Variable-pitch mechanical gripper for perforating bullet production line

Abstract

According to the variable-pitch mechanical gripper for the perforating bullet production line, a lifting connecting plate, a sliding rail mounting plate and a part fixed to the sliding rail mounting plate are driven by a lifting air cylinder piston rod of a lifting air cylinder to move up and down along a vertical linear sliding rail through a vertical sliding block, and grabbing of workpieces of different heights is met; the servo motor drives the synchronous belt, the synchronous belt drives the sliding block closest to the servo motor and the transverse sliding block to move through the fixing piece and the lower fixing piece, the shear type connecting rod is forced to be close to and away from the two sides at the same time with the middle clamping assembly as the reference, variable-pitch adjustment of the clamping assemblies is achieved, the clamping requirements of different intervals are met, and the adaptability of the clamping assemblies is improved. A clamping jaw air cylinder piston rod of the clamping jaw air cylinder drives the fixing plate to move, drives the sliding block connecting plate and the rack to move along the radial linear sliding rail through the transverse sliding block, and drives the rack and the sliding block connecting plate on the other side to move oppositely through gear transmission, so that clamping and loosening of the two clamping jaws are achieved, and clamping of workpieces of different sizes is met.

Description

Technical Field

[0001] The invention relates to the technical field of automatic packaging equipment for a perforating bullet intelligent production line, and in particular to a mechanical gripper with a variable distance for a perforating bullet production line. Background Art

[0002] Traditional manipulators usually rely on predefined rules or control models, have limited adaptability, and cannot cope well with complex and changing environments according to actual usage. Based on this, the variable distance mechanism developed makes the manipulator more flexible and adaptable, and can learn how to handle new tasks, objects of different shapes and materials in a data-driven way. Therefore, a variable distance mechanical gripper for perforating bullet production line is proposed. Summary of the invention

[0003] The purpose of the present invention is to provide a mechanical gripper with a variable distance for a perforating bullet production line to solve the existing problems.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] The present invention provides a mechanical gripper with variable distance for a perforating bullet production line, comprising an upper flange plate, both sides of the upper surface of the upper flange plate are fixed with lifting cylinders, the output end of the lifting cylinder passes through the upper flange plate, both sides of the lower surface of the upper flange plate are fixed with connecting plates, the lower ends of the two upper flange plates are commonly fixed with a lower flange plate, the connecting plates are fixed with vertical linear slide rails on two opposite surfaces, the outer surface of the vertical linear slide rails is slidably connected with a vertical slider, the one surface of the two vertical sliders on the same side is commonly fixed with a slide rail mounting plate, and the two slide rail mounting plates are centrally symmetrically arranged; a transverse linear slide rail is fixed with one surface of the slide rail mounting plate, the outer surface of the transverse linear slide rail is provided with five transverse sliders, the one surface of the five transverse sliders is fixed with sliding blocks, the inner side surface of the sliding block at the middle position is fixed with a fixed block, the fixed block is fixedly connected to the slide rail mounting plate, and the transverse sliders of the two sliding blocks on both sides are slidably connected to the transverse linear slide rail; a transition connecting plate is fixed to the lower end of the sliding block, and a clamping assembly is fixed to the lower end of the transition connecting plate;

[0006] A scissor-type connecting rod is movably connected to one side of the five transverse sliders; a servo motor is fixed to the end of one surface of the slide rail mounting plate; a driving wheel is fixed to the output end of the servo motor; a driven wheel is arranged on one side of the driving wheel; the driven wheel is rotatably connected to the slide rail mounting plate; the driven wheel is connected to the driving wheel through a synchronous belt transmission; an upper fixing plate is fixed to one surface of the synchronous belt; a lower fixing plate is fixed to one surface of the sliding block close to the servo motor;

[0007] The gear train is an air filter that is fixed to the piston rod of the gear train, and the air filter is actuated by the action of the air filter presses on the piston rod of the gear train, and the action of the air filter presses on the piston rod of the gear train is prevented from passing through the air filter by the action of the air filter press.

[0008] Lifting connection plates are fixed on two opposite surfaces of the two slide rail mounting plates, and the lifting cylinder piston rods of the two lifting cylinders correspond to the two lifting connection plates respectively, and each lifting cylinder piston rod is fixed with a lifting connection plate.

[0009] Furthermore, the clamping jaw cylinder mounting plate is a "U"-shaped plate structure, the shape and size of the radial linear slide rail are adapted to the radial slider, and the radial linear slide rail and the radial slider are slidably matched.

[0010] Furthermore, the shape and size of the vertical linear slide rail are adapted to the vertical slider, and the vertical linear slide rail and the vertical slider are slidably matched.

