CN220783131U - Foldable rotary multifunctional mechanical gripper - Google Patents

Abstract

The utility model relates to the technical field of manipulators, in particular to a foldable rotary multifunctional mechanical gripper which comprises a connecting seat, wherein a rotating seat which is pushed to rotate by a vertical cylinder is arranged at the bottom of the connecting seat, and a material taking module A and a material taking module B for clamping a workpiece are arranged on the rotating seat; the material taking module A and the material taking module B are respectively provided with two clamping jaw assemblies A and B for synchronously clamping a workpiece; connecting plates are symmetrically arranged on two sides of the connecting seat, and a longitudinal rotating shaft driven to rotate by a driving assembly is arranged between the two connecting plates; swing arms which are staggered with each other and can rotate in a crossed manner are arranged at two ends of the longitudinal rotating shaft, and a vacuum chuck is arranged at the bottom of each swing arm; the four vacuum chucks are used for synchronously sucking plastic trays for accommodating workpieces. Therefore, when the quick switching of workpieces in the numerical control machine tool is ensured, the plastic tray can be automatically sucked for carrying, so that not only is the labor saved, but also the production efficiency is greatly improved, and the requirement of mass production and processing is met.

Description

Foldable rotary multifunctional mechanical gripper

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a foldable rotary multifunctional mechanical gripper.

Background

There is a rectangular plate which is placed in a groove of a plastic tray, and the plastic tray is rectangular. Conventionally, a single clamping jaw assembly is used for clamping a workpiece and is sent to a numerical control machine tool for machining through a truss driving mechanism moving in the XYZ direction. After the processing of the workpieces in the plastic tray is finished, workers are required to carry and stack the plastic tray layer by layer, and the labor intensity of the workers is increased. However, the conventional production method is insufficient to meet the requirement of mass production of the rectangular plate, and therefore, a mechanical gripper for gripping the rectangular plate needs to be redesigned.

Disclosure of utility model

The utility model aims to overcome the defects and shortcomings in the prior art, and provides the foldable rotary multifunctional mechanical gripper which can automatically clamp a plastic tray, finish switching and carrying of workpieces in a numerical control machine tool and improve production efficiency.

In order to achieve the above purpose, the utility model provides a foldable rotary multifunctional mechanical gripper, which comprises a connecting seat, wherein a rotating seat which is pushed to rotate by a vertical cylinder is arranged at the bottom of the connecting seat, and a material taking module A and a material taking module B for clamping a workpiece are arranged on the rotating seat; the material taking module A comprises a fixed plate A which is bolted on the rotating seat, and two clamping jaw assemblies A for synchronously clamping a workpiece are symmetrically arranged on the fixed plate A; the material taking module B comprises a fixed plate B which is bolted on the rotating seat, and two clamping jaw assemblies B for synchronously clamping a workpiece are symmetrically arranged on the fixed plate B;

Connecting plates are symmetrically arranged on two sides of the connecting seat along the longitudinal direction, and a longitudinal rotating shaft driven to rotate by a driving assembly is arranged between the two connecting plates; swing arms are arranged at two ends of the longitudinal rotating shaft, and vacuum chucks are arranged at the bottoms of the swing arms; the two swing arms on the same side of the longitudinal rotating shaft are staggered and can rotate in a crossed manner; the four vacuum chucks are used for synchronously sucking plastic trays for accommodating workpieces.

Further, the driving assembly comprises a sliding plate vertically driven by a double-shaft air cylinder, matched racks and gears are symmetrically arranged on two sides of the sliding plate along the transverse direction, the racks are bolted on the sliding plate, and the gears are coaxial with the longitudinal rotating shaft and are connected by flat keys; the double-shaft air cylinder is bolted on the connecting plate.

Further, the section of the rotating seat is in a right angle shape, and rib plates are integrally arranged on the inner side of the rotating seat; the push rod of the vertical cylinder is hinged with the rib plate; the rib plates are hinged with the cylinder body of the vertical cylinder through pin shafts.

Further, the clamping jaw assembly A comprises a bidirectional cylinder which is bolted to the bottom end of the fixed plate A, and a right angle plate is bolted to the outer side of an end plate of the bidirectional cylinder; the bottom of the right angle plate is bolted with a clamping jaw A with an L-shaped section; the clamping jaw A can pass through the right angle plate in a plane sliding manner; a proximity switch A is arranged on one side of the bidirectional cylinder, and the proximity switch A is arranged on the fixed plate A; the proximity switch A is used for clamping a workpiece by matching with the two clamping jaws A; the fixed plate A is bolted on the outer end face of the rotating seat.

