Multifunctional grabbing mechanism with cutter handle, material box and machine tool clamp clamping function

Abstract

The invention discloses a multifunctional grabbing mechanism with clamping functions of a cutter handle, a material box and a machine tool clamp, and relates to the technical field of machining, the multifunctional grabbing mechanism comprises a flange connecting frame, two symmetrically-arranged buffering mechanisms are installed on one side of the flange connecting frame in a matched mode, and a first pulling claw and a second pulling claw are installed on the two buffering mechanisms in a matched mode respectively; two opposite second sliding rails are fixedly installed on the other side of the flange connecting frame, a second guide rail sliding block, a third guide rail sliding block and a fourth guide rail sliding block are installed on the second sliding rails in a sliding fit mode, a second support is installed on one side of the second guide rail sliding block in a matched mode, and a first support is installed on one side of the fourth guide rail sliding block in a matched mode; and fork arms are mounted on one side of the first bracket and one side of the second bracket in a matched manner. According to the flange connecting frame, multiple advanced grabbing and auxiliary assemblies are integrated, the design is ingenious, multiple tasks can be executed at the same time, the accident risk in the operation process of the mechanical arm is remarkably reduced, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical processing, in particular to a multifunctional grabbing mechanism with the functions of clamping a tool handle, a material box and a machine tool fixture. Background Art

[0002] With the continuous advancement of technologies such as artificial intelligence, big data, and cloud computing, automated robotic arms are developing in a more intelligent and complex direction. The grasping mechanism is a specific structure that enables the robotic arm to "pick up tools", making it more intelligent and improving the collaboration between the robotic arm and other working modules. Future robotic arms will have higher autonomous learning and optimization capabilities and will be able to better adapt to complex and changing working environments.

[0003] The gripping mechanism used by current robotic arms is relatively simple in structure and function, and can only meet the requirements of specific single work tasks, and lacks the ability to cope with complex and changing working environments; in addition, the frequent replacement of different types of gripping mechanisms not only increases the complexity of operation, but also greatly increases the difficulty and workload of maintenance, which in turn leads to a significant increase in the maintenance cost of the robotic arm and its gripping mechanism. Summary of the invention

[0004] In order to solve the problem of the single function of the current gripping mechanism mentioned in the above background technology, the purpose of the present invention is to provide a multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a multifunctional grasping mechanism with the function of grasping a tool handle, a material box, and a machine tool fixture, comprising a flange connecting frame, one side of which is equipped with two symmetrically arranged buffer mechanisms, and the two buffer mechanisms are respectively equipped with a first pulling claw and a second pulling claw; Two second slide rails arranged opposite to each other are fixedly mounted on the other side of the flange connection frame, and a second guide rail slider, a third guide rail slider and a fourth guide rail slider are slidably mounted on the second guide rail; A second bracket is mounted on one side of the second guide rail slider, a first bracket is mounted on one side of the fourth guide rail slider, and a fork arm is mounted on one side of both the first bracket and the second bracket; The third guide rail slider is equipped with a third cylinder, the piston rod of the third cylinder is equipped with the first bracket, the third guide rail slider is equipped with a second cylinder, and the piston rod of the second cylinder is hingedly installed on the second bracket.

[0006] Preferably, the buffer mechanism includes two symmetrically arranged first slide rails, the first slide rails are fixedly mounted on a flange connecting frame, a first guide rail slider is cooperatively mounted on the first slide rail, a mounting frame is fixedly mounted on the first guide rail slider, a first cylinder is fixedly mounted on the mounting frame, and the first cylinder is driven and connected to a first pulling claw or a second pulling claw.

[0007] Preferably, a mounting seat is mounted on the mounting frame, a plug rod is mounted on one side of the mounting seat, a limiting ring is mounted on the flange connecting frame, and the plug rod and the limiting ring are slidably matched.

[0008] Preferably, a buffer spring is sleeved on the insertion rod, the buffer spring is located between the mounting seat and the limiting ring, and the buffer spring is slidably matched with the insertion rod.

[0009] Preferably, the two fork arms are arranged opposite to each other, and each fork arm is provided with a rubber plate.

