Hanger gripper for thin-walled cylindrical workpiece

Abstract

The utility model discloses a thin-walled cylinder workpiece lifting appliance gripper. The gripper comprises two groups of gripper finger structures, the gripper finger structures are mounted on a central shaft of a gripper fixing seat in a staggered manner, a driving device is mounted between the two groups of gripper finger structures, an anti-swing device is mounted on the central shaft, and a clamping sensing device is mounted on each finger of each gripper finger structure. According to the utility model, the grabbing and hoisting work of the thin-walled cylinder workpiece during the machining or assembling process is realized, the part is ensured not to deform during the transferring process, and the influence of the damage of the shape precision and the position precision of the part on the machining and assembling is avoided.

Description

Technical Field

[0001] The utility model relates to the field of automation equipment, in particular to a circular workpiece hoisting device gripper. Background Art

[0002] Thin-walled cylindrical parts are widely used in aerospace, automobile manufacturing, machinery manufacturing, electronic equipment and other fields. These parts are large in size and thin in wall. If they are not properly controlled during the hoisting and transportation during processing or assembly, it is easy to cause deformation of the parts and destroy the original processing accuracy.

[0003] At present, such parts are usually transported by people operating cranes during processing or assembly, or by other mechanical equipment, such as robots or trusses, carrying grippers.

[0004] In the traditional working mode, when manually operating a crane to transfer thin-walled cylindrical workpieces, a rope is usually used to cover the workpiece. Although the workpiece can be lifted in this way, the posture of the workpiece is not fixed during the transfer process, and the operator needs to hold it steady with his hands. If the workpiece is heavy, the workpiece may hit the surrounding equipment or personnel, causing safety accidents and damaging the precision of the parts.

[0005] Current grippers usually use electricity, gas, or hydraulics as a drive to directly lock the workpiece for transportation. This type of gripper can easily cause deformation of thin-walled cylindrical parts. Utility Model Content

[0006] The utility model aims to provide a thin-walled cylindrical workpiece hoist gripper to realize the grabbing and hoisting work during the transportation of the thin-walled cylindrical workpiece during the processing or assembly process, ensure that the parts are not deformed during the transportation process, and avoid the influence of the shape accuracy and position accuracy of the parts on the processing and assembly.

[0007] The above purpose is achieved through the following technical solutions:

[0008] A thin-walled cylindrical workpiece hanger gripper comprises: two groups of gripper finger structures, the gripper finger structures are staggeredly installed on the central axis of a gripper fixing seat, a driving device is installed between the two groups of gripper finger structures, an anti-sway device is installed on the central axis, and a clamping sensing device is installed on each finger of the gripper finger structure.

[0009] Furthermore, the driving device includes a driving motor, the driving motor is connected to the reducer, the reducer is connected to the lead screw through a coupling, the coupling is mounted on a bearing seat, the bearing seat is mounted between two adjacent fingers of the gripper finger structure on one side, a nut seat is mounted on the lead screw, and the nut seat is mounted on the gripper finger structure on the other side.

[0010] Furthermore, the anti-sway device includes a display rack, and protective covers and hydraulic buffers are installed on both sides of the top of the display rack. The protective covers and hydraulic buffers are installed on the gripper fixing seat.

[0011] Furthermore, the clamping sensing device includes a fine-tuning plate, the fine-tuning plate is connected to a sensing contact and a spring, and the sensing contact is connected to a proximity switch.

[0012] Furthermore, a fine-tuning pad is installed on the fine-tuning plate.

[0013] Beneficial effects of the utility model:

[0014] The utility model replaces manual lifting to lift workpieces, improves the degree of automation in processing and assembly, and reduces potential safety hazards in the lifting process; reduces deformation of thin-walled cylindrical workpieces during transportation, ensuring that shape accuracy and positioning accuracy are not affected; adapts to thin-walled cylindrical workpieces of different sizes, and a set of grippers can be used to grab workpieces of sizes within a certain range; maintains a stable posture during transportation, does not shake everywhere, and reduces the risk of bumps. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Attached Figure 1 It is a structural schematic diagram of the utility model.

[0016] Attached Figure 2 It is a structural schematic diagram of the driving device of the utility model.

[0017] Attached Figure 3 It is a structural schematic diagram of the anti-sway device of the utility model.

[0018] Attached Figure 4 It is a structural schematic diagram of the clamping device of the utility model. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] A thin-walled cylindrical workpiece hanger gripper, as shown in the attached Figure 1As shown, it includes: 2 groups of gripper finger structures 4, the gripper finger structures 4 are staggeredly installed on the central axis 2 of the gripper fixing seat 6, a driving device 5 is installed between the 2 groups of gripper finger structures 4, an anti-sway device 1 is installed on the central axis 2, and a clamping sensing device is installed on each finger of the gripper finger structure 4.

