A clamping jaw for flexible workpiece clamping

Abstract

The utility model relates to a clamping jaw for clamping a flexible workpiece, belonging to the technical field of clamping jaws, comprising a central column, the central column is slidably connected to a connecting piece, the middle part of the connecting piece is rotatably connected to at least two clamping teeth, and a clamping gap is left between the lower end of the clamping teeth and the lower end of the central column. The utility model has the advantage of good clamping effect.

Description

Technical Field

[0001] This utility model relates to a gripper for holding flexible workpieces, belonging to the field of gripper technology. Background Technology

[0002] Grippers are the most common type of end effector. They are components mounted on the arm of an industrial robot that directly grasp workpieces or perform tasks. They have the functions of clamping, transporting, and placing workpieces to a certain position. Grippers can be divided into rigid grippers and flexible grippers. Currently, the most commonly used type in industry is the rigid two-finger gripper.

[0003] Chinese Patent No. CN210938306U discloses a gripper, including a body, a drive mechanism, and two gripping members. The drive mechanism is disposed on the body, and the two gripping members are slidably disposed on the body. The drive mechanism is connected to the two gripping members respectively and can drive the two gripping members to move towards or away from each other. The body is provided with a receiving groove, one end of the gripping member is received in the receiving groove, and the other end protrudes out of the body. The two opposite side walls of the receiving groove are respectively provided with sliding grooves. The two sides of the gripping member are respectively provided with sliding parts that can be embedded in the sliding grooves. The sliding parts include intersecting first side and second side, and the first side and second side are respectively in contact with the groove wall of the sliding groove.

[0004] The inventors believe that when using the above-mentioned grippers to hold flexible workpieces, the flexible workpieces will deform under force, and the workpieces are easy to fall out of the grippers, thus affecting the gripping effect. Utility Model Content

[0005] This invention addresses the shortcomings of existing technologies by providing a gripper for holding flexible workpieces.

[0006] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A gripper for clamping flexible workpieces includes a central column, a connecting member slidably connected to the central column, at least two clamping teeth rotatably connected to the middle of the connecting member, and a clamping gap is left between the lower end of the clamping teeth and the lower end of the central column.

[0007] Based on the above technical solution, the present invention can be further improved as follows:

[0008] Furthermore, the central column includes column one and column two. Column one has a connecting block at its upper end. The cross-sectional area of ​​the connecting block is larger than the cross-sectional area of ​​column one. A return spring is sleeved on the outer side of column one.

[0009] Furthermore, the connector includes a pressure ring and a lower ring, which are detachably connected by bolts.

[0010] Furthermore, the lower ring has a vertical groove that matches the clamping teeth, and the lower end of the pressure ring has a slot that communicates with the vertical groove, with the end of the clamping teeth located in the slot.

[0011] Furthermore, the clamping teeth include a rotating part, a middle part, and a clamping part. The rotating part is located in the slot, the middle part is located in the vertical groove, and a clamping gap is left between the clamping part and the lower ring.

[0012] Furthermore, an installation groove 1 is provided on the outer side of the lower ring, and an installation groove 2 connected to the installation groove 1 is provided in the middle part. An elastic fastening ring is provided in the installation groove 1 and the installation groove 2.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This application sets up a central column, a connecting piece, and clamping teeth, and leaves a clamping gap between the lower end of the clamping teeth and the lower end of the central column. When using the clamping jaw to clamp a circular flexible workpiece, the lower end of the central column is aligned with the workpiece, and the entire clamping jaw is pressed down. At this time, the circular flexible workpiece can be stuck in the clamping gap. After the clamping jaw clamps the workpiece to the required position, the clamping jaw is pressed down again. After the clamping teeth abut against the workpiece placement position, the connecting piece and the clamping teeth slide on the central column, thereby realizing the unloading of the workpiece without damaging it, while ensuring the gripping effect of the workpiece.

[0015] 2. By setting a return spring, when the connecting piece and the clamping teeth slide on the central column to release the workpiece, when the clamping jaws rise and the workpiece is released, the connecting piece and the clamping jaws can slide to the lower end of the central column under the action of the return spring, thereby facilitating the gripping and releasing of the workpiece in the next process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a gripper for holding a flexible workpiece in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram highlighting the fastening ring in an embodiment of this application;

[0018] Figure 3 This is a schematic diagram highlighting the installation slot 1 in the embodiments of this application.

