Clamping jaw manipulator

Abstract

The invention discloses a clamping jaw manipulator which comprises a base, a clamping jaw, a clamping jaw, a clamping jaw and a clamping jaw. The base rod is arranged in the middle of the lower end face of the base, an insertion block is arranged in the middle of at least one side of the base rod, and a product insertion groove is formed by the insertion block and the side wall of the base rod; the chuck is rotationally arranged in the chuck mounting groove, and a preset distance is reserved between the chuck and the bottom of the chuck mounting groove; the elastic piece is arranged at one end of the chuck and forces the chuck to be close to one side of the product slot; the clamp opening air cylinder is movably connected with one end of the clamping head, and the clamp opening air cylinder drives the clamping head to rotate towards the side away from the product inserting groove; the stripping rod penetrates through the base and the insertion block in a sliding manner; and the stripping air cylinder drives the stripping rod to slide and downwards ejects the product to be separated from the product inserting groove. According to the clamping mechanism, the product is stably clamped, stripping is easy, and the clamped product can be positioned.

Description

Technical Field

[0001] The invention relates to the field of clamping claws, and in particular to a clamping claw manipulator. Background Art

[0002] During the forming process, the inductor coil is composed of an inductor, a powder block, and a female buckle. A robot is required to clamp the powder block into the inductor or the inductor into the female buckle. However, the clamping of the inductor and the powder block is mostly done with pneumatic clamps. As disclosed on June 7, 2022, a coil shelling device and method with publication number CN114597040A, a cylinder clamp and a clamping plate structure are disclosed, and the coil is clamped by the clamping plate and then transported. However, only the two sides of the product are clamped, the clamping force is unstable, and positioning cannot be performed during the clamping process. Summary of the invention

[0003] In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a gripper robot which has stable clamping, is easy to remove materials and can position the clamped products.

[0004] In order to achieve the above purpose, the technical solution adopted by the present invention is: a gripper manipulator, comprising:

[0005] A base, wherein a chuck mounting groove is provided on the lower end surface of the base;

[0006] A base rod, the base rod is arranged in the middle of the lower end surface of the base, an insert block matching the product is arranged in the middle of at least one side of the base rod, the insert block and the side wall of the base rod form a product slot, and the product is clamped in the product slot by friction;

[0007] A chuck, the chuck is rotatably disposed in the chuck mounting groove and has a predetermined distance from the bottom of the chuck mounting groove;

[0008] An elastic member, wherein the elastic member is arranged at one end of the clamp, and the elastic force of the elastic member forces the clamp to lean against one side of the product slot, thereby clamping the product on one side of the base rod;

[0009] An opening clamp cylinder is movably connected to one end of the clamp, and the opening clamp cylinder drives the clamp to rotate toward a side away from the product slot;

[0010] A stripping rod, the stripping rod slidingly passes through the base and the insert block;

[0011] The stripping cylinder drives the stripping rod to slide, and then the product can be pushed down to be out of the product slot through the drive of the stripping cylinder.

[0012] The beneficial effect of the present invention is that one group of relative two sides of the product is clamped in the product slot by the friction force with the insert block, and the other group of relative two sides of the product is clamped by the base and the chuck. By clamping and clamping the four sides of the product, it is not easy to loosen during operation and can be positioned. Compared with ordinary pneumatic clamping claws and cylinders, the clamping force is more stable and can position the clamped product; due to the increase in the clamping force, there are certain problems in stripping. For this reason, the present application adopts the cooperation of the stripping cylinder and the stripping rod. After the clamping cylinder drives the chuck to open, the product is pushed out of the product slot by the stripping rod to achieve stripping, which has the advantages of stable clamping and easy stripping.

[0013] Preferably, the chuck has an integrally formed clamping rod and a connecting rod, the clamping rod and the connecting rod are L-shaped, the right angle of the chuck is rotatably connected to the chuck mounting groove through a pin, and the clamping cylinder is movably connected to the free end of the connecting rod. The clamping rod is used to cooperate with the base to clamp the two opposite sides of the product, the connecting rod is used to connect with the clamping cylinder, and then drive the chuck to open or close, and the right angle of the chuck is embedded in the chuck mounting groove, making the structure compact and more compact.

[0014] Preferably, a movable groove is provided on the lower end surface of the free end of the connecting rod, the telescopic shaft of the clamping cylinder faces downward and is connected to a driving rod, the diameter of the driving rod is smaller than the width of the movable groove, the driving rod is located in the movable groove and can move in the movable groove. The connecting rod is driven to rotate by a driving rod, which is convenient and quick, and the setting of the movable groove provides conditions for the rotation of the chuck.

