Mechanical clamping jaw for box parts

Abstract

The box type part mechanical clamping jaw comprises a guide rail assembly, a connecting rod assembly, a shear fork assembly and four clamping jaw bodies, the guide rail assembly comprises a cross-shaped guide rail, the cross-shaped guide rail comprises a first guide rail and a second guide rail, and the two ends of the first guide rail and the two ends of the second guide rail are each provided with a sliding block in a sliding mode; the two sliding blocks on the first guide rail are each fixedly provided with a sliding rail, the connecting rod assembly comprises four connecting rods, the four connecting rods are located between every two adjacent sliding blocks in the circumferential direction, the two ends of each connecting rod are hinged to the corresponding two adjacent sliding blocks, and any sliding block is connected with linear driving equipment for driving the sliding block to slide. The two ends of each sliding rail are each connected with one clamping jaw in a sliding mode, the two clamping jaws at the same ends of the two sliding rails are connected through shear fork assemblies, and the two shear fork assemblies are driven by a reciprocating driving mechanism to move along the sliding rails. According to the clamping device, the size of the clamping interval can be adjusted, the clamping device is suitable for clamping parts of different sizes, and the clamping stability is high.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation, and in particular to a mechanical clamp for box-type parts. Background Art

[0002] Mechanical grippers for box parts are widely used in the fields of industrial automation, intelligent manufacturing, collaborative robots, etc. However, traditional grippers are usually two-finger or three-finger grippers, which still have many shortcomings in practical applications. First, the contact position between traditional two-finger or three-finger grippers and box parts is limited, and it is difficult to ensure that they can be positioned at the same position for clamping every time, and it is difficult to provide sufficient contact points and clamping stability, resulting in poor grasping accuracy and stability; secondly, the versatility of traditional grippers is poor. For box parts of various specifications, traditional grippers often need to be frequently replaced manually or intervened in size adjustment, resulting in low efficiency. Therefore, there is a need for a mechanical gripper that can ensure clamping stability and is suitable for box parts of various specifications. Summary of the invention

[0003] In order to solve the problems in the background technology, the present invention proposes a mechanical gripper for box-type parts, including a guide rail assembly, a connecting rod assembly, a scissors assembly and four grippers, the guide rail assembly including a cross-shaped guide rail, the cross-shaped guide rail including a first guide rail and a second guide rail arranged perpendicularly to each other, a slider is slidably provided at each end of the first guide rail and the second guide rail, the two sliders on the first guide rail are respectively fixed with a slide rail, the slide rail is parallel to the second guide rail, the connecting rod assembly includes four connecting rods, the four connecting rods are respectively located between two sliders adjacent to each other in the circumferential direction, and the two ends of the connecting rods are respectively hinged to the two sliders adjacent to each other, any slider is connected to a linear drive device for driving the slider to slide, each of the two ends of the slide rail is slidably connected to a gripper, the two grippers on the same end of the two slide rails are connected by a scissors assembly, and the two groups of scissors assemblies are driven to move along the slide rail by a reciprocating drive mechanism.

[0004] Preferably, the reciprocating drive mechanism includes a motor and a linkage assembly, the linkage assembly includes a first linkage rod, a second linkage rod, a third linkage rod, a fourth linkage rod, a fifth linkage rod, a sixth linkage rod and a seventh linkage rod, one end of the second linkage rod and the third linkage rod are respectively hinged to the two ends of the first linkage rod, one end of the fourth linkage rod and the fifth linkage rod are both hinged to the other end of the second linkage rod, the other ends of the fourth linkage rod and the fifth linkage rod are respectively hinged to a group of scissor-type fork assemblies, one end of the sixth linkage rod and the seventh linkage rod are both hinged to the other end of the third linkage rod, the other ends of the sixth linkage rod and the seventh linkage rod are respectively hinged to another group of scissor-type fork assemblies, the motor is fixed at the center position of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod.

[0005] Preferably, the scissor assembly comprises a plurality of intermediate scissor groups and two end scissor groups, the intermediate scissor groups comprise a first scissor rod and a second scissor rod, and the first scissor rod and the second scissor rod are hinged at the center position; For two adjacent intermediate scissor-type groups, one end of the first scissor-type rod and the second scissor-type rod in one intermediate scissor-type group is respectively hinged to one end of the second scissor-type rod and the first scissor-type rod in the other intermediate scissor-type group; The end scissors rod group includes a third scissors rod and a fourth scissors rod, one end of the third scissors rod and the fourth scissors rod are hinged, and the hinged end of the third scissors rod and the fourth scissors rod are hinged to the clamping claw, and the other ends of the third scissors rod and the fourth scissors rod are respectively hinged to one end of the first scissors rod and the second scissors rod in the adjacent middle scissors rod group.

