Large-distance gripper with prepressing buffering function

Abstract

The invention discloses a large-distance gripper with pre-pressing buffering, which relates to the technical field of equipment tools and comprises a lower bottom plate, a pre-pressing head, a buffering spring, a buffering upright post, a linear bearing and an opening and closing mechanism, the buffer stand columns are installed and connected with linear bearings arranged on the upper bottom plate, the bottom ends of the buffer stand columns are fixedly connected with the lower bottom plate, and the pre-pressing heads are symmetrically installed at the bottom of the lower bottom plate in pairs. The buffer springs are located between the upper bottom plate and the lower bottom plate and arranged outside the buffer stand columns in a sleeving mode, and the opening and closing mechanism is installed on the lower bottom plate and outputs opening and closing actions for clamping or loosening a workpiece. The pre-pressing head with receding buffering performance is arranged at the bottom of the lower bottom plate, the pre-pressing head firstly makes contact with and presses the workpiece from the upper portion of the workpiece in the process that the rear end driving device drives the gripper to make contact with the workpiece, preliminary positioning of the workpiece and feedback of the in-place grabbing position of the gripper are achieved, the position precision of a grabbing point is improved, and the workpiece is prevented from moving; and the working reliability of the gripper is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment and tooling, and in particular to a gripper with a buffering function for transferring large-sized workpieces. Background Art

[0002] The transfer of large workpieces is a common operation in industrial production. The equipment and tooling used for this task must be selected and designed specifically for the workpiece's characteristics. Workpieces that can withstand a certain amount of pressure but cannot withstand impact are a special type of large workpiece. Existing grippers primarily employ a buffer structure between the gripping mechanism and the workpiece to prevent impact damage.

[0003] Through prior art search, the following known technical solutions exist: Prior Art 1: A robot gripper with a clamping buffer structure Application number: CN202222725087.1, application date: 2022.10.15, publication (announcement) date: 2023.05.09.

[0004] Prior art 1 includes a drive assembly, a slide rail is fixed to the lower surface of the drive assembly, and two clamping arms are slidably connected to the outer side of the slide rail, and a buffer mechanism is provided on the clamping arm. A control arm is provided above the drive assembly, and a rotation mechanism is provided on the control arm. The robot gripper with a clamping buffer structure is provided with a buffer mechanism and a rotation mechanism. The buffer mechanism allows the gripper to have a buffering function when grasping an object. When the gripper grasps an object, the spring and other structures cooperate to minimize the impact of the clamping force on the surface of the object, thereby avoiding damage to the object. The rotation mechanism enables the gripper to rotate when grasping the object. The motor can rotate the gripper, making it easy to adjust the placement angle of the object, thereby improving the practicality of the gripper.

[0005] Prior Art 2: A mechanical gripper with a buffer mechanism Application number: 202321824218.X, application date: 2023.07.12, publication (announcement) date: 2024.02.06.

[0006] Prior art 2 provides a mechanical gripper with a buffer mechanism, which relates to the technical field of mechanical grippers and includes: a mechanical gripper body, wherein a gripping plate 1 is provided at the bottom of the mechanical gripper body, a rotating shaft is provided in a strip-shaped groove provided on the gripping plate 1, the rotating shaft is fixedly connected to the gripping plate 1, a gripping plate 2 is passed through the outer surface of the rotating shaft, the gripping plate 2 is rotatably connected to the rotating shaft, an auxiliary mechanism is provided on one side of the gripping plate 2, and the auxiliary mechanism includes a support block 1. The utility model, by providing an auxiliary mechanism, enables this type of mechanical gripper to effectively prevent the gripping plate from being deformed due to contact with hard objects during use. This type of mechanical gripper divides the gripping plate into gripping plate 1 and gripping plate 2. Under the action of the buffer mechanism, gripping plate 2 can only be bent inward at a certain angle while ensuring normal use, and gripping plate 2 will automatically reset after being bent under the action of a spring.

[0007] However, prior art 1 and prior art 2 cannot pre-position the gripping position before grasping the workpiece, and cannot meet the needs of grasping workpieces with high grasping point precision. At the same time, prior art 1 and prior art 2 are also prone to workpiece jostling during the grasping process. In addition, the buffer structure provides a buffer between the gripping structure and the workpiece. Compared with the impact of the grasping action on the workpiece, the impact of the positioning action on the workpiece is generally greater. Prior art 1 and prior art 2 cannot solve this problem.

[0008] Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the combination of the above prior arts does not destroy the creativity of the present invention. Summary of the Invention

[0009] In order to avoid the above-mentioned deficiencies in the prior art, the present invention provides a large-distance gripper with pre-compression buffer.