[0015] Preferably, the end of the telescopic shaft of the clamping cylinder is connected with a driving block, the clamping cylinder is connected and fixed to the top of the driving block, the lower end surface of the driving block is formed with a chuck slot, the driving rod is installed at the bottom of the driving block, the free end of the connecting rod is located in the chuck slot, and a predetermined distance is left from the bottom of the chuck slot, and the elastic member is arranged between the connecting rod and the chuck slot. The clamping cylinder drives the driving rod to move up and down through the driving block, and then forces the chuck to rotate. The driving block also provides installation conditions for the elastic member, and the free end of the connecting rod is located in the chuck slot, with a compact structure and strong linkage.

[0016] Preferably, the facing end surfaces of the connecting rod and the bottom of the chuck slot are both provided with corresponding elastic member installation grooves, and the two ends of the elastic member are respectively installed in the corresponding elastic member installation grooves, so that the elastic installation is more stable.

[0017] Preferably, the driving block is located on one side of the base, and the facing end surfaces of the driving block and the base are both planes, and the driving block can move up and down along the side wall of the base.

[0018] Preferably, the base rods are provided in a plurality and arranged in a row on the lower end surface of the base; the number of the chuck mounting slots, chucks, elastic members and stripping rods is the same, so that multiple products can be clamped at the same time.

[0019] Preferably, the two opposite sides of the bottom of the base rod and the lower end of the product slot are guide slopes, which facilitates the clamping of products. Even if the position of the product is not accurate, the product will not be hit during the clamping process, and the guide slopes are used to guide it.

[0020] Preferably, the elastic member is a spring.

[0021] Preferably, the product is an inductor of an inductor coil or a powder block, the inductor is U-shaped and the powder block is square; when the product is an inductor, the plug block is inserted into the U-shaped groove of the inductor; when the product is a powder block, the plug block is located on both sides of the powder block. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional diagram of the first embodiment;

[0023] Figure 2 An exploded view of the first angle of embodiment 1;

[0024] Figure 3 An exploded view of the first embodiment from a second angle;

[0025] Figure 4 is a three-dimensional diagram of a base rod of Embodiment 1;

[0026] Figure 5 is a three-dimensional diagram of a chuck of Embodiment 1;

[0027] Figure 6 It is a three-dimensional diagram of the second embodiment.

[0028] In the attached figure:

[0029] 1. Base; 2. Chuck mounting slot; 3. Base rod; 4. Insert block; 5. Product slot; 6. Chuck; 7. Elastic part; 8. Product; 8-1. Inductor; 8-2. Powder block; 9. Opening cylinder; 10. Stripping rod; 11. Stripping cylinder; 12. Clamping rod; 13. Connecting rod; 14. Pin shaft; 15. Movable slot; 16. Drive rod; 17. Drive block; 18. Chuck slot; 19. Elastic part mounting slot; 20. Guide ramp. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0031] Embodiment 1

[0032] See also Figure 1-Figure 5 As shown, this embodiment discloses a gripper manipulator, comprising:

[0033] The base 1 has a chuck mounting groove 2 disposed on the lower end surface of the base 1. Figure 3 As shown, there are eight chuck mounting grooves 2, which are respectively located on both sides of the lower end surface of the base 1;

[0034] The base rod 3 is arranged at the middle part of the lower end surface of the base 1. Figure 3 As shown, four base rods 3 are provided, which are arranged in a row on the lower end surface of the base 1. In this embodiment, plug blocks 4 matching the product 8 are provided in the middle of both sides of the base rod 3. The product 8 in this embodiment is an inductor 8-1 of an inductor coil. The inductor 8-1 is U-shaped. The plug block 4 is inserted into the U-shaped groove of the inductor 8-1. The two outer side walls of the plug block 4 and the side wall of the base rod 3 form a product slot 5. The two ends of the inductor 8-1 are clamped in the product slot 5 by friction, that is, clamped on the two outer side walls of the plug block 4.

[0035] The number of the chuck 6, the chuck mounting groove 2 and the chuck 6 is the same, and the chuck 6 is also provided with eight chucks. Each chuck 6 is rotatably provided in the chuck mounting groove 2, and a predetermined distance is left with the bottom of the chuck mounting groove 2, so as to provide a movable space for the rotation of the chuck 6;

[0036] The number of the elastic member 7, the clamp 6 and the elastic member 7 is the same, and eight elastic members 7 are provided accordingly. Each elastic member 7 is provided at one end of the clamp 6 corresponding thereto, and the elastic force of the elastic member 7 forces the clamp 6 to lean against the side of the product slot 5, thereby clamping the product 8 on the side of the base rod 3. The elastic member 7 in this embodiment is a spring;