[0011] Furthermore, the shape and size of the transverse linear slide rail are adapted to the transverse slider, and the transverse linear slide rail and the transverse slider are slidably matched.

[0012] Furthermore, the shape and size of the gear are adapted to the rack, and the gear and the rack are meshed with each other.

[0013] Furthermore, the shape and size of the upper fixing plate are adapted to the lower fixing plate, and the upper fixing plate and the lower fixing plate are fixedly connected.

[0014] Furthermore, a central column is fixed in the middle of the upper surface of the upper flange plate.

[0015] The present invention has the following beneficial effects:

[0016] In the present invention, the lifting cylinder drives the lifting connection plate, the slide rail mounting plate and the components fixed on the slide rail mounting plate to move up and down along the vertical linear slide rail through the lifting cylinder piston rod, thereby meeting the needs of grabbing workpieces of different heights.

[0017] In the present invention, the servo motor drives the synchronous belt, and the synchronous belt drives the sliding block closest to the servo motor and the lateral slider to move through the fixed plate and the lower fixed plate, forcing the scissor-type connecting rod to move closer to and farther from both sides at the same time based on a middle clamping assembly, thereby realizing variable distance adjustment of the clamping assembly, meeting the clamping requirements of different spacings, and increasing its adaptability.

[0018] In the present invention, the piston rod of the clamping cylinder of the clamping cylinder drives the fixed plate to move, thereby driving the slider connecting plate and the rack to move along the radial linear slide rail through the transverse slider, and driving the rack on the other side and the slider connecting plate to move toward each other through gear transmission, thereby realizing the clamping and loosening of the two clamping jaws, meeting the clamping of workpieces of different sizes and increasing its adaptability;

[0019] The mechanical gripper in the present invention can be applied to tooling with different spacings, and can also grasp multiple workpieces at the same time, then change the spacing between the workpieces, and finally place them in batches, thereby completing the directional displacement of objects at various distances. It can also complete the displacement of objects in a cycle and quickly adjust them to the required position, which not only saves working time and improves work efficiency, but also makes lateral displacement more convenient and quick, thereby meeting the needs of modern industry for the grasping function of the robot.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of a mechanical gripper with a variable distance for a perforating bullet production line;

[0023] Figure 2 It is a partial structural schematic diagram of a mechanical gripper with a variable distance for a perforating bullet production line;

[0024] Figure 3 It is a schematic diagram of the connection structure between the synchronous belt and the sliding block in the present invention;

[0025] Figure 4 It is a perspective structural schematic diagram of the clamping assembly in the present invention.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Upper flange plate; 2. Vertical linear guide rail; 3. Servo motor; 4. Sliding block; 5. Scissor-type connecting rod; 6. Gripper cylinder; 7. Gripper; 8. Workpiece; 9. Gripper cylinder mounting plate; 10. Horizontal linear guide rail; 11. Guide rail mounting plate; 12. Connecting plate; 13. Lifting cylinder; 14. Lower flange plate; 15. Transition connecting plate; 16. Central column; 17. Synchronous belt; 18. Driven wheel; 19. Driving wheel; 20. Lifting cylinder piston rod; 21. Lifting connecting plate; 22. Vertical slider; 23. Upper fixing plate; 24. Lower fixing plate; 25. Horizontal slider; 26. Fixing plate; 27. Rack; 28. Slider connecting plate; 29. ​​Gear; 30. Radial linear guide rail; 31. Radial slider; 32. Gripper cylinder piston rod. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See also Figure 1-Figure 4As shown, the present invention is a variable-distance mechanical gripper for a perforating bullet production line, comprising an upper flange plate 1, a central column 16 is fixed to the middle of the upper surface of the upper flange plate 1; lifting cylinders 13 are fixed to both sides of the upper surface of the upper flange plate 1, the output end of the lifting cylinder 13 passes through the upper flange plate 1, connecting plates 12 are fixed to both sides of the lower surface of the upper flange plate 1, a lower flange plate 14 is commonly fixed to the lower ends of the two upper flange plates 1, vertical linear slide rails 2 are fixed to both surfaces of the connecting plate 12, the outer surface of the vertical linear slide rail 2 is slidably connected to a vertical slider 22, and the two vertical sliders 22 on the same side have a common surface A slide rail mounting plate 11 is fixed, and the two slide rail mounting plates 11 are arranged symmetrically with the center; a transverse linear slide rail 10 is fixed to one surface of the slide rail mounting plate 11, and five transverse sliders 25 are arranged on the outer surface of the transverse linear slide rail 10, and a sliding block 4 is fixed to one surface of the five transverse sliders 25, and a fixed block is fixed to the inner side of the sliding block 4 in the middle position, and the fixed block is fixedly connected to the slide rail mounting plate 11, and the transverse sliders 25 of the two sliding blocks 4 on both sides are slidably connected to the transverse linear slide rail 10; a transition connecting plate 15 is fixed to the lower end of the sliding block 4, and a clamping component is fixed to the lower end of the transition connecting plate 15;

