Rotatable buffer gripper

Abstract

The invention provides a rotatable buffer gripper. The rotatable buffer gripper is structurally characterized in that the gripper can be opened and closed around a Z-direction central axis and can be guided by a guide mechanism with a buffer assembly to linearly move in a reciprocating manner in the Z direction, the linear displacement in the Z direction is buffered by the buffer assembly, and the gripper and the guide mechanism are driven by a rotating mechanism to rotate around the Z-direction central axis; in the Z direction, the guide mechanism is detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper, and can linearly displace along with the movement of the gripper in the Z direction under the guidance of a linear guide rail arranged in the Z direction through a plurality of buffer stand columns coaxially sleeved with buffer springs, so that the gripper is guided, and is buffered through the buffer springs. The grabbing mechanism can adapt to the grabbing action of the grabbing hand to provide a buffering function, enables the grabbing hand to be rotatable, and can adapt to different grabbing angle requirements.

Description

Technical Field

[0001] The invention relates to a device tooling, more specifically to a rotatable buffer gripper. Background Art

[0002] In order to protect the workpiece during the factory production process, the gripper is required to have a buffer function. In order to adapt to different angles, it may also be necessary for the gripper to be able to adjust within the plane, so it is necessary to design a gripper with both functions. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a rotatable gripper with a buffer, which can adapt to the gripping action of the gripper to provide a buffer function, and makes the gripper rotatable to adapt to different gripping angle requirements.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A rotatable buffer gripper, the structural features of which are:

[0006] The gripper can be opened and closed around the Z-axis, and can be reciprocated linearly in the Z-axis guided by a guide mechanism with a buffer component. The linear displacement in the Z-axis is buffered by the buffer component, and the gripper can rotate around the Z-axis together with the guide mechanism driven by a rotating mechanism;

[0007] Along the Z direction, the guide mechanism can be detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper. Through a plurality of buffer columns respectively provided with buffer springs in coaxial sleeves, the guide mechanism can move linearly along the movement of the gripper along the Z direction under the guidance of a linear guide rail arranged along the Z direction, thereby guiding the gripper and buffering it through the buffer springs.

[0008] The structural characteristics of the present invention also lie in:

[0009] The rotating mechanism drives the guide mechanism and the gripper to rotate around the Z-axis through the rotating cylinder.

[0010] The rotary cylinder is a gear rack type rotary swing table cylinder, which is detachably mounted on a back plate, with the rotary table facing downward and the guide mechanism hoisted as an output end. The back plate is also used for assembling a rotatable buffer gripper with external equipment.

[0011] The guide mechanism includes a guide plate, a transition block, a linear guide rail, a buffer column, a buffer spring, a movable block, and a base plate. The guide plate is detachably connected to the output end of the rotating mechanism through the top of the transition block. The guide plate is detachably connected to the bottom end of the transition block, and an overhanging plate section overhanging the outside is formed. The linear guide rail is detachably installed on the overhanging plate section. The bottom end of the base plate is detachably connected to the mounting end of the gripper below, and is detachably connected to the slider of the linear guide rail through the movable block. A plurality of buffer columns are respectively arranged parallel to the Z direction and coaxially sleeved with buffer springs, which are evenly spaced around the Z-axis. The lower ends are detachably connected to the top end of the base plate. The transition block and the guide plate jointly form a plurality of guide channels according to the position distribution and external dimensions of each buffer column. The upper ends of the buffer columns penetrate the guide channels, and the buffer springs are tensioned between the guide plate and the base plate. The gripper forms a synchronous displacement component through the base plate, the movable block, the slider, and the buffer column.

[0012] The cantilevered plate section is in an inverted "L" shape.

[0013] The gripper comprises a pneumatic clamp and a clamp, and the clamp is driven by the pneumatic clamp to open and close.

[0014] The pneumatic clamp is a three-finger clamp, which is detachably connected to the clamp through the clamp.