[0010] Preferably, a first tooth plate is fixedly mounted on one side of the second guide rail slider, and a second tooth plate is fixedly mounted on one side of the third guide rail slider.

[0011] Preferably, the first tooth plate and the second tooth plate are arranged opposite to each other, and a gear is provided between the first tooth plate and the second tooth plate.

[0012] Preferably, the gear is meshed with both the first tooth plate and the second tooth plate.

[0013] Preferably, a clamp is mounted on the fork arm.

[0014] Preferably, a material box is mounted on the fork arm.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The flange connection frame of the present invention integrates a variety of advanced grasping and auxiliary components, with a clever design, capable of performing multiple tasks at the same time, significantly reducing the risk of accidents during the operation of the robot arm, and greatly improving work efficiency. The connection frame is equipped with two claws, which control their opening and closing movements through a precise hydraulic cylinder system, thereby achieving precise clamping of specific tools. It is particularly worth mentioning that the claws are cleverly integrated with a buffer spring mechanism in the process of clamping the tool. This design not only effectively avoids damage to the tool handle or claws due to direct collision, but also further enhances the safety of operation. In addition, one side of the flange connection plate is cleverly provided with a first bracket and a second bracket that are relatively configured. Through the precise regulation of the second cylinder and the third cylinder, the two fork arms can flexibly adjust their positions, thereby easily completing the task of fixing the fixture or grasping the material box. This innovative design enables the grasping mechanism of the present invention to have stronger environmental adaptability and be competent for more diverse and complex task requirements.

[0016] 2. The precise control of the first bracket and the second bracket of the present invention mainly depends on the telescopic action of the second cylinder and the third cylinder, wherein the second cylinder has a longer stroke and is mainly responsible for a large range of distance adjustment; and the third cylinder focuses on achieving precise fine-tuning of the distance. When it is necessary to increase the distance between the two fork arms, the second cylinder is first started to perform the extension operation. During this process, the relative position between the third guide rail slider and the fourth guide rail slider remains unchanged, while the distance between the second guide rail slider and the third guide rail slider gradually increases. Once the large-range distance adjustment is close to the target value, the third cylinder is immediately started to extend to further accurately adjust the relative distance between the two fork arms until the predetermined precise position is reached. It is worth noting that the second guide rail slider and the third guide rail slider cooperate with each other through a precise gear rack mechanism to ensure that the two can produce relatively equidistant displacements when performing relative motion, thereby ensuring the accuracy and stability of the adjustment. This design not only improves the flexibility of operation, but also significantly enhances the overall performance and reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a basic structural schematic diagram of the multifunctional grasping mechanism with the clamping functions of the tool handle, the material box and the machine tool fixture of the present invention.

[0018] Figure 2 The multifunctional grabbing mechanism of the present invention has the functions of clamping a tool handle, a material box and a machine tool fixture Figure 1 Another perspective of the picture.

[0019] Figure 3 The schematic diagram is a schematic diagram of the installation position of the buffer spring of the multifunctional gripping mechanism with the clamping functions of the tool handle, the material box and the machine tool fixture of the present invention.

[0020] Figure 4 It is a schematic diagram of the installation position of the first slide rail of the multifunctional grabbing mechanism with the clamping function of the tool handle, the material box and the machine tool fixture of the present invention.

[0021] Figure 5 It is a schematic diagram of the matching relationship of the gear rack of the multifunctional grasping mechanism with the clamping functions of the tool handle, the material box and the machine tool fixture of the present invention.

[0022] Figure 6 The figure is a schematic diagram of the installation position of the rubber plate of the multifunctional gripping mechanism with the clamping functions of the tool handle, the material box and the machine tool fixture of the present invention.

[0023] Figure 7 It is a schematic diagram of the installation positions of the second cylinder and the third cylinder of the multifunctional grasping mechanism with the clamping functions of the tool handle, the material box and the machine tool fixture of the present invention.

[0024] Figure 8 The multifunctional grabbing mechanism of the present invention has the functions of clamping a tool handle, a material box and a machine tool fixture Figure 7 Another perspective of the picture.

