A gripper with the ability to pry and stack forgings

Abstract

The present invention discloses a gripper with prying and stacking capabilities, which relates to the technical field of robotic gripper devices. Aiming at the clamping and stacking of forgings in a mold, the gripper includes a finger module, a support module, a transmission module, and a flange connection module. The finger module is in direct contact with the forging to achieve the grasping function. The support module is the structural framework of the gripper, and this module connects the finger module and the flange connection module, enabling the transmission module to effectively transmit kinetic energy under the support of the support module. For this robotic gripper device, through the coordinated use of the long and short fingers of the symmetric two-finger structure, the short finger pries the forging out of the mold, and the long finger gradually closes with the short finger as the angle of the forging lifted by the crossbeam increases, ultimately enabling the gripper to fully clamp the forging and remove it from the die forging press. For safety reasons, when the mold is taken out, the gripper will rotate 180°, ensuring the safety of the forging with the long finger at the bottom. Through the coordinated use of the four modules, the forging can be better clamped and stacked.

Description

Technical Field

[0001] The present invention relates to the field of robots or other automatic mechanical actuators, and particularly to a gripper suitable for prying and stacking forgings. Background Art

[0002] The gripper is an essential part of the end operation of an industrial robot. As an end gripper, in addition to a professional mechanical gripper, it also needs to be modified according to specific positions and devices. According to a specific working surface, it is very necessary to design an end gripper suitable for the working surface. On the forging working surface, a gripper with the ability to pry and stack forgings is obviously safer and more accurate than an ordinary mechanical gripper for gripping. In addition to gripping forgings from the mold according to the specific positions of the mold and the forgings, and without causing damage to the forgings in the mold, there are very high requirements for the gripper. Currently, there are very few end grippers that can grip and stack forgings suitable for the working scenario of mold forgings. Summary of the Invention

[0003] In view of the above problems, the present invention proposes a gripper with the ability to pry and stack. According to the designed structure, it pries the forgings in the mold, and then grips and stacks them, with the characteristics of high efficiency and safety.

[0004] The technical solution of the present invention is as follows:

[0005] A gripper with the ability to pry and stack forgings, which is divided into four modules, including a finger module, a support module, a transmission module, and a flange connection module;

[0006] The finger module includes a long finger joint, a short finger joint, a "Y-shaped" finger joint, an auxiliary constraint block, a finger joint connection block, an envelope finger inner joint, an envelope finger outer joint, as well as screws and pins. The finger module includes two fingers of different lengths. The long finger joint is located above the front end of the gripper, and the short finger joint is located below the front end of the finger module, used to pry the forgings in the mold. The long finger joint cooperates with the short finger joint to grip the forgings in the mold. It is characterized in that: the short finger joint can pry the forging from the mold, and then the long finger joint gradually closes with the short finger joint as the angle of the forging lifted by the short finger joint increases. The long finger joint and the short finger joint are connected to the "Y-shaped" finger joint. At the same time, the "Y-shaped" finger joint is connected to the inner and outer envelope finger joints through the finger joint connection block. There are two M8 positioning threaded holes at the finger end of the "Y-shaped" finger joint, used to realize the threaded assembly of the "Y-shaped" finger joint with the long and short finger joints through screws or bolts. However, in order to allow the "Y-shaped" finger joint to rotate around the positioning axis on the finger joint connection block, and the rotation angle range is slightly larger but does not affect the normal operation of the gripper, an auxiliary constraint block is designed to prevent the "Y-shaped" finger joint from affecting the normal operation of the gripper due to excessive freedom.

[0007] The support module includes a support plate housing, a support plate connecting plate, an inner support plate, and an outer support plate. The support module is the basic module of the entire end effector. The finger module, the transmission module, and the flange connection module all need to be directly or indirectly installed on the support module. The inner and outer support plates are the parts directly connected to the finger module, ensuring that the finger module can smoothly complete the specified actions. The support connecting plate is a module unit used to connect the inner and outer support plates. There are positioning threaded holes at the bottom ends of the inner and outer support plates, which cooperate with the positioning threaded holes on the support plate connecting plate.

[0008] The transmission module is composed of a drive module unit and a transmission block unit. The drive module unit is the starting point of the kinetic energy of the gripper. The kinetic energy output by the drive module unit is transmitted to the execution module unit through the transmission module unit, enabling the gripper to complete the specified actions. The transmission module includes a drive module unit, a rod sleeve, a transmission block connecting rod, and a transmission block. The transmission block directly cooperates with the envelope finger outer joint of the finger module. The envelope finger outer joint and the transmission block form a crank-slider mechanism. The two units are engaged with each other through notches. The up and down movement of the transmission block drives the envelope finger outer joint to rock back and forth, further driving the long and short finger joints of the finger module. The transmission block connecting rod is fixedly connected by screws and cooperates with the two transmission blocks. As the power source of the finger module, the drive module unit realizes the extension and retraction of the piston push rod through the entry and extraction of gas in the cylinder. The thrust of the piston is transmitted to the envelope finger outer joint through the transmission block, and then from the envelope finger outer joint to the "Y-shaped" finger joint and the long and short finger joints through the finger joint connecting block, to realize the clamping and stacking of the forging by the gripper.