[0015] The center axis of the pneumatic clamp is taken as the Z-direction center axis.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] The present invention does not require manual intervention and has a high degree of automation, which is conducive to efficient and convenient grasping operations. It utilizes a guide mechanism with a buffer component to adapt to the grasping action of the gripper, so that the gripper can have a displacement along the Z-axis through the guiding effect of the buffer column of the guide mechanism and the linear guide rail. In this process, the buffer spring plays a good buffering role, thereby ensuring the grasping quality and protecting the gripper. The present invention also sets a rotating mechanism to enable the gripper to rotate in the XY plane, which can better adapt to different grasping angle requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the positional relationship between the buffer spring and the guide channel.

[0020] In the figure:

[0021] 11 rotating cylinder; 111 rotating table; 12 back plate;

[0022] 21 guide plate; 211 overhanging plate section; 22 transition block; 23 linear guide rail; 24 buffer column; 25 buffer spring; 251 adjusting nut; 252 adjusting sleeve; 26 movable block; 27 bottom plate; 28 guide channel;

[0023] 31 pneumatic gripper; 32 clamp. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are 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.

[0025] Please refer to Figure 1 to Figure 2 The structural setting of the rotatable buffer gripper of this embodiment includes:

[0026] The gripper can be opened and closed around the Z-axis, and can be reciprocated linearly in the Z-axis guided by a guide mechanism with a buffer component. The linear displacement in the Z-axis is buffered by the buffer component, and the gripper can rotate around the Z-axis together with the guide mechanism driven by a rotating mechanism;

[0027] Along the Z direction, the guide mechanism can be detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper. Through a plurality of buffer columns 24 respectively provided with buffer springs 25 coaxially, under the guidance of a linear guide rail 23 arranged along the Z direction, the guide mechanism can move linearly along the Z direction with the movement of the gripper, thereby guiding the gripper and being buffered by the buffer springs 25.

[0028] In a specific implementation, the corresponding structural setting of the rotatable buffer gripper also includes:

[0029] The rotating mechanism drives the guide mechanism and the gripper to rotate around the Z-axis through the rotating cylinder 11, so that the gripper can rotate with it in the XY plane to better adapt to different gripping angle requirements.

[0030] The rotary cylinder 11 is a gear rack type rotary swing table cylinder, which is detachably mounted on the back plate 12. The rotary table 111 faces downward and serves as an output end hoisting guide mechanism. The back plate 12 is also used for the assembly between the rotatable buffer gripper and external equipment.

[0031] The guide mechanism includes a guide plate 21, a transition block 22, a linear guide rail 23, a buffer column 24, a buffer spring 25, a movable block 26, and a bottom plate 27. The top of the transition block 22 is detachably connected to the output end of the rotating mechanism. The guide plate 21 is detachably connected to the bottom end of the transition block 22, and an overhanging plate section 211 overhanging the outside is formed. The linear guide rail 23 is detachably mounted on the overhanging plate section 211. The bottom end of the bottom plate 27 is detachably connected to the mounting end of the gripper below, and is detachably connected to the slider of the linear guide rail 23 through the movable block 26. A plurality of buffer columns 24 are respectively arranged parallel to the Z direction and coaxially sleeved with buffer springs 25, and are evenly spaced around the Z-axis. The lower ends are detachably connected to the top of the bottom plate 27. The transition block 22 and the guide plate 21 form a plurality of guide channels 28 according to the position distribution and external dimensions of each buffer column 24. The upper ends of the buffer columns 24 pass through the guide channels 28. The buffer springs 25 are tensioned between the guide plate 21 and the bottom plate 27. The gripper forms a synchronous displacement component with the movable block 26, the slider, and the buffer column 24 through the bottom plate 27.

[0032] It is further provided that a preload adjustment assembly is provided for the buffer spring 25, including an adjustment nut 251 and an adjustment sleeve 252. The adjustment sleeve 252 is coaxially arranged in the guide channel 28, and the lower end is connected to the buffer spring 25. The top end exposed above the guide channel 28 is threadedly sleeved with the adjustment nut 251. By rotating the adjustment nut 251, the adjustment sleeve 252 is driven to move along the axial direction of the buffer column 24, so as to adjust the preload of the buffer spring 25. The buffer column 24 passes through the adjustment sleeve 252 in the guide channel 28, and can move upward to be exposed above the guide channel 28 with the action of the gripper.

[0033] The cantilevered plate section 211 is in an inverted "L" shape.

