inner side surface of the L-shaped base.
3. The flexible composite gripper structure with adjustable travel of rotary parts according to claim 2, wherein: the inner clamping jaw structure comprises V-shaped centering blocks arranged on the L-shaped base and the inner side surface, a group of contact blocks arranged on the inner inclined surfaces of the V-shaped centering blocks, and raw material thin plate clamping contact blocks arranged on the inner surface of the top end of each V-shaped centering block.
4. The flexible composite gripper structure with adjustable travel of rotary parts according to claim 3, wherein: and a pin shaft and a check ring for the shaft are arranged between the contact block and the V-shaped centering block.
5. The flexible composite gripper structure with adjustable travel of rotary parts according to claim 1, wherein: and a cam follower is arranged on the slide rail mounting plate outside each slide rail structure.
6. The flexible composite gripper structure with adjustable travel of rotary parts according to claim 1, wherein: an oil sprayer is arranged at the outer end of the back of the sliding rail mounting plate, and a vacuum generator is arranged at the other outer end of the back of the sliding rail mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321712257.0U CN220051897U (en) | 2023-07-03 | 2023-07-03 | Flexible composite gripper structure with adjustable travel of revolving body part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321712257.0U CN220051897U (en) | 2023-07-03 | 2023-07-03 | Flexible composite gripper structure with adjustable travel of revolving body part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220051897U true CN220051897U (en) | 2023-11-21 |
Family
ID=88787112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321712257.0U Active CN220051897U (en) | 2023-07-03 | 2023-07-03 | Flexible composite gripper structure with adjustable travel of revolving body part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220051897U (en) |
-
2023
- 2023-07-03 CN CN202321712257.0U patent/CN220051897U/en active Active
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