Further, the clamping jaw assembly B comprises a four-jaw air cylinder which is bolted at the bottom end of the fixed plate B, and a connecting block is bolted at the bottom end of a pushing block of the four-jaw air cylinder; the bottom of the connecting block is slidably provided with a clamping jaw B with an L-shaped section; the clamping jaw B is bolted to the connecting block; a proximity switch B is arranged on one side of the four-claw cylinder, and the proximity switch B is arranged on the fixed plate B; the proximity switch B is used for clamping a workpiece by matching with the four clamping jaws B; the fixed plate B is bolted on the outer end face of the rotating seat.

Further, the bottom bolting symmetry of four claw cylinders is bolted with the set square, the symmetry is bolted with the backup pad on the set square, be equipped with the oil pressure buffer in the backup pad, four oil pressure buffer equal altitude just is rectangular symmetric distribution.

Further, two limit posts are arranged on the inner sides of the two right-angle sides of the rotating seat, the limit posts are fixed on the cylinder body of the vertical cylinder, and the limit posts are used for ensuring that the rotating seat rotates by 90 degrees.

Further, a planetary reducer is further arranged at the bottom of the connecting seat, the input end of the planetary reducer is connected with a servo motor, and the output end of the planetary reducer is connected with the vertical cylinder; the planetary reducer is used for driving the vertical cylinder to rotate relative to the vertical direction.

Further, the output end of the planetary reducer is bolted with a flange A, the top end of the vertical cylinder is bolted with a flange B, and the flange A is matched with the flange B.

Further, the swing arm is right-angle; the vacuum chuck comprises a suction nozzle and an air pipe which are communicated, the air pipe slides through a pipe sleeve, the pipe sleeve is fixed at the bottom of the swing arm, and the suction nozzle and the pipe sleeve are provided with a compression spring sleeved on the air pipe.

Compared with the prior art, the utility model has the beneficial effects that: through the rotation setting of rotating the seat, can make two clamping jaw subassembly A and two clamping jaw subassembly B carry out the position and switch over the switching of accomplishing the work piece in the digit control machine tool to place the work piece after having processed in the plastic tray, greatly improved production efficiency. Meanwhile, after the workpieces in the plastic tray at the topmost layer are processed, under the action of the driving assembly, the vacuum chuck moves to the surface of the plastic tray and sucks the plastic tray for carrying, so that manpower is reduced, and the plastic tray is suitable for mass production and processing requirements.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

FIG. 2 is a schematic diagram of the present utility model.

Fig. 3 is a working state diagram of the present utility model.

Wherein: 1. a connecting seat; 2. a vertical cylinder; 3. a planetary reducer; 4. a drive assembly; 5. a material taking module A; 6. a material taking module B; 7. a vacuum chuck; 11. a connecting plate; 12. a longitudinal rotation shaft; 21. a rotating seat; 22. a flange B; 23. a limit column; 31. a servo motor; 32. a flange A; 41. a sliding plate; 42. a gear; 43. a biaxial cylinder; 51. a fixing plate A; 52. a bidirectional cylinder; 53. a right angle plate; 54. a clamping jaw A; 55. a proximity switch A; 61. a fixing plate B; 62. a four-jaw cylinder; 63. a connecting block; 64. a clamping jaw B; 65. a proximity switch B; 66. a triangle; 67. a support plate; 68. a hydraulic buffer; 71. a suction nozzle; 72. an air pipe; 73. a pipe sleeve; 74. compressing the spring.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Examples

Referring to fig. 1 to 3, the utility model provides a foldable rotary multifunctional mechanical gripper, which comprises a connecting seat 1, wherein a rotating seat 21 which is pushed to rotate by a vertical cylinder 2 is arranged at the bottom of the connecting seat 1, and a material taking module A5 and a material taking module B6 for clamping a workpiece are arranged on the rotating seat 21; the material taking module A5 comprises a fixed plate A51 which is bolted on the rotating seat 21, and two clamping jaw assemblies A for synchronously clamping a workpiece are symmetrically arranged on the fixed plate A51; the material taking module B6 comprises a fixed plate B61 which is bolted on the rotating seat 21, and two clamping jaw assemblies B for synchronously clamping a workpiece are symmetrically arranged on the fixed plate B61; wherein, the connecting seat 1 is symmetrically provided with connecting plates 11 along the two longitudinal sides, and a longitudinal rotating shaft 12 driven to rotate by the driving component 4 is arranged between the two connecting plates 11; swing arms are arranged at two ends of the longitudinal rotating shaft 12, and vacuum chucks 7 are arranged at the bottoms of the swing arms; the two swing arms on the same side of the longitudinal rotating shaft 12 are staggered and can rotate in a crossed manner; four vacuum chucks 7 are used for synchronously sucking plastic trays for holding workpieces.