[0025] Fig. 9 It is a schematic diagram of the positions of the guide rail sliders when the second cylinder of the multifunctional grasping mechanism with the clamping function of the tool handle, the material box and the machine tool fixture of the present invention is extended.

[0026] Fig.10 It is a schematic diagram of the positional relationship of the multifunctional grasping mechanism with the function of grasping a tool handle, a material box, and a machine tool fixture of the present invention after the second cylinder is extended and the third cylinder is extended.

[0027] In the figure: 101, flange connecting frame; 102, first pulling claw; 103, second pulling claw; 104, first slide rail; 105, first guide rail slider; 106, mounting frame; 107, first cylinder; 108, second guide rail slider; 109, third guide rail slider; 110, fourth guide rail slider; 111, second slide rail; 112, fork arm; 113, rubber sheet; 114, clamp; 115, material box; 116, first bracket; 117, second bracket; 201, second cylinder; 202, third cylinder; 203, first tooth plate; 204, second tooth plate; 205, gear; 301, limit ring; 302, mounting seat; 303, plug rod; 304, buffer spring. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The multifunctional gripping mechanism provided in this embodiment has the function of gripping a tool handle, a material box, and a machine tool fixture. Figure 1-7 As shown, it includes a flange connecting frame 101, and two symmetrically arranged buffer mechanisms are installed on one side of the flange connecting frame 101. The two buffer mechanisms are respectively installed with a first pulling claw 102 and a second pulling claw 103. The buffer mechanism includes two symmetrically arranged first slide rails 104. The first slide rails 104 are fixedly installed on the flange connecting frame 101. A first guide rail slider 105 is installed on the first slide rail 104. A mounting frame 106 is fixedly installed on the first guide rail slider 105. A first cylinder 107 is fixedly installed on the mounting frame 106. The first cylinder 107 is driven and connected to the first pulling claw 102 or the second pulling claw 103.

[0030] Specifically, the first pulling claw 102 or the second pulling claw 103 is equipped with a corresponding tool handle. When installing the present invention on a robotic arm, the installation position and angle should be taken into consideration and the robotic arm control system should be calibrated to zero so that the two pulling claws are in relative positions. In this embodiment, the two pulling claws can adapt to the specific models: BT50 and BT40.

[0031] The mounting frame 106 is equipped with a mounting seat 302, and a rod 303 is equipped on one side of the mounting seat 302. A limiting ring 301 is installed on the flange connecting frame 101. The rod 303 and the limiting ring 301 are slidingly matched. A buffer spring 304 is sleeved on the rod 303, and the buffer spring 304 is located between the mounting seat 302 and the limiting ring 301. The buffer spring 304 and the rod 303 are slidingly matched. In this embodiment, when the tool is replaced by the pulling claw, the buffer spring 304 can prevent the pulling claw from being damaged by impact on the one hand, and can facilitate the replacement of the tool with the pulling claw on the other hand.

[0032] Two second slide rails 111 arranged opposite to each other are fixedly mounted on the other side of the flange connection frame 101. The second guide rail slider 108, the third guide rail slider 109 and the fourth guide rail slider 110 are slidably mounted on the second slide rail 111. A second bracket 117 is mounted on one side of the second guide rail slider 108. A first bracket 116 is mounted on one side of the fourth guide rail slider 110. A fork arm 112 is mounted on one side of the first bracket 116 and the second bracket 117. A third cylinder 202 is mounted on the third guide rail slider 109. The piston rod of the third cylinder 202 is mounted on the first bracket 116. A second cylinder 201 is mounted on the third guide rail slider 109. The piston rod of the second cylinder 201 is hingedly mounted on the second bracket 117.