[0006] Preferably, the number of intermediate scissor groups on both sides of a group of intermediate scissor groups in the scissor assembly is the same, and the intermediate scissor groups on both sides with the same number of intermediate scissor groups are the central scissor groups; One end of the fourth linkage rod and the fifth linkage rod are respectively hinged to one end of the second scissors rod and the first scissors rod in one group of central scissors groups, and one end of the sixth linkage rod and the seventh linkage rod are respectively hinged to one end of the second scissors rod and the first scissors rod in another group of central scissors groups.

[0007] Preferably, one ends of two adjacent connecting rods are hinged, and the four connecting rods form a parallelogram structure with four hinge points, and the four hinge points are respectively located on the four sliding blocks.

[0008] Preferably, the clamping jaws are provided with rectangular slots for clamping the edges of box-like parts.

[0009] The beneficial effects of the present invention are: The present invention is provided with four clamping jaws, which can clamp the four sides of the box-like parts when grasping. The clamping jaws have sufficient contact points with the box-like parts, and the four clamping jaws are distributed in a rectangular shape, which can realize the centered clamping of the parts and ensure that the clamping positions are evenly located at the four corners of the box-like parts, thereby ensuring the stability of the clamping.

[0010] During the grasping process of the present invention, the linear drive device can drive the slider to slide, and the slider drives the two slide rails to move closer or farther from each other through the connecting rod assembly to achieve the longitudinal size adjustment of the clamping interval of the clamping claws, and the reciprocating drive mechanism can drive the clamps at both ends of the guide rails to move closer or farther from each other through the scissor assembly to achieve the lateral size adjustment of the clamping interval of the clamping claws. The adjustment of the lateral size and the longitudinal size of the clamping interval of the clamping claws are independent of each other and do not affect each other, which can adapt to the grasping of box-like parts of different sizes and improve the flexibility and efficiency of the clamping work. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the guide rail assembly of the present invention; Figure 3 It is a schematic diagram of the structure of the connecting rod assembly of the present invention; Figure 4 This is a schematic diagram of the structure of the scissor lift assembly of the present invention; Figure 5 It is a schematic diagram of the linkage component structure of the present invention.

[0012] Numbers in the figure: 1. Guide rail assembly; 101. First guide rail; 102. Second guide rail; 103. Slide rail; 104. Slider; 2. Connecting rod assembly; 201. Connecting rod; 3. Scissors assembly; 301. First scissors rod; 302. Second scissors rod; 303. Third scissors rod; 304. Fourth scissors rod; 4. Linkage assembly; 401. First linkage rod; 402. Second linkage rod; 403. Third linkage rod; 404. Fourth linkage rod; 405. Fifth linkage rod; 406. Sixth linkage rod; 407. Seventh linkage rod; 5. Clamp. DETAILED DESCRIPTION

[0013] In order to make the present invention clearer and more understandable, the technical solution of the present invention is further described in detail below in combination with the accompanying drawings and embodiments. It should be understood that the given embodiment is only one of the implementation methods and does not represent all embodiments.

[0014] In this article, the terms "horizontal, vertical" and the like are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection.

[0015] Combined with Figure 1 -Attached Figure 5A mechanical gripper for box-type parts, comprising a guide rail assembly 1, a connecting rod assembly 2, a scissor assembly 3 and four grippers 5, wherein the guide rail assembly 1 comprises a cross-shaped guide rail, wherein the cross-shaped guide rail comprises a first guide rail 101 and a second guide rail 102 which are arranged perpendicularly to each other, wherein two ends of the first guide rail 101 and two ends of the second guide rail 102 are respectively provided with a sliding block 104 which is slidably arranged, wherein two sliding blocks 104 on the first guide rail 101 are respectively fixed with a sliding rail 103 which is parallel to the second guide rail 102, wherein the connecting rod assembly 2 comprises ... the first guide rail 101 and the second guide rail 102 are respectively provided with a sliding block 104 which is slidably arranged, wherein the first guide rail 101 and the second guide rail 102 are respectively provided with a sliding block 104 which is slidably arranged, wherein the first guide rail 101 and the second guide rail 102 are respectively provided with a sliding block The rod assembly 2 includes four connecting rods 201, and the four connecting rods 201 are respectively located between two adjacent sliders 104 along the circumferential direction, and the two ends of the connecting rods 201 are respectively hinged to the two adjacent sliders 104, and any slider 104 is connected to a linear drive device that drives the slider 104 to slide. The two ends of each slide rail 103 are respectively slidably connected to a clamp 5, and the two clamps 5 on the same end of the two slide rails 103 are connected by a scissor assembly 3, and the two groups of scissor assemblies 3 are driven to move along the slide rail 103 by a reciprocating drive mechanism.