[0037] The clamping cylinder 9 is provided with two clamping cylinders 9. In this embodiment, one clamping cylinder 9 is movably connected to the same end of the four clamps 6, that is, one clamping cylinder 9 can control the movement of the four clamps 6 on one side of the base 1, and the two clamping cylinders 9 can jointly drive the eight clamps 6 to rotate to the side away from the product slot 5;

[0038] The number of the stripping rods 10, the elastic member 7 and the stripping rods 10 is the same, and eight stripping rods 10 are also provided. The eight stripping rods 10 slide through the base 1 and the insert block 4, and one insert block 4 corresponds to one stripping rod 10;

[0039] The stripping cylinder 11 is provided with one stripping cylinder 11, which drives eight stripping rods 10 to rise and fall and slide synchronously, and then the inductor 8-1 can be pushed down to be separated from the product slot 5 through the drive of the stripping cylinder 11.

[0040] like Figure 5As shown, each chuck 6 in this embodiment has an integrally formed clamping rod 12 and a connecting rod 13, the clamping rod 12 and the connecting rod 13 are distributed in an L shape, the right angle of the chuck 6 is rotatably connected to the chuck mounting groove 2 through a pin 14, and the clamping cylinder 9 is movably connected to the free end of the connecting rod 13. More specifically, in this embodiment, the lower end surface of the free end of the connecting rod 13 is provided with a movable groove 15, the telescopic shaft of the clamping cylinder 9 faces downward and is connected to a driving rod 16, the diameter of the driving rod 16 is smaller than the width of the movable groove 15, and the diameter of the driving rod 16 is much smaller than the width of the movable groove 15, so that the driving rod 16 is located in the movable groove 15 and can move back and forth in the movable groove 15.

[0041] like Figure 2 , Figure 3 As shown, the end of the telescopic shaft of the clamping cylinder 9 is connected to a driving block 17, the clamping cylinder 9 is fixedly connected to the top of the driving block 17, a chuck slot 18 is formed on the lower end surface of the driving block 17, the driving rod 16 is installed at the bottom of the driving block 17, the free end of the connecting rod 13 is located in the chuck slot 18, and a predetermined distance is left from the bottom of the chuck slot 18, and the elastic member 7 is arranged between the connecting rod 13 and the chuck slot 18.

[0042] like Figure 2 and Figure 3 As shown, the facing end surfaces of the bottom of the connecting rod 13 and the chuck slot 18 are both provided with corresponding elastic member mounting grooves 19, and the two ends of the elastic member 7 are respectively installed in the corresponding elastic member mounting grooves 19, and the two ends of the elastic member 7 are installed in the elastic member mounting grooves 19.

[0043] like Figure 1-Figure 3 As shown, the driving block 17 is located at one side of the base 1 , and the facing end surfaces of the driving block 17 and the base 1 are both planes, and the driving block 17 can move up and down along the side wall of the base 1 .

[0044] In order to better clamp the product 8 , the two opposite sides of the bottom of the base rod 3 and the lower end of the product slot 5 of this embodiment are both guide inclined surfaces 20 .

[0045] The working principle of this embodiment is:

[0046] The gripper robot is driven by a three-axis servo module during movement. At this time, the eight stripping rods 10 are driven upward by the stripping cylinders 11. At this time, the bottom of the stripping rods 10 does not exceed the bottom of the base rod 3. An opening cylinder 9 is movably connected to the same end of the four chucks 6. The eight chucks 6 are forced to lean toward the side of the product slot 5 by the elastic force of eight elastic parts 7.

[0047] When the gripper manipulator moves to above the inductor 8-1, the clamping cylinder 9 drives the driving rod 16 to move upward, and the connecting rod 13 of the chuck 6 is forced to rotate upward to open the product slot 5. Then the three-axis servo module drives the gripper manipulator to move downward, and the top of the U-shaped groove of the inductor 8-1 is inserted into the outer side of the plug 4 along the guide slope 20. At this time, the left and right sides of the inductor 8-1 are clamped. After it is in place, the clamping cylinder 9 drives the driving rod 16 to move downward, and at the same time, the elastic force of the elastic member 7 forces the chuck 6 to lean against the side of the product slot 5. At this time, the front and back sides of the inductor 8-1 are clamped.

[0048] When the inductor 8-1 is taken out and driven to the unloading station by the three-axis servo module, the clamping cylinder 9 drives the clamping head 6 to rotate and open the product slot 5, and the elastic part 7 is compressed. Then, the stripping cylinder 11 drives the eight stripping rods 10 to move downward until the bottom of the stripping rod 10 exceeds the bottom of the base rod 3, and the eight inductors 8-1 are pushed down synchronously to be out of the product slot 5 to realize unloading.

