An automatic retractable multi-performance machine gripper

Abstract

The application discloses a kind of automatic telescopic multi-performance machine clamping jaw of card finger, comprising: clamping jaw mainboard, card finger seat being connected with clamping jaw mainboard by stand, card finger assembly being set on card finger seat and clamping jaw opening assembly being set on clamping jaw mainboard;The card finger assembly includes hollow shaft body being set on card finger seat, two groups of guide pins being spaced apart in hollow shaft body, two groups of movable card fingers being slidably and oppositely arranged in guide pins and first compression spring being arranged between two groups of movable card fingers and driving two groups of movable card fingers to be in open state, second compression spring is provided on the outer sleeve of hollow shaft body, clamping jaw opening assembly can push two groups of movable card fingers to make closed motion to make the product gripped from movable card finger, the automatic telescopic multi-performance machine clamping jaw of card finger of the application can realize automatic positioning and grabbing of product, ensure position accuracy during grabbing process and prevent product from falling off, improve product assembly success rate and assembly accuracy.

Description

Technical Field

[0001] This invention relates to the technical field of automated equipment, and in particular to a multi-functional machine gripper with automatic telescopic gripping. Background Technology

[0002] On automated assembly lines, machine grippers are the most commonly used components. Machine grippers can realize most assembly and testing processes. Currently, most machine grippers on production lines use clamping cylinders to directly hold the product or use suction cups to grab the product. These grippers can cause damage to the product, and the positional accuracy cannot be guaranteed during the gripping process, and product falling off is unavoidable. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a multi-functional automatic telescopic gripper that can automatically position and grasp products, ensuring positional accuracy and preventing product detachment during the grasping process, thereby improving product assembly success rate and assembly accuracy.

[0004] To solve the above-mentioned technical problems, the present invention adopts a multi-functional machine gripper with automatic telescopic gripping fingers, comprising: a gripper main board, a gripping finger seat connected to the gripper main board via a column, a gripping finger assembly disposed on the gripping finger seat, and a gripper opening assembly disposed on the gripper main board; the gripping finger assembly includes a hollow shaft disposed on the gripping finger seat, two sets of guide pins spaced apart within the hollow shaft, two sets of movable gripping fingers slidably and oppositely disposed within the guide pins, and a first compression spring disposed between the two sets of movable gripping fingers and driving the two sets of movable gripping fingers to be in an open state; a second compression spring is sleeved on the hollow shaft; the gripper opening assembly can push the two sets of movable gripping fingers to perform a closing motion so that the gripped product is disengaged from the movable gripping fingers.

[0005] In a preferred embodiment of the present invention, the gripper opening assembly includes a cylinder disposed on the gripper main board, a push rod seat, and multiple sets of push rods disposed on the push rod seat, wherein the output end of the cylinder is connected to the push rod seat via a coupling.

[0006] In a preferred embodiment of the present invention, the lower end of the push rod has a trumpet-shaped structure.

[0007] In a preferred embodiment of the present invention, the push rod seat has a cross-shaped structure, and four sets of push rods are provided on the push rod seat.

[0008] In a preferred embodiment of the present invention, four sets of finger assemblies are provided on the finger holder in correspondence with the push rod. The push rod can be extended into the hollow cavity of the hollow shaft under the drive of the cylinder to push the two sets of movable fingers to move towards each other.

[0009] In a preferred embodiment of the present invention, the two sets of guide pins are interference-fitted with the hollow shaft.

[0010] In a preferred embodiment of the present invention, the second compression spring is constrained between the head of the hollow shaft and the stepped portion of the lower guide pin.

[0011] In a preferred embodiment of the present invention, the head of the hollow shaft is provided with an external thread and is threadedly connected to the finger seat.

[0012] In a preferred embodiment of the present invention, a sensor bracket is provided on the gripper motherboard, and a diffuse reflection switch for detecting whether the active gripper finger has picked up the product is provided on the sensor bracket.

[0013] In a preferred embodiment of the present invention, the gripper motherboard is further provided with a gripper flange for connection to an external device, and a pressure sensor is provided on the gripper flange.

[0014] The beneficial effects of this invention are: This practical automatic telescopic gripper is a multi-functional machine gripper that can automatically position and grasp products, ensure positional accuracy during the grasping process and prevent products from falling off, improve the success rate and accuracy of product assembly, reduce the damage rate of the gripper to the product, and reduce defective products caused by product falling off. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the gripper opening assembly of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of the card finger assembly of the present invention;

[0019] Figure 4 for Figure 3 AA sectional view. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1-4 This invention discloses a multi-functional machine gripper with automatically retractable and extendable gripping fingers, comprising: a gripper main board 1, a gripping finger seat 3 connected to the gripper main board via a column 2, a gripping finger assembly disposed on the gripping finger seat, and a gripper opening assembly disposed on the gripper main board. The gripping finger assembly includes a hollow shaft 4 disposed on the gripping finger seat, two sets of guide pins 5 spaced apart within the hollow shaft, two sets of movable gripping fingers 6 slidably and oppositely disposed within the guide pins, and a first compression spring 7 disposed between the two sets of movable gripping fingers and driving the two sets of movable gripping fingers to an open state. In this embodiment, the two sets of movable gripping fingers are a left movable gripping finger 61 and a right movable gripping finger 61. The movable gripper 62 can slide horizontally back and forth in the guide grooves of the upper and lower sets of guide pins, which can effectively prevent the two sets of movable gripper fingers from deviating when picking up products, thus improving accuracy. The two sets of guide pins are connected to the hollow shaft with an interference fit. A second compression spring 8 is provided on the outer sleeve of the hollow shaft. Specifically, the second compression spring is restricted between the head of the hollow shaft and the step part 51 of the lower guide pin. The setting of the second compression spring can reduce the damage to the product by the mechanical gripper, effectively improve the product qualification rate, and apply appropriate pre-pressure to the product after the movable gripper fingers lift the product to keep the product in a stable state during the gripping process.