[0016] Specifically, the linear drive device can be an electric push rod or a linear module. When an electric push rod is used, the electric push rod is fixed to any end of the first guide rail 101 or the second guide rail 102, the extension direction of the electric push rod output end is set along the length direction of the guide rail where the electric push rod is located, and the electric push rod output end is connected to the slider 104 at the end of the guide rail where the electric push rod is located, and the slider 104 is driven to slide by the electric push rod.

[0017] When a linear module is used, the track of the linear module is fixed at either end of the first guide rail 101 or the second guide rail 102, the slide of the linear module is connected to the slider 104 at the end of the guide rail, and the driving direction of the linear module is consistent with the length direction of the guide rail.

[0018] Specifically, the reciprocating drive mechanism includes a motor and a linkage assembly 4, the linkage assembly 4 includes a first linkage rod 401, a second linkage rod 402, a third linkage rod 403, a fourth linkage rod 404, a fifth linkage rod 405, a sixth linkage rod 406 and a seventh linkage rod 407, one end of the second linkage rod 402 and the third linkage rod 403 are respectively hinged to the two ends of the first linkage rod 401, one end of the fourth linkage rod 404 and the fifth linkage rod 405 are both hinged to the other end of the second linkage rod 402, the other ends of the fourth linkage rod 404 and the fifth linkage rod 405 are respectively hinged to a group of scissor-type fork assemblies 3, one end of the sixth linkage rod 406 and the seventh linkage rod 407 are both hinged to the other end of the third linkage rod 403, the other ends of the sixth linkage rod 406 and the seventh linkage rod 407 are respectively hinged to another group of scissor-type fork assemblies 3, the motor is fixed at the center position of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod 401.

[0019] When in use, the motor is started to rotate forward, and the output end of the motor drives the first linkage rod 401 to rotate, and the length direction of the first linkage rod 401 changes from longitudinal to transverse, and the ends of the second linkage rod 402 and the third linkage rod 403 that are not connected to the first linkage rod 401 move in the direction away from the first linkage rod 401, thereby driving the two groups of scissor fork assemblies 3 away from each other through the fourth linkage rod 404 and the fifth linkage rod 405, the sixth linkage rod 406 and the seventh linkage rod 407, respectively, and the scissor fork assemblies 3 drive the clamping claws 5 at both ends of the two slide rails 103 away from each other, so as to achieve the lateral increase of the clamping interval size. The motor is started to rotate reversely, and the motor drives the first linkage rod 401 to rotate, and the length direction of the first linkage rod 401 changes from transverse to longitudinal, and each linkage rod drives the two groups of scissor fork assemblies 3 to move closer to each other, thereby making the clamping claws 5 at both ends of the two slide rails 103 move closer to each other, so as to achieve the lateral reduction of the clamping interval size.

[0020] Specifically, the scissor assembly 3 includes a plurality of intermediate scissor groups and two end scissor groups, wherein the intermediate scissor groups include a first scissor rod 301 and a second scissor rod 302, and the first scissor rod 301 and the second scissor rod 302 are hinged at the center position; For two adjacent intermediate scissor-type groups, one end of the first scissor-type rod 301 and the second scissor-type rod 302 in one intermediate scissor-type group is respectively hinged to one end of the second scissor-type rod 302 and the first scissor-type rod 301 in the other intermediate scissor-type group; The end scissor assembly includes a third scissor rod 303 and a fourth scissor rod 304, one end of the third scissor rod 303 and the fourth scissor rod 304 are hinged, and one end of the third scissor rod 303 and the fourth scissor rod 304 is hinged to the clamping claw 5, and the other ends of the third scissor rod 303 and the fourth scissor rod 304 are respectively hinged to one end of the first scissor rod 301 and the second scissor rod 302 in the adjacent middle scissor assembly. The scissor assembly 3 can drive the two clamping claws 5 located on the two slide rails 103 and at the same end to slide synchronously without affecting the relative movement of the two slide rails 103, and can improve the stability of the relative movement of the two slide rails 103.