[0010] The present invention adopts the following technical solution to solve the technical problem: a large-distance gripper with pre-load buffer, which serves as the upper base plate of the frame and is fixedly mounted on the execution end of the rear-end drive device, and includes a lower base plate, a pre-load head, a buffer spring, a buffer column, a linear bearing and an opening and closing mechanism; The upper base plate is located above the middle portion of the lower base plate, the buffer column passes through the upper base plate and is installed and connected to the linear bearing provided on the upper base plate, and its bottom end is fixedly connected to the lower base plate; the linear bearing provides the buffer column with the freedom of sliding up and down, and the pre-pressing heads are symmetrically installed in pairs to the bottom of the lower base plate; The buffer spring is located between the upper base plate and the lower base plate, and is sleeved outside the buffer column. The top and bottom ends of the buffer spring respectively press against the upper base plate and the lower base plate, and the elastic force thereof tends to cause the upper base plate and the lower base plate to move away from each other. The opening and closing mechanism is mounted on the lower base plate to output an opening and closing action for clamping or releasing a workpiece.

[0011] Furthermore, the pre-pressing head is installed in the middle of the lower base plate.

[0012] Furthermore, the pre-pressing heads are provided in two pairs and are symmetrically arranged on both sides of the middle part of the lower base plate.

[0013] Furthermore, the opening and closing mechanism includes an opening and closing actuator and a clamp; The opening and closing actuators are symmetrically arranged in pairs, with their fixed ends mounted and fixed to both ends of the lower base plate, and their output ends respectively mounted and fixed to a pair of the clamps; The outputs of the pair of opening and closing actuators drive the pair of clamps to move toward each other or away from each other to perform an opening and closing movement.

[0014] Furthermore, the linear bearings are symmetrically mounted on the upper base plate in pairs.

[0015] Furthermore, the linear bearings are provided in two pairs and are symmetrically arranged near the edge of the upper base plate.

[0016] Furthermore, the upper base plate is a rectangular plate-shaped structure, and the two pairs of linear bearings are respectively arranged at the four corners of the rectangular plate-shaped structure.

[0017] The present invention provides a large-distance gripper with pre-load buffer, which has the following beneficial effects: 1. A pre-pressing head is provided at the bottom of the lower base plate of the present invention. When the rear-end driving device drives the gripper to contact the workpiece, the pre-pressing head first contacts and presses the workpiece from above, thereby realizing the preliminary positioning of the workpiece and feedback of the gripper's grasping position, improving the position accuracy of the gripping point, preventing the workpiece from moving, and improving the reliability of the gripper's operation.

[0018] 2. The present invention connects the upper base plate and the lower base plate through linear bearings and buffer columns, and provides a buffer spring sleeved on the buffer column between the upper base plate and the lower base plate, so that the upper base plate and the lower base plate can move toward each other and approach each other in the process of the rear-end driving device driving the gripper to contact the workpiece to perform a yielding buffer, thereby avoiding the gripper from causing a large impact on the workpiece.

[0019] 3. The buffering function of the present invention does not require manual participation, is efficient and convenient, and has a high degree of automation. It can be modified and implemented on existing equipment, and has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] In the picture: 1. Lower base plate, 2. Preload head, 3. Buffer spring, 4. Opening and closing actuator, 5. Clamp, 6. Buffer column, 7. Linear bearing, 8. Upper base plate. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] A large distance gripper with preload buffer, such as Figure 1 As shown, its structural relationship is as follows: the upper base plate 8 as the frame is fixed to the execution end of the rear-end drive device, including the lower base plate 1, the pre-pressing head 2, the buffer spring 3, the buffer column 6, the linear bearing 7 and the opening and closing mechanism; The upper base plate 8 is located above the middle of the lower base plate 1. The buffer column 6 passes through the upper base plate 8 and is installed and connected to the linear bearing 7 provided on the upper base plate 8. The bottom end of the buffer column 6 is fixedly connected to the lower base plate 1. The linear bearing 7 provides the buffer column 6 with the freedom of sliding up and down. The pre-pressing heads 2 are symmetrically installed in pairs at the bottom of the lower base plate 1. The pre-pressing head 2 presses the workpiece before the clamp 5 clamps the workpiece, performs preliminary positioning on the workpiece, and prevents the workpiece from moving during the clamp 5 clamping the workpiece; The buffer spring 3 is located between the upper base plate 8 and the lower base plate 1, and is sleeved outside the buffer column 6. Its top and bottom ends are respectively pressed against the upper base plate 8 and the lower base plate 1, and its elastic force tends to move the upper base plate 8 and the lower base plate 1 away from each other; The buffer spring 3 acts as a buffer when the lower base plate 1 clamps the workpiece, preventing the gripper from impacting the workpiece. The opening and closing mechanism is mounted on the lower base plate 1 and outputs the opening and closing action of clamping or releasing the workpiece.

[0024] Preferably, the pre-pressing head 2 is installed in the middle of the lower base plate 1 .

[0025] Preferably, two pairs of pre-pressing heads 2 are provided, symmetrically arranged on both sides of the middle of the lower base plate 1.