The clamping jaw assembly B is used for clamping a workpiece to be processed in the plastic tray, the clamping jaw assembly A clamps the workpiece processed in the numerical control machine tool, and the connecting seat 1 is arranged on the truss driving mechanism. Through the rotation of the rotating seat 21, under the drive of the truss driving mechanism, the workpiece processed in the numerical control machine tool is clamped by the clamping jaw assembly A, at the moment, the workpiece to be processed clamped by the clamping jaw assembly B is horizontally placed in the numerical control machine tool for processing, so that the switching of the workpiece in the numerical control machine tool is completed, the processed workpiece is placed in the plastic tray, and the production efficiency is greatly improved. Meanwhile, after the workpieces in the topmost plastic tray are machined, under the action of the driving assembly 4, the vacuum chuck 7 moves to the surface of the plastic tray and absorbs the plastic tray for carrying, so that manpower is reduced, automatic carrying of the plastic tray is realized, and the plastic tray is suitable for mass production and machining requirements.

As an embodiment of the utility model, the driving assembly 4 comprises a sliding plate 41 vertically driven by a double-shaft air cylinder 43, wherein matched racks and gears 42 are symmetrically arranged on two sides of the sliding plate 41 along the transverse direction, the racks are bolted on the sliding plate 41, and the gears 42 are coaxial with the longitudinal rotating shaft 12 and are connected by adopting flat keys; the double-shaft cylinder 43 is bolted to the connection plate 11.

As shown in fig. 1, the end plate of the biaxial cylinder 43 is in a non-extended state, and the vacuum chuck 7 is in a position on the surface of the plastic tray. When the end plate of the double-shaft air cylinder 43 extends out, the end plate pushes the sliding plate 41 to move vertically downwards, the sliding plate 41 drives the rack to move, the rack drives the gear 42 to realize the reverse rotation of the two longitudinal rotating shafts 12, and at the moment, the swing arms rotate upwards and are crossed. When the utility model is not used, the swing arms rotate upwards and are crossed, so that the use space can be saved.

The section of the rotating seat 21 may be rectangular, and correspondingly, a rib plate is integrally provided on the inner side of the rotating seat 21; the push rod of the vertical cylinder 2 is hinged with the rib plate; the rib plates are hinged with the cylinder body of the vertical cylinder 2 through pin shafts, so that the vertical cylinder 2 pushes the rotating seat 21 to rotate.

In order to guarantee that the rotation position of the rotation seat 21 is accurate, two limit posts 23 are arranged on the inner sides of two right-angle sides of the rotation seat 21, the limit posts 23 are fixed on the cylinder body of the vertical cylinder 2, and the limit posts 23 are used for guaranteeing that the rotation seat 21 rotates by 90 degrees, so that the clamping jaw assembly A or the clamping jaw assembly B faces downwards vertically and can clamp a horizontally placed workpiece.

As an embodiment of the present utility model, on the basis of the above-mentioned right-angle rotary seat 21, the clamping jaw assembly a comprises a bidirectional cylinder 52 bolted to the bottom end of the fixed plate a51, and a right-angle plate 53 is bolted to the outside of the end plate of the bidirectional cylinder 52; the bottom of the right angle plate 53 is bolted with a clamping jaw A54 with an L-shaped section; wherein the clamping jaw A54 can pass through the right angle plate 53 in a plane sliding manner; a proximity switch A55 is arranged on one side of the bidirectional cylinder 52, and the proximity switch A55 is arranged on the fixed plate A51; the fixing plate a51 is bolted to the outer end face of the swivel base 21. When the distance between the proximity switch A55 and the plane of the top end of the workpiece meets the set distance, the two bidirectional air cylinders 52 drive the corresponding two clamping jaws A54 to clamp the workpiece synchronously.

As an embodiment of the present utility model, on the basis of the above-mentioned right-angle rotary seat 21, the clamping jaw assembly B includes a four-jaw cylinder 62 bolted to the bottom end of the fixed plate B61, and a connecting block 63 is bolted to the bottom end of the pushing block of the four-jaw cylinder 62; the bottom of the connecting block 63 is slidably provided with a clamping jaw B64 with an L-shaped section; the clamping jaw B64 is bolted to the connecting block 63; a proximity switch B65 is arranged on one side of the four-jaw cylinder 62, and the proximity switch B65 is arranged on the fixed plate B61; the fixing plate B61 is bolted to the outer end surface of the rotating seat 21; the fixing plate B61 is perpendicular to the fixing plate a 51. When the distance between the proximity switch B65 and the plane of the top end of the workpiece meets the set distance, the four-jaw air cylinder 62 drives the four clamping jaws B64 to clamp the workpiece.

