Synchronous mechanical gripper multi-scene carrying device

Abstract

The multi-scene carrying device comprises a linear air cylinder, a linear transmission mechanism, a first finger block and a second finger block, the linear transmission mechanism is connected with the linear air cylinder, and the first finger block and the second finger block are detachably installed on the linear transmission mechanism. The linear transmission mechanism is driven by the linear air cylinder to do linear motion, and the first finger block and the second finger block are controlled to get close to or get away from each other on the same straight line. The mechanical arm is simple in structure, the overall rigidity of the structure is improved, the control difficulty is reduced, kinematics analysis is simple, dynamic response is good, and carrying movement of various workpieces can be achieved through the linear air cylinder.

Description

Technical Field

[0001] The present invention belongs to the field of automated forging equipment, and in particular relates to a synchronously moving manipulator claw multi-scene handling device. Background Art

[0002] Automated production lines are currently widely used in various industries, with handling devices being the most commonly used mechanism. The handling devices used in different industries also have their own characteristics. Currently, common handling devices have certain limitations, such as single application scenarios and poor compatibility, making them unable to operate simultaneously in multiple industries and environments. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-scenario handling device with a synchronously driven manipulator claw to solve the problems of single application scenario and poor compatibility of traditional handling devices.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A synchronous robotic gripper multi-scene handling device includes a linear cylinder, a linear transmission mechanism, a first finger block and a second finger block. The linear transmission mechanism is connected to the linear cylinder. The first finger block and the second finger block are detachably mounted on the linear transmission mechanism. The linear transmission mechanism is driven by the linear cylinder to perform linear motion, thereby controlling the first finger block and the second finger block to approach or move away from each other on the same straight line.

[0006] Preferably, the linear transmission mechanism includes a cylinder Y-shaped connector, a first connecting rod, a second connecting rod, a first guide rod, a third connecting rod and a second guide rod. The linear cylinder is connected to the cylinder Y-shaped connector through an adapter. The cylinder Y-shaped connector is rotatably connected to one end of the first connecting rod, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to one end of the third connecting rod, the other end of the third connecting rod is connected to one end of the second guide rod, one end of the first guide rod is connected to the cylinder Y-shaped connector and moves linearly with the cylinder Y-shaped connector. The end of the first guide rod is detachably connected to the first finger block, and the other end of the second guide rod is connected to the second finger block through a vertical rod. The second guide rod is parallel to the first guide rod, and the output axis of the first guide rod and the linear cylinder are on a straight line.

[0007] Preferably, the rotational connection is a pin connection.

[0008] Preferably, it also includes a mounting plate, a detection rod and a proximity switch. One end of the detection rod is connected to the mounting plate by a bolt, and the other end is on the linear cylinder housing and is slidingly connected to the linear cylinder housing. The mounting plate is connected to the cylinder Y-shaped connecting piece by screws. The proximity switch is installed on the linear cylinder housing. By detecting the position of the detection rod, the opening and closing of the linear cylinder are detected.

[0009] Preferably, the adapter is fixed by a first fixing plate.

[0010] Preferably, the first guide rod is connected to the cylinder Y-shaped connector through the second fixed plug plate, the drive frame, and the first guide rod is connected to the second fixed plug plate, the second fixed plug plate is connected to the drive frame, and the drive frame is connected to the cylinder Y-shaped connector.

[0011] Preferably, a gripper frame is further included, and the linear transmission mechanism is fixed on the gripper frame.

[0012] Preferably, it further comprises a graphite copper sleeve, which is sleeved on the first guide rod and the second guide rod.

[0013] Compared with the prior art, the present invention has the following significant advantages: the present invention is central, adopts a linear cylinder, and transmits power to the finger blocks and finger blocks through the cylinder Y-shaped connector and the connecting rod to achieve synchronous movement; the present invention can transport special-shaped workpieces by replacing the clamping blocks; the present invention has a simple structure, improves the overall rigidity of the structure, reduces the difficulty of control, has simple kinematic analysis, and has good dynamic response. The linear cylinder can realize the transportation movement of various workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a front view of the multi-scene handling device with a synchronously moving robotic gripper according to the present invention.

[0015] Figure 2 This is a partial cross-sectional view of the synchronous moving robot claw multi-scene handling device of the present invention.

[0016] Figure 3 This is a top view of the multi-scene handling device with a synchronously moving robotic gripper of the present invention.

[0017] Figure 4 This is a cross-sectional view in the HH direction of the synchronous moving robot gripper multi-scene handling device of the present invention.

[0018] Figure 5 This is a schematic diagram of the proximity switch installation of the synchronous robot claw multi-scene handling device of the present invention.

[0019] Figure 6 This is an overall schematic diagram of the multi-scene handling device with synchronously moving robotic claws of the present invention.

[0020] Figure 7 This is a schematic diagram of the installation of the first fixed plugboard of the synchronous robot claw multi-scene handling device of the present invention.