[0033] In this embodiment, when it is necessary to increase the distance between the two fork arms 112, the second cylinder 201 is first started to perform the stretching operation. During this process, the relative position between the third guide rail slider 109 and the fourth guide rail slider 110 remains unchanged, while the distance between the second guide rail slider 108 and the third guide rail slider 109 gradually increases. Once the large-scale distance adjustment is close to the target value, the third cylinder 202 is immediately started to stretch to further accurately adjust the relative distance between the two fork arms 112 until the predetermined precise position is reached. It is worth noting that the second guide rail slider 108 and the third guide rail slider 109 cooperate with each other through a precise gear 205 rack mechanism to ensure that the two can produce relatively equidistant displacements when performing relative movement, thereby ensuring the accuracy and stability of the adjustment. This design not only improves the flexibility of operation, but also significantly enhances the overall performance and reliability of the equipment.

[0034] The two fork arms 112 are arranged opposite to each other, and each fork arm 112 is provided with a rubber plate 113. Specifically, the fork arm 112 is also provided with a card slot and a rubber plate 113 for facilitating the clamp 114, which further improves the versatility of the present invention and improves the usage scenarios in which the present invention can be competent.

[0035] A first tooth plate 203 is fixedly installed on one side of the second guide rail slider 108, and a second tooth plate 204 is fixedly installed on one side of the third guide rail slider 109. The first tooth plate 203 and the second tooth plate 204 are arranged opposite to each other, and a gear 205 is provided between the first tooth plate 203 and the second tooth plate 204. The gear 205 is meshed with both the first tooth plate 203 and the second tooth plate 204.

[0036] Specifically, the second guide rail slider 108 and the third guide rail slider 109 are connected through the structure of a gear double rack plate. This structure allows the gear 205 to rotate and its tooth shape to mesh with the tooth groove on the tooth plate, thereby driving the tooth plate to perform linear motion or rotational motion. This meshing relationship allows a larger torque to be transmitted between the gear 205 and the tooth plate while maintaining higher motion accuracy and stability. When one tooth plate moves a certain distance, the other tooth plate moves a corresponding distance in the opposite direction, which makes it easier for intelligent programs to perform regulation.

[0037] However, the present invention adds a third cylinder 202 on the basis of the above-mentioned gear rack plate. When the distance between the two fork arms 112 is adjusted over a large range, it can be adjusted through the second cylinder 201. When a small range correction is made, it can be made through the third cylinder 202, making the present invention more adaptable and having a wider application prospect.

[0038] A clamp 114 is installed on the fork arm 112, and a material box 115 is installed on the fork arm 112. Specifically, when the material box 115 needs to be clamped, the second cylinder 201 and the third cylinder 202 are controlled to contract and grab the material box 115. When the clamp 114 needs to be clamped, the second cylinder 201 and the third cylinder 202 are controlled to extend and grab the clamp 114. The clamp 114 is a platform and can also be used to place heavy objects.

[0039] It should be noted that the flange connection frame 101 of the present invention integrates a variety of advanced grasping and auxiliary components, is cleverly designed, can perform multiple tasks at the same time, significantly reduces the potential for accidents during the operation of the robot arm, and greatly improves work efficiency. This connection frame is specially designed with two claws, which are driven to open and close by a highly precise hydraulic cylinder system to achieve precise clamping of specific tools. In particular, the claw innovatively incorporates a buffer spring 304 mechanism in the process of clamping the tool. This design not only effectively avoids damage to the tool handle or claw due to direct impact, but also further improves the safety of the operation.

[0040] In addition, the first bracket 116 and the second bracket 117 are ingeniously configured on one side of the flange connection plate. The two brackets realize flexible adjustment of the position of the fork arm 112 through the precise regulation of the second cylinder 201 and the third cylinder 202, so that the fixing operation of the clamp 114 or the grasping task of the material box 115 can be easily completed. This innovative design gives the grasping mechanism of the present invention stronger environmental adaptability, enabling it to cope with more diverse and complex task requirements.