[0032] The side surfaces of the five transverse sliders 25 are movably connected with the scissor-type connecting rod 5. The end of the surface of the slide rail mounting plate 11 is fixed with the servo motor 3. The output end of the servo motor 3 is fixed with a driving wheel 19. A driven wheel 18 is arranged on one side of the driving wheel 19. The driven wheel 18 is rotatably connected with the slide rail mounting plate 11. The driven wheel 18 and the driving wheel 19 are connected through a synchronous belt 17. An upper fixing plate 23 is fixed on one surface of the synchronous belt 17. A lower fixing plate 24 is fixed on one surface of the sliding block 4 close to the servo motor 3.

[0033] The clamping assembly includes a clamping cylinder mounting plate 9, a clamping cylinder 6 is fixed to one end surface of the clamping cylinder mounting plate 9, a clamping cylinder piston rod 32 of the clamping cylinder 6 penetrates the clamping cylinder mounting plate 9 and extends to the inside, a radial linear slide 30 is fixed to the middle part of the lower end of the clamping cylinder mounting plate 9, radial sliders 31 are slidably connected to both sides of the radial linear slide 30, and the lower surfaces of the two radial sliders 31 are fixedly connected to the slider connecting plates 28, and the two slider connecting plates 28 are centrally symmetrically arranged; a rack 27 is fixed to the upper end surface of the slider connecting plate 28, a clamping jaw 7 is fixed to the lower end surface of the slider connecting plate 28, a workpiece 8 is clamped between the two clamping jaws 7, a fixed plate 26 is fixed to one end surface of the slider connecting plate 28 and the rack 27, the fixed plate 26 close to the clamping cylinder 6 is fixedly connected to the clamping cylinder piston rod 32, a rotating shaft is fixed to the middle part of the upper surface of the radial linear slide 30, and a gear 29 is rotatably connected to the upper end of the rotating shaft, and the gear 29 is located between the two racks 27;

[0034] Lifting connection plates 21 are fixed to the two opposite surfaces of the two slide rail mounting plates 11 . The lifting cylinder piston rods 20 of the two lifting cylinders 13 correspond to the two lifting connection plates 21 respectively, and each lifting cylinder piston rod 20 is fixed with a lifting connection plate 21 .

[0035] In one embodiment, the clamp cylinder mounting plate 9 is a “U”-shaped plate structure, the shape and size of the radial linear guide rail 30 are adapted to the radial slider 31 , and the radial linear guide rail 30 and the radial slider 31 are slidably matched.

[0036] In one embodiment, the shape and size of the vertical linear slide rail 2 are adapted to the vertical slider 22 , and the vertical linear slide rail 2 and the vertical slider 22 are slidably matched.

[0037] In one embodiment, the shape and size of the transverse linear guide rail 10 are adapted to the transverse slider 25 , and the transverse linear guide rail 10 and the transverse slider 25 are slidably matched.

[0038] In one embodiment, the shape and size of the gear 29 are adapted to the rack 27 , and the gear 29 and the rack 27 are meshed with each other.

[0039] In one embodiment, the shape and size of the upper fixing plate 23 are adapted to the lower fixing plate 24 , and the upper fixing plate 23 and the lower fixing plate 24 are fixedly connected.

[0040] See also Figure 1-Figure 4 As shown, this embodiment is a working principle of a variable-distance mechanical gripper for a perforating bullet production line:

[0041] The lifting cylinder 13 drives the lifting connecting plate 21 , the slide rail mounting plate 11 and the components fixed on the slide rail mounting plate 11 to move up and down along the vertical linear slide rail 2 through the vertical slider 22 through the lifting cylinder piston rod 20 .

[0042] The servo motor 3 drives the synchronous belt 17, and the synchronous belt 17 drives the sliding block 4 and the transverse slider 25 closest to the servo motor 3 to move through the upper fixing plate 23 and the lower fixing plate 24, forcing the scissor-type link 5 to move towards and away from both sides at the same time based on a middle clamping assembly to achieve variable distance adjustment of the clamping assembly.