[0021] Description of reference numerals:

[0022] Linear cylinder 1, gripper frame 2, lock nut 3, first fixed plate 4, adapter 5, cylinder Y-connector 6, first pin 7, first connecting rod 8, second pin 9, third pin 10, second connecting rod 11, fourth pin 12, drive frame 13, second fixed plate 14, graphite copper sleeve 15, first guide rod 16, first finger block 17, second finger block 18, third connecting rod 19, fifth pin 20, second guide rod 21, mounting plate 22, detection rod 23, proximity switch 24. DETAILED DESCRIPTION

[0023] like Figure 1-Figure 7 As shown, this embodiment provides a synchronous dynamic manipulator gripper multi-scene handling device, which is characterized in that it includes a linear cylinder 1, a gripper frame 2, a first fixed plug plate 4, a cylinder Y-shaped connector 6, a first connecting rod 8, a second connecting rod 11, a driving frame 13, a second fixed plug plate 14, a graphite copper sleeve 15, a first guide rod 16, a first finger block 17, a second finger block 18, a third connecting rod 19, a second guide rod 21, a mounting plate 22, a detection rod 23, and a proximity switch 24. The linear cylinder 1 is connected to the gripper frame 2 by bolts, the linear cylinder 1 is connected to the cylinder Y-shaped connector 6 by an adapter 5, the first fixed plug plate 4 is connected to the adapter 5, the cylinder Y-shaped connector 6 is connected to the first connecting rod 8 by a pin, the first connecting rod 8 is connected to the second connecting rod 11 by a second pin 9, the second connecting rod 11 is connected to the third connecting rod 19 by a fourth pin 12, the second connecting rod 11 is connected to the gripper frame 2 by a third pin 10, the second fixed plug plate 14 is connected to the first guide rod 16, and the third connecting rod 19 is connected to the second guide rod 21 by a fifth pin 20.

[0024] like Figure 5 As shown, the proximity switch 24 is installed on the housing of the linear cylinder 1, one end of the detection rod 23 is connected to the mounting plate 22 by a bolt, and the other end is on the housing of the linear cylinder 1 and is slidably connected to the housing of the linear cylinder 1. The mounting plate 22 is connected to the cylinder Y-shaped connecting piece 6 by a screw. When the linear cylinder 1 is in motion, the detection rod 23 moves linearly with the cylinder Y-shaped connecting piece 6, approaching or moving away from the proximity switch 24. The proximity switch 24 detects the fully open or fully closed state of the cylinder through the position of the detection rod 23.

[0025] like Figure 7 As shown, the first fixed plug plate 4 is connected to the adapter 5, which facilitates the rapid installation and disassembly of the linear cylinder 1 and the cylinder Y-shaped connector 6.

[0026] When the device is used, the linear cylinder 1 moves, the second connecting rod 11 rotates around the third pin 10, driving the first guide rod 16 and the second guide rod 21 to perform synchronous linear motion along the gripper frame 2. The workpiece is located in the middle position between the first finger block 17 and the second finger block 18, and automatic centering grasping can be achieved, and then the workpiece is transported by the robot.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only illustrative of the principles of the present invention. Without departing from the spirit and scope of the present invention, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A synchronous manipulator claw multi-scene handling device, characterized in that: The invention comprises a linear cylinder (1), a linear transmission mechanism, a first finger block (17) and a second finger block (18); the linear transmission mechanism is connected to the linear cylinder (1); the first finger block (17) and the second finger block (18) are detachably mounted on the linear transmission mechanism; the linear cylinder (1) drives the linear transmission mechanism to perform linear motion, and controls the first finger block (17) and the second finger block (18) to move closer or farther away on the same straight line.

2. A synchronous manipulator claw multi-scene handling device according to claim 1, characterized in that: The linear transmission mechanism comprises a cylinder Y-shaped connecting piece (6), a first connecting rod (8), a second connecting rod (11), a first guide rod (16), a third connecting rod (19) and a second guide rod (21); the linear cylinder (1) is connected to the cylinder Y-shaped connecting piece (6) via an adapter (5); the cylinder Y-shaped connecting piece (6) is rotatably connected to one end of the first connecting rod (8); the other end of the first connecting rod (8) is rotatably connected to one end of the second connecting rod (11); the other end of the second connecting rod (11) is rotatably connected to one end of the third connecting rod (19); The third connecting rod (19) is connected to one end of the second guide rod (21), one end of the first guide rod (16) is connected to the cylinder Y-shaped connecting piece (6), and moves linearly with the cylinder Y-shaped connecting piece (6). The end of the first guide rod (16) is detachably connected to the first finger block (17), and the other end of the second guide rod (21) is connected to the second finger block (18) through a vertical rod. The second guide rod (21) is parallel to the first guide rod (16), and the first guide rod (16) and the output shaft of the linear cylinder (1) are on a straight line.

3. A synchronous manipulator claw multi-scene handling device according to claim 2, characterized in that: The rotation connection is a pin connection.

4. The synchronous manipulator claw multi-scene handling device according to claim 2 is characterized in that: The invention also comprises a mounting plate (22), a detection rod (23) and a proximity switch (24); one end of the detection rod (23) is connected to the mounting plate (22) by bolts, and the other end is on the housing of the linear cylinder (1) and is slidably connected to the housing of the linear cylinder (1); the mounting plate (22) is connected to the cylinder Y-shaped connection piece (6) by screws; the proximity switch (24) is installed on the housing of the linear cylinder (1) and detects whether the linear cylinder (1) is on or off by detecting the position of the detection rod (23).

5. The synchronous manipulator claw multi-scene handling device according to claim 2 is characterized in that: The adapter (5) is fixed by a first fixing plug plate (4).

6. The synchronous manipulator claw multi-scene handling device according to claim 2 is characterized in that: The first guide rod (16) is connected to the cylinder Y-shaped connecting piece (6) through the second fixed plug plate (14) and the driving frame (13); the first guide rod (16) is connected to the second fixed plug plate (14); the second fixed plug plate (14) is connected to the driving frame (13); and the driving frame (13) is connected to the cylinder Y-shaped connecting piece (6).

7. The synchronous manipulator claw multi-scene handling device according to claim 2 is characterized in that: It also comprises a gripper frame (2), and the linear transmission mechanism is fixed on the gripper frame (2).

8. The synchronous manipulator claw multi-scene handling device according to claim 2 is characterized in that: It also comprises a graphite copper sleeve (15) which is sleeved on the first guide rod (16) and the second guide rod (21).

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