[0041] Reference Figures 8 to 10 In the present invention, the precise control of the first bracket 116 and the second bracket 117 mainly depends on the coordinated action of the telescopic action of the second cylinder 201 and the third cylinder 202. Among them, the second cylinder 201 has a longer stroke and is mainly responsible for a large range of distance adjustment; while the third cylinder 202 focuses on achieving precise fine-tuning of the distance. When it is necessary to increase the distance between the two fork arms 112, first start the second cylinder 201 to perform the extension operation. During this process, the relative position between the third guide rail slider 109 and the fourth guide rail slider 110 remains constant, while the distance between the second guide rail slider 108 and the third guide rail slider 109 gradually increases. Once the large-scale distance adjustment approaches the target value, the third cylinder 202 is immediately started to extend to further accurately adjust the relative distance between the two fork arms 112 until the preset precise position is reached; if the distance between the two fork arms 112 needs to be reduced, the operation is reversed; It is worth noting that the second guide rail slider 108 and the third guide rail slider 109 are closely matched through a precise gear double rack plate mechanism to ensure that the two can produce equidistant displacements when performing relative movement, thereby ensuring the accuracy and stability of the adjustment. This design not only significantly improves the flexibility of operation, but also greatly enhances the overall performance and reliability of the equipment.

[0042] It should be further noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although the filter tube has shown and described the embodiments of the present invention, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional gripping mechanism with the function of gripping tool handles, material boxes, and machine tool fixtures, characterized by: It comprises a flange connection frame (101), one side of the flange connection frame (101) is equipped with two symmetrically arranged buffer mechanisms, and the two buffer mechanisms are respectively equipped with a first pulling claw (102) and a second pulling claw (103); Two second slide rails (111) arranged opposite to each other are fixedly mounted on the other side of the flange connection frame (101), and a second guide rail slider (108), a third guide rail slider (109) and a fourth guide rail slider (110) are slidably mounted on the second slide rail (111); A second bracket (117) is mounted on one side of the second guide rail slider (108), a first bracket (116) is mounted on one side of the fourth guide rail slider (110), and a fork arm (112) is mounted on one side of both the first bracket (116) and the second bracket (117); The third guide rail slider (109) is co-mounted with a third cylinder (202), and the piston rod of the third cylinder (202) is co-mounted with the first bracket (116). The third guide rail slider (109) is co-mounted with a second cylinder (201), and the piston rod of the second cylinder (201) is hingedly mounted on the second bracket (117).

2. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 1, characterized in that: The buffer mechanism comprises two symmetrically arranged first slide rails (104), wherein the first slide rails (104) are fixedly mounted on a flange connection frame (101), a first guide rail slider (105) is mounted on the first slide rail (104), a mounting frame (106) is fixedly mounted on the first guide rail slider (105), a first cylinder (107) is fixedly mounted on the mounting frame (106), and the first cylinder (107) is drivingly connected to a first pulling claw (102) or a second pulling claw (103).

3. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 2, characterized in that: A mounting seat (302) is mounted on the mounting frame (106), a plug rod (303) is mounted on one side of the mounting seat (302), a limiting ring (301) is mounted on the flange connection frame (101), and the plug rod (303) is slidably mounted with the limiting ring (301).

4. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 3, characterized in that: A buffer spring (304) is sleeved on the insertion rod (303); the buffer spring (304) is located between the mounting seat (302) and the limiting ring (301); the buffer spring (304) and the insertion rod (303) are slidably matched.

5. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 4, characterized in that: The two fork arms (112) are arranged opposite to each other, and each fork arm (112) is provided with a rubber plate (113).

6. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 1, characterized in that: A first tooth plate (203) is fixedly mounted on one side of the second guide rail slider (108), and a second tooth plate (204) is fixedly mounted on one side of the third guide rail slider (109).

7. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 6, characterized in that: The first tooth plate (203) and the second tooth plate (204) are arranged opposite to each other, and a gear (205) is arranged between the first tooth plate (203) and the second tooth plate (204).

8. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 7, characterized in that: The gear (205) is meshed with both the first tooth plate (203) and the second tooth plate (204).

9. The multifunctional gripping mechanism with the gripping functions of a tool handle, a material box, and a machine tool fixture according to claim 1, characterized in that: A clamp (114) is mounted on the fork arm (112).

10. The multifunctional gripping mechanism with the gripping functions of tool handles, material boxes, and machine tool fixtures according to claim 1, characterized in that: A material box (115) is mounted on the fork arm (112).

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