[0019] In the diagram, 1. Central column; 11. Column 1; 12. Column 2; 13. Connecting block; 2. Return spring; 3. Connecting piece; 31. Pressure ring; 32. Lower ring; 33. Vertical groove; 34. Slot; 4. Clamping tooth; 41. Rotating part; 42. Middle part; 43. Clamping part; 44. Chamfer; 51. Mounting groove 1; 52. Mounting groove 2; 53. Fastening ring; 61. Flat surface; 62. Curved surface; 63. Sliding groove. Detailed Implementation

[0020] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0022] like Figure 1 , Figure 2 and Figure 3 As shown, a gripper for holding flexible workpieces includes a central column 1, a connecting member 3 slidably connected to the central column 1, and at least two gripping teeth 4 rotatably connected to the middle of the connecting member 3. A gripping gap 7 is left between the lower end of the gripping teeth 4 and the lower end of the central column 1. When using the gripper to hold a circular flexible workpiece, the lower end of the central column 1 is aligned with the workpiece, and the gripper is pressed down as a whole. At this time, the circular flexible workpiece can be stuck in the gripping gap 7. After the gripper holds the workpiece to the required position, the gripper is pressed down again as a whole. After the gripping teeth 4 abut against the workpiece placement position, the connecting member 3 and the gripping teeth 4 slide on the central column 1, thereby realizing the unloading of the workpiece without damaging it, while ensuring the gripping effect of the workpiece and making it difficult for the workpiece to fall off.

[0023] like Figure 1 , Figure 2 and Figure 3As shown, the central column 1 includes a first column 11 and a second column 12. The cross-sectional area of ​​the first column 11 is smaller than that of the second column 12. A connecting block 13 is provided at the upper end of the first column 11. The cross-sectional area of ​​the connecting block 13 is larger than that of the first column 11. A return spring 2 is sleeved on the outside of the first column 11. The return spring 2 is located between the connecting block 13 and the connecting member 3. When the connecting member 3 slides upward on the central column 1, the return spring 2 is in a compressed state. Therefore, when the connecting member 3 and the clamping teeth 4 slide on the central column 1 to release the workpiece, when the clamping teeth rise and the workpiece is released, under the action of the return spring 2, the connecting member 3 and the clamping teeth can slide to the lower end of the central column 1, which facilitates the gripping and releasing of the workpiece in the next process. When the connecting member 3 slides to the lower end of the central column 1, the return spring 2 is still in a compressed state. The return spring 2 always gives the connecting member 3 a downward force, which facilitates the clamping teeth 4 to cooperate with the lower end of the central column 1 to clamp and transport the workpiece.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the connector 3 includes a pressure ring 31 and a lower ring 32. The pressure ring 31 and the lower ring 32 are detachably connected by bolts, which facilitates the assembly of the gripper and also facilitates the inspection or maintenance of the gripper. The lower ring 32 is located on the outside of the main body 2, and the pressure ring 31 is located on the upper end of the column 2 12 and on the outside of the column 1 11. The lower ring 32 has a vertical groove 33 that matches the gripper teeth 4. The lower end of the pressure ring 31 has a slot 34 that communicates with the vertical groove 33. The end of the gripper teeth 4 is located in the slot 34. When assembling the gripper, first put the lower ring 32 on the outside of the column 2 12, then put the gripper teeth 4 in the vertical groove 33, then align the slot 34 of the pressure ring 31 with the upper end of the gripper teeth 4, and then use bolts to install the pressure ring 31 and the lower ring 32 together, so as to realize the assembly of the gripper, connector 3 and central column 1.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, the clamping tooth 4 includes a rotating part 41, a middle part 42, and a clamping part 43. The rotating part 41 is located in the slot 34, and the cross-section of the rotating part 41 is spherical. When the clamping tooth 4 rotates to pick up and put away the workpiece, the rotating part 41 rotates in the slot 34, which facilitates the clamping part 43 to clamp the workpiece. The middle part 42 is located in the vertical groove 33, and the middle part 42 connects the rotating part 41 and the clamping part 43. A clamping gap 7 is left between the clamping part 43 and the lower ring 32, and the clamping part 43 and the middle part 42 form an obtuse angle. The end of the clamping part 43 away from the middle part 42 is close to the second column 12. By setting the clamping part 43, it is convenient to clamp the workpiece. The lower end of the clamping part 43 is close to the second column 12, which can ensure the clamping firmness of the workpiece and reduce the problem of the workpiece falling out of the clamping gap 7.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown, the lower end of the second column 12 is provided with a chamfer 44 that is directly opposite to the clamping part 43. When the second column 12 and the clamping part 43 cooperate to clamp the workpiece, the problem of the lower edge of the second column 12 damaging the workpiece can be reduced, thereby protecting the workpiece.