[0049] Embodiment 2

[0050] See also Figure 6 As shown, a gripper manipulator disclosed in this embodiment is different from that in the first embodiment in that the product 8 grasped by this embodiment is a powder block 8-2 of an inductor coil, and the powder block 8-2 is square. When the product is a powder block 8-2, two plug blocks 4 are provided in this embodiment and are located on both sides of the powder block 8-2, that is, the left and right sides of the powder block 8-2 are connected by friction between the two plug blocks 4, and the stripping rod 10 passes between the two plug blocks 4. When the material is not stripped, the stripping rod 10 is located above the powder block 8-2. When the material is stripped, the stripping rod 10 is driven downward by the stripping cylinder 11 to separate the powder block 8-2 from the product slot 5.

[0051] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripper manipulator, characterized in that: include: A base (1), wherein a chuck mounting groove (2) is provided on the lower end surface of the base (1); A base rod (3), the base rod (3) being arranged in the middle of the lower end surface of the base (1), an insert block (4) matching with the product (8) being arranged in the middle of at least one side of the base rod (3), the insert block (4) and the side wall of the base rod (3) forming a product slot (5), the product being clamped in the product slot (5) by friction; A chuck (6), the chuck (6) being rotatably disposed in the chuck mounting groove (2) and having a predetermined distance from the bottom of the chuck mounting groove (2); An elastic member (7), wherein the elastic member (7) is arranged at one end of the clamp (6), and the elastic force of the elastic member (7) forces the clamp (6) to lean against one side of the product slot (5), thereby clamping the product (8) on one side of the base rod (3); An opening clamp cylinder (9) is movably connected to one end of the clamp (6), and the opening clamp cylinder (9) drives the clamp (6) to rotate toward a side away from the product slot (5); A stripping rod (10), wherein the stripping rod (10) slides through the base (1) and the insert block (4); The stripping cylinder (11) drives the stripping rod (10) to slide, and can push the product down to separate from the product slot (5).

2. The gripper manipulator according to claim 1, characterized in that: The chuck (6) has an integrally formed clamping rod (12) and a connecting rod (13), the clamping rod (12) and the connecting rod (13) are distributed in an L shape, the right angle of the chuck (6) is rotatably connected to the chuck mounting groove (2) via a pin shaft (14), and the clamping cylinder (9) is movably connected to the free end of the connecting rod (13).

3. The gripper manipulator according to claim 2, characterized in that: The lower end surface of the free end of the connecting rod (13) is provided with a movable groove (15); the telescopic shaft of the clamping cylinder (9) faces downward and is connected to a driving rod (16); the diameter of the driving rod (16) is smaller than the width of the movable groove (15); the driving rod (16) is located in the movable groove (15) and can move in the movable groove (15).

4. The gripper manipulator according to claim 2, characterized in that: The end of the telescopic shaft of the clamping cylinder (9) is connected to a driving block (17), the clamping cylinder (9) is connected and fixed to the top of the driving block (17), the lower end surface of the driving block (17) is formed with a chuck slot (18), the driving rod (16) is installed at the bottom of the driving block (17), the free end of the connecting rod (13) is located in the chuck slot (18) and has a predetermined distance from the bottom of the chuck slot (18), and the elastic member (7) is arranged between the connecting rod (13) and the chuck slot (18).

5. The gripper manipulator according to claim 4, characterized in that: The facing end surfaces of the bottom of the connecting rod (13) and the chuck slot (18) are both provided with corresponding elastic member installation grooves (19), and the two ends of the elastic member (7) are respectively installed in the corresponding elastic member installation grooves (19).

6. The gripper manipulator according to claim 4, characterized in that: The driving block (17) is located on one side of the base (1); the end surfaces of the driving block (17) and the base (1) facing each other are both planes; and the driving block (17) can move up and down along the side wall of the base (1).

7. The gripper manipulator according to claim 4, characterized in that: The base rods (3) are provided in a plurality and arranged in a row on the lower end surface of the base (1); The number of the chuck mounting grooves (2), chucks (6), elastic members (7), and stripping rods (10) is consistent.

8. The gripper manipulator according to claim 1, characterized in that: The opposite sides of the bottom of the base rod (3) and the lower end of the product slot (5) are both guide slopes (20).

9. The gripper manipulator according to claim 1, characterized in that: The elastic member (7) is a spring.

10. The gripper manipulator according to claim 1, characterized in that: The product (8) is an inductor (8-1) of an inductor coil or a powder block (8-2), the inductor (8-1) is U-shaped, and the powder block (8-2) is square; When the product is an inductor (8-1), the plug (4) is inserted into the U-shaped groove of the inductor (8-1); When the product is a powder block (8-2), the insert blocks (4) are located on both sides of the powder block (8-2).

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