Wedge-shaped protrusions can be arranged on the inner sides of the bottoms of the clamping jaw A54 and the clamping jaw B64 and used for assisting in clamping a workpiece, and details are not repeated. The proximity switch a55 and the proximity switch B65 are fixed on the corresponding fixing plate a51 and fixing plate B61 through bending plates, and detailed description is omitted.

On the basis of the structure of the clamping jaw assembly B, in order to ensure that the clamped workpiece is stable and firm, a triangular plate 66 is symmetrically bolted to the bottom of the four-jaw air cylinder 62, a supporting plate 67 is symmetrically bolted to the triangular plate 66, oil pressure buffers 68 are arranged on the supporting plate 67, and the four oil pressure buffers 68 are equally high and are symmetrically distributed in a rectangular shape.

The hydraulic buffer 68 is a purchasing member, and SAC series hydraulic buffers may be selected, and detailed description thereof will be omitted.

As an embodiment of the utility model, a planetary reducer 3 is further arranged at the bottom of the connecting seat 1, the input end of the planetary reducer 3 is connected with a servo motor 31, and the output end of the planetary reducer 3 is connected with a vertical cylinder 2; the planetary reducer 3 is used for driving the vertical cylinder 2 to rotate relative to the vertical direction, so that the clamping jaw assembly A and the clamping jaw assembly B can flexibly clamp and place workpieces.

The planetary reducer 3 is not purchased, and can be selected from products provided by Neugel intelligent transmission (Guangdong) limited company, and mainly comprises a motor mounting flange, an output flange, a planetary gear and a one-key coupler, wherein a reference website is http:// www.cn-newgear.com/news_view_1854_107.Html, a main shaft of the servo motor 31 is connected with the one-key coupler and drives the planetary gear to rotate, the planetary gear drives the output flange to rotate, the output flange is defined as an output end, and the motor mounting flange is defined as an input end, and is not repeated.

Here, the output end of the planetary reducer 3 is bolted with a flange a32, the top end of the vertical cylinder 2 is bolted with a flange B22, and the flange a32 is matched with the flange B22, so that the vertical cylinder 2 and the planetary reducer 3 are conveniently installed.

Secondly, can all set up the air nozzle on clamping jaw A54 and clamping jaw B64's outer terminal surface, when clamping jaw subassembly A or clamping jaw subassembly B are located vertical direction, vertical cylinder 2 is rotatory, and the air nozzle can detach the impurity on work piece surface and work piece periphery, guarantees that the work piece is clean and tidy to place in the plastic tray, and specific no more detailed.

In addition, as shown in fig. 1, the swing arm is in a right angle shape; the vacuum chuck 7 comprises a suction nozzle 71 and an air pipe 72 which are communicated, the air pipe 72 slides through a pipe sleeve 73, the pipe sleeve 73 is fixed at the bottom of the swing arm, and the suction nozzle 71 and the pipe sleeve 73 are provided with a compression spring 74 sleeved on the air pipe 72 so as to ensure that the suction nozzle 71 can better suck a plastic tray for carrying.

The present utility model may be summarized in other specific forms without departing from the spirit or essential characteristics thereof. The above-described embodiments of the utility model are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (10)

1. The foldable rotary multifunctional mechanical gripper is characterized by comprising a connecting seat (1), wherein a rotating seat (21) which is pushed to rotate by a vertical air cylinder (2) is arranged at the bottom of the connecting seat (1), and a material taking module A (5) and a material taking module B (6) for clamping a workpiece are arranged on the rotating seat (21); the material taking module A (5) comprises a fixed plate A (51) which is bolted on the rotating seat (21), and two clamping jaw assemblies A for synchronously clamping a workpiece are symmetrically arranged on the fixed plate A (51); the material taking module B (6) comprises a fixed plate B (61) which is bolted on the rotating seat (21), and two clamping jaw assemblies B for synchronously clamping a workpiece are symmetrically arranged on the fixed plate B (61);

Connecting plates (11) are symmetrically arranged on two sides of the connecting seat (1) along the longitudinal direction, and a longitudinal rotating shaft (12) driven to rotate by a driving assembly (4) is arranged between the two connecting plates (11); swing arms are arranged at two ends of the longitudinal rotating shaft (12), and vacuum chucks (7) are arranged at the bottoms of the swing arms; the two swing arms on the same side of the longitudinal rotating shaft (12) are staggered and can rotate in a crossed manner; the four vacuum chucks (7) are used for synchronously sucking plastic trays for accommodating workpieces.