[0026] Preferably, the opening and closing mechanism includes an opening and closing actuator 4 and a clamp 5; The opening and closing actuators 4 are symmetrically arranged in pairs, with their fixed ends mounted and fixed to both ends of the lower base plate 1, and their output ends respectively mounted and fixed to a pair of clamps 5; The outputs of a pair of opening and closing actuators 4 drive a pair of grippers 5 to move toward each other or away from each other to perform an opening and closing motion.

[0027] Preferably, the linear bearings 7 are symmetrically mounted on the upper base plate 8 in pairs.

[0028] Preferably, two pairs of linear bearings 7 are provided and are symmetrically arranged near the edge of the upper base plate 8 .

[0029] Preferably, the upper base plate 8 is a rectangular plate-shaped structure, and the two pairs of linear bearings 7 are respectively arranged at the four corners of the rectangular plate-shaped structure.

[0030] The specific use includes the following process: In the first step, the rear-end driving device drives the gripper to approach the workpiece, and the pair of opening and closing actuators 4 drive the pair of clamps 5 to move away from each other, so that the pair of clamps 5 open; In the second step, the rear-end drive device adjusts the position and posture of the gripper so that the gripper moves from above the position where the workpiece is to be grasped to approach the workpiece; In the third step, the rear end driving device continues to drive the gripper to move downward until the pair of grippers 5 reach both ends of the position where the workpiece is to be grasped; During this process, the pre-pressing head 2 first contacts and presses the surface of the workpiece, and feedback confirms that the gripper has reached the gripping position, while generating a positioning pre-tightening force to prevent the workpiece from moving. After that, the downward movement of the rear-end drive device is caused by the upper base plate 8 and the lower base plate 1 compressing the buffer spring 3. At the same time, the upper base plate 8 slides down along the buffer column 6 with the support of the linear bearing 7 to perform a yielding buffer, thereby preventing the gripper from causing a large impact on the workpiece. In the fourth step, a pair of opening and closing actuators 4 drive a pair of clamps 5 to move toward each other, so that the pair of clamps 5 grasp and clamp the workpiece. Then, the rear-end drive device drives the gripper to move and transfers the workpiece clamped by the gripper to the specified position.

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A long-distance gripper with pre-compression buffer, which is installed and fixed to the upper base plate (8) of the frame and the execution end of the rear-end driving device, characterized in that: It comprises a lower base plate (1), a pre-pressing head (2), a buffer spring (3), a buffer column (6), a linear bearing (7) and an opening and closing mechanism; The upper base plate (8) is located above the middle of the lower base plate (1); the buffer column (6) passes through the upper base plate (8) and is installed and connected to the linear bearing (7) provided on the upper base plate (8); the bottom end of the buffer column (6) is fixedly connected to the lower base plate (1); the linear bearing (7) provides the buffer column (6) with the freedom of upward and downward sliding movement; the pre-pressing heads (2) are symmetrically installed in pairs at the bottom of the lower base plate (1); The buffer spring (3) is located between the upper base plate (8) and the lower base plate (1), and is sleeved outside the buffer column (6). The top and bottom ends of the buffer spring (3) are respectively pressed against the upper base plate (8) and the lower base plate (1), and the elastic force thereof tends to cause the upper base plate (8) and the lower base plate (1) to move away from each other. The opening and closing mechanism is mounted on the lower base plate (1) to output an opening and closing action for clamping or releasing a workpiece.

2. A large-distance gripper with pre-compression buffer according to claim 1, characterized in that: The pre-pressing head (2) is installed in the middle of the lower base plate (1).

3. A large-distance gripper with pre-compression buffer according to claim 2, characterized in that: The pre-pressing heads (2) are provided in two pairs and are symmetrically arranged on both sides of the middle of the lower base plate (1).

4. A large-distance gripper with pre-compression buffer according to claim 1, characterized in that: The opening and closing mechanism comprises an opening and closing actuator (4) and a clamp (5); The opening and closing actuators (4) are symmetrically arranged in pairs, with fixed ends thereof being mounted and fixed to two ends of the lower base plate (1), and output ends thereof being respectively mounted and fixed to a pair of the clamps (5); The outputs of the pair of opening and closing actuators (4) drive the pair of clamps (5) to move towards each other or away from each other to perform an opening and closing movement.

5. The large-distance gripper with pre-compression buffer according to claim 1, characterized in that: The linear bearings (7) are symmetrically mounted on the upper base plate (8) in pairs.

6. A large-distance gripper with pre-compression buffer according to claim 5, characterized in that: Two pairs of linear bearings (7) are provided, and are symmetrically arranged near the edge of the upper base plate (8).

7. A large-distance gripper with pre-compression buffer according to claim 6, characterized in that: The upper base plate (8) is a rectangular plate-shaped structure, and the two pairs of linear bearings (7) are respectively arranged at the four corners of the rectangular plate-shaped structure.

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