[0034] The gripper includes a pneumatic gripper 31 and a clamp 32, and the clamp 32 is driven by the pneumatic gripper 31 to open and close. The pneumatic gripper 31 is a three-finger gripper, and is detachably connected to the clamp 32 through the gripper. The center axis of the pneumatic gripper 31 is the Z-axis. The type of the clamp 32 can be specifically selected according to different grasping operation requirements.

[0035] The above-mentioned detachable connection / assembly between adjacent components may be through bolt thread connection.

[0036] The following are application examples of rotatable cushioned grippers with the above structure for reference:

[0037] The whole can be assembled with a driver through the back plate 12, for example, as an end effector of a robot, and assembled with a robot;

[0038] The rotatable cushioned gripper moves with the driver to the location of the workpiece and reaches the clamping point;

[0039] Afterwards, the rotatable gripper with buffer moves, and the pneumatic jaws 31 drive the clamp 32 to open, support the workpiece, and complete the grasping action. During this process, if the rotatable gripper with buffer has a deviation in the position relative to the workpiece along the direction facing the workpiece, then with the grasping action of the gripper, the base plate 27 and the movable block 26 will move in the direction away from the workpiece together with the buffer column 24 under the guidance of the linear guide rail 23, and the buffer spring 25 will be compressed to play a buffering role on the gripper, so that the rotatable gripper with buffer will not be impacted as a whole.

[0040] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A rotatable buffer gripper, characterized by: The gripper can be opened and closed around the Z-axis, and can be reciprocated linearly in the Z-axis guided by a guide mechanism with a buffer component. The linear displacement in the Z-axis is buffered by the buffer component, and the gripper can rotate around the Z-axis together with the guide mechanism driven by a rotating mechanism; Along the Z direction, the guide mechanism can be detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper. Through a plurality of buffer columns respectively provided with buffer springs in coaxial sleeves, the guide mechanism can move linearly along the movement of the gripper along the Z direction under the guidance of a linear guide rail arranged along the Z direction, thereby guiding the gripper and buffering it through the buffer springs.

2. The rotatable buffer gripper according to claim 1 is characterized in that: The rotating mechanism drives the guide mechanism and the gripper to rotate around the Z-axis through the rotating cylinder.

3. The rotatable buffer gripper according to claim 2 is characterized in that: The rotary cylinder is a gear rack type rotary swing table cylinder, which is detachably mounted on a back plate, with the rotary table facing downward and the guide mechanism hoisted as an output end. The back plate is also used for assembling a rotatable buffer gripper with external equipment.

4. The rotatable buffer gripper according to claim 1 is characterized in that: The guide mechanism includes a guide plate, a transition block, a linear guide rail, a buffer column, a buffer spring, a movable block, and a base plate. The guide plate is detachably connected to the output end of the rotating mechanism through the top of the transition block. The guide plate is detachably connected to the bottom end of the transition block, and an overhanging plate section overhanging the outside is formed. The linear guide rail is detachably installed on the overhanging plate section. The bottom end of the base plate is detachably connected to the mounting end of the gripper below, and is detachably connected to the slider of the linear guide rail through the movable block. A plurality of buffer columns are respectively arranged parallel to the Z direction and coaxially sleeved with buffer springs, which are evenly spaced around the Z-axis. The lower ends are detachably connected to the top end of the base plate. The transition block and the guide plate jointly form a plurality of guide channels according to the position distribution and external dimensions of each buffer column. The upper ends of the buffer columns penetrate the guide channels, and the buffer springs are tensioned between the guide plate and the base plate. The gripper forms a synchronous displacement component through the base plate, the movable block, the slider, and the buffer column.

5. The rotatable cushioned gripper according to claim 4 is characterized in that: The cantilevered plate section is in an inverted "L" shape.

6. The rotatable buffer gripper according to claim 1, characterized in that: The gripper comprises a pneumatic clamp and a clamp, and the clamp is driven by the pneumatic clamp to open and close.

7. The rotatable buffer gripper according to claim 6, characterized in that: The pneumatic clamp is a three-finger clamp, which is detachably connected to the clamp through the clamp.

8. The rotatable buffer gripper according to claim 6 or 7, characterized in that: The center axis of the pneumatic clamp is taken as the Z-direction center axis.

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