2. The foldable rotary multifunctional mechanical gripper according to claim 1, characterized in that the driving assembly (4) comprises a sliding plate (41) driven vertically by a double-shaft air cylinder (43), the sliding plate (41) is symmetrically provided with matched racks and gears (42) along two lateral sides, the racks are bolted on the sliding plate (41), and the gears (42) are coaxial with the longitudinal rotating shaft (12) and connected by flat keys; the double-shaft air cylinder (43) is bolted on the connecting plate (11).

3. The foldable rotary multifunctional mechanical gripper according to claim 1, wherein the section of the rotary seat (21) is right-angled, and rib plates are integrally arranged on the inner side of the rotary seat (21); the push rod of the vertical cylinder (2) is hinged with the rib plate; the rib plates are hinged with the cylinder body of the vertical cylinder (2) through pin shafts.

4. A foldable rotary multifunctional mechanical gripper according to claim 3, characterized in that the gripper assembly a comprises a bi-directional cylinder (52) bolted to the bottom end of the fixed plate a (51), the outside of the end plate of the bi-directional cylinder (52) being bolted with a right angle plate (53); the bottom of the right angle plate (53) is bolted with a clamping jaw A (54) with an L-shaped cross section; -said jaw a (54) being able to slide through said right angle plate (53); a proximity switch A (55) is arranged on one side of the bidirectional cylinder (52), and the proximity switch A (55) is arranged on the fixed plate A (51); the proximity switch A (55) is used for clamping a workpiece by matching with the two clamping jaws A (54); the fixing plate A (51) is bolted to the outer end surface of the rotating seat (21).

5. A foldable rotary multifunctional mechanical gripper according to claim 3, characterized in that the gripper assembly B comprises a four-jaw cylinder (62) bolted to the bottom end of the fixed plate B (61), the push block bottom end of the four-jaw cylinder (62) being bolted with a connecting block (63); the bottom of the connecting block (63) is slidably provided with a clamping jaw B (64) with an L-shaped section; the clamping jaw B (64) is bolted to the connecting block (63); a proximity switch B (65) is arranged on one side of the four-claw cylinder (62), and the proximity switch B (65) is arranged on the fixed plate B (61); the proximity switch B (65) is used for clamping a workpiece by matching with the four clamping jaws B (64); the fixing plate B (61) is bolted to the outer end surface of the rotating seat (21).

6. The foldable rotary multifunctional mechanical gripper according to claim 5, wherein triangular plates (66) are symmetrically bolted to the bottoms of the four-jaw cylinders (62), supporting plates (67) are symmetrically bolted to the triangular plates (66), oil pressure buffers (68) are arranged on the supporting plates (67), and the four oil pressure buffers (68) are equal in height and are symmetrically distributed in a rectangular shape.

7. The foldable rotary multifunctional mechanical gripper according to any one of claims 3 to 6, characterized in that two limit posts (23) are arranged on the inner sides of two right-angle sides of the rotary seat (21), the limit posts (23) are fixed on the cylinder body of the vertical cylinder (2), and the limit posts (23) are used for ensuring that the rotary seat (21) rotates by 90 °.

8. The foldable rotary multifunctional mechanical gripper according to claim 7, wherein a planetary reducer (3) is further arranged at the bottom of the connecting seat (1), the input end of the planetary reducer (3) is connected with a servo motor (31), and the output end of the planetary reducer (3) is connected with the vertical cylinder (2); the planetary reducer (3) is used for driving the vertical cylinder (2) to rotate relative to the vertical direction.

9. The foldable rotary multifunctional mechanical gripper according to claim 8, wherein the output end of the planetary reducer (3) is bolted with a flange A (32), the top end of the vertical cylinder (2) is bolted with a flange B (22), and the flange A (32) is matched with the flange B (22).

10. The foldable rotary multifunctional mechanical gripper of claim 1, wherein the swing arm is right-angled; the vacuum chuck (7) comprises a suction nozzle (71) and an air pipe (72) which are communicated, the air pipe (72) penetrates through a pipe sleeve (73) in a sliding mode, the pipe sleeve (73) is fixed at the bottom of the swing arm, and the suction nozzle (71) and the pipe sleeve (73) are provided with a compression spring (74) sleeved on the air pipe (72).