[0022] Specifically, the gripper opening assembly can push two sets of movable locking fingers to close, so that the gripped product can be released from the movable locking fingers. The gripper opening assembly includes a cylinder 9, a push rod seat 10, and multiple sets of push rods 11 on the push rod seat. The output end of the cylinder is connected to the push rod seat through a coupling 12. In this embodiment, the push rod seat has a "+" shaped structure and four sets of push rods are provided on the push rod seat. Four sets of locking finger assemblies are provided on the locking finger seat corresponding to the positions of the push rods. The push rod can be extended into the hollow cavity 41 of the hollow shaft under the drive of the cylinder to push the two sets of movable locking fingers to close towards each other. The lower end of the push rod has a trumpet-shaped structure. When the cylinder drives the push rod to move downward and extend into the hollow cavity 41 to contact the upper ends of the two sets of movable locking fingers, the two sets of movable locking fingers will close towards each other under the squeezing of the trumpet-shaped structure. With the pressure of the second compression spring, the product can be released smoothly.

[0023] Specifically, the head of the hollow shaft is provided with an external thread and is threadedly connected to the finger seat. A sensor bracket 13 is provided on the main body of the gripper, and a diffuse reflection switch 14 for detecting whether the movable finger has picked up the product is provided on the sensor bracket. The main body of the gripper is also provided with a gripper flange 15 for connecting to external equipment, and a pressure sensor 16 is provided on the gripper flange.

[0024] Specific workflow:

[0025] The machine gripper of this invention moves to above the product hole under the drive of an external device. A diffuse reflection switch detects the product. The machine gripper moves downward, causing the movable locking fingers to automatically extend into the product hole. Under the force of the first compression spring, the two sets of movable locking fingers open and press against the inner wall of the product hole. The machine gripper moves upward, lifts the product, and moves it to the assembly position. The cylinder of the gripper opening component pushes the push rod downward, thereby pressing the two sets of movable locking fingers together and opening the automatic locking fingers. The machine gripper moves upward, and with the pressure of the second compression spring, the product is disengaged from the movable locking fingers. The cylinder of the locking finger opening component resets.

[0026] The beneficial effects of this invention are:

[0027] (1) It can improve the assembly success rate and assembly accuracy of mechanical grippers, thereby reducing the defect rate of equipment;

[0028] (2) It can reduce the damage to the product caused by the mechanical gripper, and effectively improve the product qualification rate;

[0029] (3) It can be used in workstations where there is no gripping space around the product, making it more versatile than other types of grippers.

[0030] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-functional, automatically retractable gripper, characterized in that, include: The system comprises a gripper main board, a finger holder connected to the gripper main board via a column, a finger assembly mounted on the finger holder, and a gripper opening assembly mounted on the gripper main board. The finger assembly includes a hollow shaft mounted on the finger holder, two sets of guide pins spaced apart within the hollow shaft, two sets of movable fingers sliding and oppositely mounted within the guide pins, and a first compression spring positioned between the two sets of movable fingers and driving them to be in an open state. A second compression spring is sleeved on the hollow shaft. The gripper opening assembly can push the two sets of movable fingers to perform a closing motion, causing the gripped product to disengage from the movable fingers. The two sets of guide pins are interference-fitted with the hollow shaft. The second compression spring is constrained between the head of the hollow shaft and the stepped portion of the lower guide pin.

2. The automatic telescopic multi-functional machine gripper according to claim 1, characterized in that, The gripper opening assembly includes a cylinder, a push rod seat, and multiple push rods mounted on the gripper main board. The output end of the cylinder is connected to the push rod seat via a coupling.

3. The automatic telescopic multi-functional machine gripper according to claim 2, characterized in that, The lower end of the push rod has a trumpet-shaped structure.

4. The automatic telescopic multi-functional machine gripper according to claim 2, characterized in that, The push rod holder has a cross-shaped structure, and four sets of push rods are provided on the push rod holder.

5. The automatic telescopic multi-functional machine gripper according to claim 2, characterized in that, The finger holder is provided with four sets of finger assemblies corresponding to the push rod. The push rod can be extended into the hollow cavity of the hollow shaft under the drive of the cylinder to push the two sets of movable fingers to move towards each other.

6. The automatic telescopic multi-functional machine gripper according to claim 1, characterized in that, The head of the hollow shaft is provided with an external thread and is threadedly connected to the finger seat.

7. The automatic telescopic multi-functional machine gripper according to claim 1, characterized in that, The gripper motherboard is equipped with a sensor bracket, and the sensor bracket is equipped with a diffuse reflection switch for detecting whether the active gripper finger has picked up the product.

8. The automatic telescopic multi-functional machine gripper according to claim 1, characterized in that, The gripper mainboard is also equipped with a gripper flange for connecting to external devices, and a pressure sensor is installed on the gripper flange.

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