[0021] As attached Figure 2 As shown, the driving device comprises: a servo motor 5-1, a reducer 5-2, a coupling 5-3, a bearing seat 5-4, a nut seat 5-5, and a lead screw 5-6. The driving device 5 comprises a driving motor 5-1, the driving motor 5-1 is connected to the reducer 5-2, the reducer 5-2 is connected to the lead screw 5-6 through a coupling 5-3, the coupling 5-3 is mounted on the bearing seat 5-4, the bearing seat 5-4 is mounted between two adjacent fingers of the gripper finger structure 4 on one side, the lead screw 5-6 is mounted with a nut seat 5-5, and the nut seat 5-5 is mounted on the gripper finger structure 4 on the other side.

[0022] As attached Figure 3 As shown, a protective cover 1-2 and a hydraulic buffer 1-3 are arranged on both sides of the top of the anti-sway frame 1-1 in the anti-sway device 1, the anti-sway frame 1-1 is installed on the central shaft 2, and the protective cover 1-2 and the hydraulic buffer 1-3 are installed on the gripper fixing seat 6;

[0023] As attached Figure 4 As shown, the clamping sensing device includes a proximity switch 4-1, a sensing contact 4-2, a spring 4-3, a fine-tuning plate 4-4, and a fine-tuning pad 4-5. The clamping sensing device includes a fine-tuning plate 4-4, the fine-tuning plate 4-4 is connected to the sensing contact 4-2 and the spring 4-3, the sensing contact 4-2 is connected to the proximity switch 4-1, and the fine-tuning pad 4-5 is installed on the fine-tuning plate 4-4.

[0024] Working principle:

[0025] The gripper fingers are arranged in a staggered manner and installed on the central axis 2; the bearing seat 5-4 of the drive device 5 is installed between two adjacent fingers on the same side, and the nut seat 5-5 of the drive device 5 is installed on the finger on the other side; the servo motor 5-1 drives the screw nut pair to move to control the opening and closing of the clamp; each gripper finger is provided with a detection sensor, when the gripper holds the workpiece, the fine-tuning plate 4-4 will be squeezed by the workpiece, and the sensing contact 4-2 will send a signal after approaching the proximity switch, and the system controls the gripper drive to stop moving and maintain the gripper posture, ensuring that the gripper holds the workpiece and does not further compress the workpiece to avoid deformation of the workpiece 3; two hydraulic buffers 1-3 are arranged on each side of the anti-sway frame 1-1, when the gripper is deflected by force, the hydraulic buffer 1-3 will absorb the deflection energy and rebound, allowing the gripper to return to the initial position to prevent the gripper from swinging back and forth.

[0026] The arrangement of the number of fingers of the gripper finger structure in the utility model is not affected and can be arranged according to the actual size of the workpiece.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model 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 utility model.

Claims

1. A thin-walled cylindrical workpiece hanger gripper, characterized in that: include: Two groups of gripper finger structures (4), the gripper finger structures (4) are staggeredly mounted on the central axis (2) of the gripper fixing seat (6), a driving device (5) is installed between the two groups of gripper finger structures (4), an anti-sway device (1) is installed on the central axis (2), and a clamping sensing device is installed on each finger of the gripper finger structure (4).

2. The thin-walled cylindrical workpiece hanger gripper according to claim 1, characterized in that: The driving device (5) comprises a driving motor (5-1), the driving motor (5-1) is connected to a reducer (5-2), the reducer (5-2) is connected to a lead screw (5-6) via a coupling (5-3), the coupling (5-3) is mounted on a bearing seat (5-4), the bearing seat (5-4) is mounted between two adjacent fingers of the gripper finger structure (4) on one side, a nut seat (5-5) is mounted on the lead screw (5-6), and the nut seat (5-5) is mounted on the gripper finger structure (4) on the other side.

3. The thin-walled cylindrical workpiece hanger gripper according to claim 1 or 2, characterized in that: The anti-sway device (1) comprises a display rack (1-1), and protective sleeves (1-2) and hydraulic buffers (1-3) are installed on both sides of the top of the display rack (1-1), and the protective sleeves (1-2) and hydraulic buffers (1-3) are installed on the gripper fixing seat (6).

4. The thin-walled cylindrical workpiece hanger gripper according to claim 1 or 2, characterized in that: The clamping sensing device comprises a fine-tuning plate (4-4), the fine-tuning plate (4-4) is connected to a sensing contact (4-2) and a spring (4-3), and the sensing contact (4-2) is connected to a proximity switch (4-1).

5. The thin-walled cylindrical workpiece hanger gripper according to claim 4, characterized in that: A fine-tuning pad (4-5) is installed on the fine-tuning plate (4-4).

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