[0009] Advantages of the present invention:

[0010] The present invention is composed of four modules. The finger module adopts a symmetric two-finger structure, combined with the perfect cooperation between the long and short finger joints, which can realize that the short finger pries the forging out of the mold and inserts it into the mold. After prying, the long finger clamps the forging above. For safety reasons, after clamping, the end effector is rotated by the transmission module, rotated 180° to flip the long finger to the bottom to lift the entire forging, and then the forging is clamped and stacked. According to the mechanical principle, the perfect cooperation of each module enables the end effector to better complete the tasks of forging clamping and stacking.

[0011] The following further elaborates the present invention in detail with reference to the accompanying drawings and specific embodiments: Description of the Drawings

[0012] Figure 1 It is the overall assembly drawing of the end effector of the present invention.

[0013] Figure 2 It is the prying state of the short finger joint of the finger module of the end effector of the present invention for the forging.

[0014] Figure 3 This is the clamping state where the finger module of the end effector of the present invention clamps a hot forging.

[0015] Figure 4 This is the rotating state where the finger module of the end effector of the present invention rotates the forging by 180°.

[0016] Figure 5 This is the parallel state where the finger module of the end effector of the present invention holds the forging.

[0017] Figure 6 This is the open state where the finger module of the end effector of the present invention stacks the forging at a specified position and opens its fingers to stack the forging. Detailed implementation mode

[0018] It can be seen from Figure 1 that the finger module includes a long finger joint 1, a short finger joint 2, a "Y-shaped" finger joint 3, an auxiliary restraint block 4, a finger joint connection block 5, an envelope finger inner joint 6, an envelope finger outer joint 7, as well as screws 8 and pins 9. The finger module includes two fingers of different lengths. The long finger joint is located above the front end of the gripper, and the short finger joint 2 is located below the front end of the finger module and is used to pry the forging in the mold. The long finger joint 1 cooperates with the short finger joint 2 to clamp the forging in the mold. The long finger joint 1 cooperates with the short finger joint 2 to clamp the forging in the mold. Its characteristics are as follows: the short finger joint 2 can pry the forging out of the mold, and then the long finger joint 1 gradually closes with the short finger joint 1 as the angle at which the long finger joint 1 lifts the forging following the short finger joint 2 increases. The long finger joint 1 and the short finger joint 2 are connected to the "Y-shaped" finger joint 3, and at the same time, the "Y-shaped" finger joint 3 is connected to the envelope finger inner joint 6 and the envelope finger outer joint 7 through the finger joint connection block. There are two M8 positioning threaded holes at the finger end of the "Y-shaped" finger joint 3, which are used to realize the threaded assembly of the "Y-shaped" finger joint 3 with the long finger joint 1 and the short finger joint 2 through screws 8 or bolts. However, in order to allow the "Y-shaped" finger joint 3 to rotate around the positioning shaft on the finger joint connection block, and the rotation angle range is slightly larger but does not affect the normal operation of the gripper, an auxiliary restraint block 4 is designed to restrain the "Y-shaped" finger joint 3 from affecting the normal operation of the gripper due to excessive freedom;

[0019] The support module includes a support plate housing 10, a support plate connecting plate 11, an inner support plate 12 and an outer support plate 13. The support module is the basic module of the entire end clamp. The finger module, transmission module and flange connection module need to be directly or indirectly installed on the support module. The inner support plate 12 and the outer support plate 13 are the parts directly connected to the finger module to ensure that the finger module can successfully complete the specified action. The support connecting plate 11 is a module unit used to connect the inner and outer support plates. The bottom ends of the inner support plate 12 and the outer support plate 13 have positioning threaded holes, which match the positioning threaded holes on the support plate connecting plate 11;

[0020] The transmission module is composed of a driving module unit and a transmission block unit. The driving module unit is the starting point of the kinetic energy of the clamp. The kinetic energy output by the driving module unit is transmitted to the execution module unit through the transmission module unit, so that the clamp completes the specified action. The transmission module includes a driving module unit 14, a rod sleeve 15, a transmission block connecting rod 16 and a transmission block 17. The transmission block 17 directly cooperates with the enveloping finger joint 7 of the finger module. The enveloping finger joint 7 and the transmission block 17 constitute a crank slider mechanism. The two units are matched in notches. The up and down movement of the transmission block 17 drives the enveloping finger joint 7 to shake back and forth, so that it further drives the long finger joint 1 and the short finger joint 2 of the finger module. The transmission block connecting rod 16 is fastened by screws and cooperates with the two transmission blocks. The driving module unit 14 serves as the power source of the finger module. The piston pushes out and retracts by the entry and extraction of gas in the cylinder. The thrust of the piston is transmitted to the enveloping external finger joint 7 through the transmission block 17, and then transmitted from the enveloping external finger joint 7 to the "Y-shaped" finger joint 3 and the long finger joint 1 and the short finger joint 2 through the finger joint connecting block 5, so as to realize the clamping and stacking of the forging by the clamp.