[0027] like Figure 1 , Figure 2 and Figure 3 As shown, the lower ring 32 has a first mounting groove 51 on its outer side, and the middle part 42 has a second mounting groove 52 that communicates with the first mounting groove 51. Elastic fastening rings 53 are provided in the first mounting groove 51 and the second mounting groove 52. When the clamping teeth 4 clamp the workpiece, the fastening ring 53 provides a centering force to the clamping teeth 4, thus preventing the workpiece located in the clamping gap 7 from falling off. This ensures the tightness of the workpiece clamping and prevents the workpiece from easily falling off. Therefore, the force exerted by the fastening ring 53 on the clamping teeth 4 plays a crucial role when picking up and putting down the workpiece. The installation of the fastening ring 53 in the first mounting groove 51 and the second mounting groove 52 ensures the stability of the fastening ring 53 installation and prevents it from easily falling off.

[0028] like Figure 1 , Figure 2 and Figure 3 As shown, the contact surface between the column 11 and the pressure ring 31 has two flat surfaces 61 and two curved surfaces 62. When the pressure ring 31 slides on the column 11, the flat surfaces 61 and curved surfaces 62 ensure the smoothness of the sliding of the pressure ring 31. A sliding groove 63 is provided at the contact point between the pressure ring 31 and the flat surfaces 61 and curved surfaces 62. By providing the sliding groove 63, the wear of the metal edges at the flat surfaces 61 and curved surfaces 62 on the pressure ring 31 can be reduced, thereby extending the service life of the pressure ring 31 to a certain extent.

[0029] The implementation principle of a gripper for holding flexible workpieces in this application embodiment is as follows: When using the gripper to hold a circular flexible workpiece, the lower end of the central column 1 is aligned with the workpiece, and the gripper is pressed down as a whole. At this time, the circular flexible workpiece can be stuck in the gripping gap 7. After the gripper holds the workpiece to the required position, the gripper is pressed down as a whole again. After the gripping teeth 4 come into contact with the workpiece placement position, the connecting piece 3 and the gripping teeth 4 slide upward on the central column 1, and the gripping teeth 4 release the workpiece, thereby realizing the unloading of the workpiece.

[0030] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0031] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A gripper for holding flexible workpieces, characterized in that: It includes a central column (1), which is slidably connected to a connector (3). At least two clamping teeth (4) are rotatably connected to the middle of the connector (3), and a clamping gap (7) is left between the lower end of the clamping teeth (4) and the lower end of the central column (1).

2. The gripper for holding flexible workpieces according to claim 1, characterized in that: The central column (1) includes a column body one (11) and a column body two (12). The upper end of the column body one (11) is provided with a connecting block (13). The cross-sectional area of ​​the connecting block (13) is larger than the cross-sectional area of ​​the column body one (11). A reset spring (2) is sleeved on the outside of the column body one (11).

3. A gripper for holding flexible workpieces according to claim 1, characterized in that: The connector (3) includes a pressure ring (31) and a lower ring (32), which are detachably connected by bolts.

4. A gripper for holding flexible workpieces according to claim 3, characterized in that: The lower ring (32) has a vertical groove (33) that matches the clamping teeth (4), and the lower end of the pressure ring (31) has a slot (34) that communicates with the vertical groove (33), with the end of the clamping teeth (4) located in the slot (34).

5. A gripper for holding flexible workpieces according to claim 4, characterized in that: The clamping tooth (4) includes a rotating part (41), a middle part (42) and a clamping part (43). The rotating part (41) is located in the slot (34), the middle part (42) is located in the vertical groove (33), and a clamping gap (7) is left between the clamping part (43) and the lower ring (32).

6. A gripper for holding flexible workpieces according to claim 5, characterized in that: The lower ring (32) has an installation groove 1 (51) on its outer side, and the middle part (42) has an installation groove 2 (52) that communicates with the installation groove 1 (51). The installation groove 1 (51) and the installation groove 2 (52) are provided with elastic fastening rings (53).

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