[0043] The piston rod 32 of the jaw cylinder 6 drives the fixed plate 26 to move, thereby driving the slider connecting plate 28 and the rack 27 to move along the radial linear slide rail 30 through the transverse slider 25, and driving the rack 27 and the slider connecting plate 28 on the other side to move toward each other through the gear 29, thereby achieving the clamping and loosening of the two jaws 7. This manipulator can realize tooling with different spacing, grab multiple workpieces at the same time, change the spacing between workpieces, and place them in batches.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0045] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mechanical gripper with a variable distance for a perforating bullet production line, comprising an upper flange plate (1), characterized in that: A lifting cylinder (13) is fixed on both sides of the upper surface of the upper flange plate (1), and the output end of the lifting cylinder (13) passes through the upper flange plate (1). A connecting plate (12) is fixed on both sides of the lower surface of the upper flange plate (1). A lower flange plate (14) is fixed to the lower ends of the two upper flange plates (1). Vertical linear guide rails (2) are fixed to the opposite surfaces of the connecting plate (12). A vertical slider (22) is slidably connected to the outer surface of the vertical linear guide rail (2). A guide rail mounting plate (11) is fixed to one surface of the two vertical sliders (22) on the same side. The two guide rail mounting plates (11) are centrally aligned. Said arrangement: a transverse linear slide rail (10) is fixed on one surface of the slide rail mounting plate (11), five transverse sliding blocks (25) are arranged on the outer surface of the transverse linear slide rail (10), a sliding block (4) is fixed on one surface of the five transverse sliding blocks (25), a fixed block is fixed on the inner side of the sliding block (4) in the middle position, the fixed block is fixedly connected to the slide rail mounting plate (11), and the transverse sliding blocks (25) of the two sliding blocks (4) on both sides are slidably connected to the transverse linear slide rail (10); a transition connecting plate (15) is fixed on the lower end of the sliding block (4), and a clamping component is fixed on the lower end of the transition connecting plate (15); A scissor-type connecting rod (5) is movably connected to one side of the five transverse sliders (25); a servo motor (3) is fixed to an end of a surface of the slide rail mounting plate (11); a driving wheel (19) is fixed to the output end of the servo motor (3); a driven wheel (18) is arranged on one side of the driving wheel (19); the driven wheel (18) is rotatably connected to the slide rail mounting plate (11); the driven wheel (18) and the driving wheel (19) are connected through a synchronous belt (17); an upper fixing plate (23) is fixed to one surface of the synchronous belt (17); a lower fixing plate (24) is fixed to one surface of the sliding block (4) close to the servo motor (3); The clamping assembly comprises a clamping cylinder mounting plate (9), a clamping cylinder (6) is fixed to one end surface of the clamping cylinder mounting plate (9), a clamping cylinder piston rod (32) of the clamping cylinder (6) penetrates the clamping cylinder mounting plate (9) and extends to the inside, a radial linear guide rail (30) is fixed to the middle part of the lower end of the clamping cylinder mounting plate (9), radial sliders (31) are slidably connected to both sides of the radial linear guide rail (30), and the lower surfaces of the two radial sliders (31) are fixedly connected to slider connecting plates (28), and the two slider connecting plates (28) are centrally symmetrically arranged; A rack (27) is fixed on the upper end surface of the slider connecting plate (28), a clamping claw (7) is fixed on the lower end surface of the slider connecting plate (28), a workpiece (8) is clamped between the two clamping claws (7), a fixing plate (26) is fixed to one end surface of the slider connecting plate (28) and the rack (27), the fixing plate (26) close to the clamping claw cylinder (6) is fixedly connected to the piston rod (32) of the clamping claw cylinder, a rotating shaft is fixed to the middle part of the upper surface of the radial linear slide rail (30), the upper end of the rotating shaft is rotatably connected to a gear (29), and the gear (29) is located between the two racks (27); Lifting connection plates (21) are fixed on two opposing surfaces of the two slide rail mounting plates (11), the lifting cylinder piston rods (20) of the two lifting cylinders (13) correspond to the two lifting connection plates (21) respectively, and each lifting cylinder piston rod (20) is fixed with a lifting connection plate (21).

2. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: The clamping jaw cylinder mounting plate (9) is a "U"-shaped plate structure. The shape and size of the radial linear slide rail (30) are compatible with the radial slider (31). The radial linear slide rail (30) and the radial slider (31) are slidably matched.

3. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: The shape and size of the vertical linear slide rail (2) are compatible with the vertical slider (22), and the vertical linear slide rail (2) and the vertical slider (22) are in sliding cooperation.

4. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: The shape and size of the transverse linear slide rail (10) are compatible with the transverse slider (25), and the transverse linear slide rail (10) and the transverse slider (25) are slidably matched.

5. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: The shape and size of the gear (29) are adapted to the rack (27), and the gear (29) and the rack (27) are meshed with each other.

6. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: The shape and size of the upper fixing plate (23) are compatible with those of the lower fixing plate (24), and the upper fixing plate (23) and the lower fixing plate (24) are fixedly connected.

7. The variable-distance mechanical gripper for a perforating bullet production line according to claim 1 is characterized in that: A central column (16) is fixed in the middle of the upper surface of the upper flange plate (1).

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