[0021] Depend on Figure 2 It can be seen that the symmetrical long and short finger joints and "Y-shaped" finger joints are used for fixation, and the opening and clamping of the fingers are controlled according to the enveloping finger joints. The purpose of clamping and stacking the forgings in the mold is achieved, and its reliability and applicability are very high, cooperating with the transmission module to clamp and open the finger module.

[0022] Depend on Figure 3 It can be seen that after the forging is pried up at a certain angle, the long finger joints of the finger module move closer to the short finger joints as the forging is lifted, thereby achieving the goal of clamping the forging.

[0023] Depend on Figure 4 It can be seen that in order to ensure that the forging is not damaged by external forces when it is pried out from the die, short finger joints are set for prying. However, the weight of the forging cannot be borne by the short finger joints alone, so long finger joints are set to bear the weight. By rotating the palm 180°, the long finger joints are placed underneath to bear the weight, thus avoiding accidents when the forging is taken out of the die.

[0024] As can be seen from Figure 5 when the manipulator transports the forging to the specified position, the finger module safely stacks the forging at the target location.

[0025] It should be noted that the above description of the present invention is detailed enough and has a certain particularity. The scope of protection required by the present invention is defined by the claims described, rather than by the above description in the embodiments.

Claims

1. A gripper with the ability to pry and stack forgings, which is divided into four modules, including a finger module, a support module, a transmission module, and a flange connection module; the finger module includes a long finger joint (1), a short finger joint (2), a "Y-shaped" finger joint (3), an auxiliary restraint block (4), a finger joint connection block (5), an envelope finger inner joint (6), an envelope finger outer joint (7), as well as screws (8) and pins (9). The finger module includes fingers of two different lengths. The long finger joint (1) is located above the front end of the finger module, and the short finger joint (2) is located below the front end of the finger module. The short finger joint (2) is used to pry the forgings in the mold, and the long finger joint (1) cooperates with the short finger joint (2) to clamp the forgings in the mold. It is characterized in that: The short finger joint (2) pries the forging out of the die. As the short finger joint (2) lifts the forging, the long finger joint (1) gradually closes with the short finger joint (1). The long finger joint (1) and the short finger joint (2) are connected to the "Y-shaped" finger joint (3). At the same time, the "Y-shaped" finger joint (3) is connected to the envelope finger inner joint (6) and the envelope finger outer joint (7) through the finger joint connecting block. Two M8 positioning threaded holes are provided at the finger end of the "Y-shaped" finger joint (3). The "Y-shaped" finger joint (3) is threadedly assembled with the long and short finger joints (1)(2) through screws (8) or bolts. In order to allow the "Y-shaped" finger joint (3) to rotate around the positioning shaft on the finger joint connecting block (5), and the rotation angle range is slightly larger but does not affect the normal operation of the gripper, an auxiliary restraint block (4) is set to restrain the "Y-shaped" finger joint (3) from affecting the normal operation of the gripper due to excessive freedom; The transmission module includes a drive module unit (14), a rod sleeve (15), a transmission block connecting rod (16) and a transmission block (17). The transmission block (17) directly cooperates with the envelope finger outer joint (7) of the finger module. The envelope finger outer joint (7) and the transmission block (17) form a crank-slider mechanism. The two units are engaged with each other through notches. The up and down movement of the transmission block (17) drives the envelope finger outer joint (7) to rock back and forth, further driving the long and short finger joints (1)(2) of the finger module. The transmission block connecting rod (16) is fixedly connected by screws and cooperates with the two transmission blocks; The drive module unit (14) serves as the power source of the finger module, and realizes the push-out and retraction of the piston push rod by the entry and extraction of gas in the cylinder. The thrust of the piston is transmitted to the envelope finger outer joint (7) through the transmission block (17), and then from the envelope finger outer joint (7) to the "Y-shaped" finger joint (3) and the long and short finger joints (1)(2) through the finger joint connecting block (5), realizing the clamping and stacking of the forging by the gripper; After the gripper clamps the forging from the die, it rotates 180°, aiming at safer clamping and position transformation.

2. The gripper according to claim 1, wherein: The support module includes a support plate housing (10), a support plate connecting plate (11), an inner support plate (12) and an outer support plate (13). The support module is the basic module of the entire gripper. The finger module, the transmission module, and the flange connection module are directly or indirectly installed on the support module. The inner and outer support plates (12)(13) are the parts directly connected to the finger module to ensure that the finger module smoothly completes the specified actions. The support plate connecting plate (11) is a module unit used to connect the inner and outer support plates. The bottom ends of the inner and outer support plates (12)(13) both have positioning threaded holes, which cooperate with the positioning threaded holes on the support plate connecting plate (11).

3. The gripper according to claim 1, wherein: The number of the long finger joints is 2; the number of the short finger joints is 2.

4. The holder according to claim 1, characterized in that: The number of the envelope finger outer joints is 2; the number of the envelope finger inner joints is 2.

Images