[0021] Specifically, the number of intermediate scissor groups on both sides of a group of intermediate scissor groups in the scissor assembly 3 is the same, and the intermediate scissor groups with the same number of intermediate scissor groups on both sides are the central scissor groups, that is, the structure of the scissor assembly 3 is symmetrical about the center point of the central scissor assembly 3; the center point of the central scissor assembly 3 is the point where the first scissor rod 301 and the second scissor rod 302 in the central scissor assembly 3 are hinged; One end of the fourth linkage rod 404 and the fifth linkage rod 405 are respectively hinged to one end of the second scissor rod 302 and the first scissor rod 301 in one central scissor assembly, and one end of the sixth linkage rod 406 and the seventh linkage rod 407 are respectively hinged to one end of the second scissor rod 302 and the first scissor rod 301 in another central scissor assembly. The synchronization and stability of the linkage assembly 4 driving the two scissor assemblies 3 are improved.

[0022] Specifically, one ends of two adjacent connecting rods 201 are hinged to each other, and the four connecting rods 201 form a parallelogram structure with four hinge points, and the four hinge points are respectively located on the four sliders 104 .

[0023] Specifically, the clamping jaws 5 are provided with rectangular slots for clamping the edges of box-like parts. That is, the four rectangular slots can form a cubic clamping area, and the four clamping jaws 5 can be respectively located at the four edges of the box-like parts during grasping, and the two sides of the rectangular slots are respectively fitted with the side surfaces of the parts on both sides of the corresponding edges, thereby increasing the contact area between the clamping jaws 5 and the parts and improving the stability of clamping.

[0024] Working process: start the reciprocating drive mechanism, drive the two sets of scissor assembly 3 to move closer or farther from each other, adjust the lateral size of the clamping interval, start the linear drive mechanism, drive the slider 104 to move, the slider 104 drives the other three sliders 104 to move through the connecting rod assembly 2, the two opposite sliders 104 move closer or farther from each other, the slider 104 drives the two slide rails 103 to move closer or farther from each other, and adjust the longitudinal size of the clamping interval. Adjust the size until the four clamps 5 can grab the parts.

[0025] It should be understood that the transverse direction is the length direction of the second guide rail 102 , and the longitudinal direction is the length direction of the first guide rail 101 .

[0026] While embodiments of the present invention have been shown and described, it will be apparent to 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 invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper for box-type parts, characterized in that: The invention comprises a guide rail assembly (1), a connecting rod assembly (2), a scissor assembly (3) and four clamping jaws (5), wherein the guide rail assembly (1) comprises a cross-shaped guide rail, wherein the cross-shaped guide rail comprises a first guide rail (101) and a second guide rail (102) which are arranged perpendicular to each other, wherein two sliding blocks (104) are respectively slidably provided on both ends of the first guide rail (101) and the second guide rail (102), wherein the two sliding blocks (104) on the first guide rail (101) are respectively fixed with a sliding rail (103), wherein the sliding rail (103) is parallel to the second guide rail (102), and the connecting rod assembly (2) comprises a first guide rail (101) and a second guide rail (102) which are arranged perpendicular to each other. The invention comprises four connecting rods (201), the four connecting rods (201) are respectively located between two circumferentially adjacent sliders (104), and the two ends of the connecting rods (201) are respectively hinged to the two adjacent sliders (104), and any slider (104) is connected to a linear drive device for driving the slider (104) to slide, and the two ends of each slide rail (103) are respectively slidably connected to a clamping claw (5), and the two clamping claws (5) on the same end of the two slide rails (103) are connected by a scissor assembly (3), and the two groups of the scissor assemblies (3) are driven by a reciprocating drive mechanism to move along the slide rail (103).

2. A box-type parts mechanical gripper according to claim 1, characterized in that: The reciprocating drive mechanism comprises a motor and a linkage assembly (4); the linkage assembly (4) comprises a first linkage rod (401), a second linkage rod (402), a third linkage rod (403), a fourth linkage rod (404), a fifth linkage rod (405), a sixth linkage rod (406) and a seventh linkage rod (407); one end of the second linkage rod (402) and the third linkage rod (403) are respectively hinged to two ends of the first linkage rod (401); one end of each of the fourth linkage rod (404) and the fifth linkage rod (405) are hinged to two ends of the first linkage rod (401); The other end of the second linkage rod (402) is hinged, the other ends of the fourth linkage rod (404) and the fifth linkage rod (405) are respectively hinged to a group of scissor-type components (3), one end of the sixth linkage rod (406) and the seventh linkage rod (407) are both hinged to the other end of the third linkage rod (403), the other ends of the sixth linkage rod (406) and the seventh linkage rod (407) are respectively hinged to another group of scissor-type components (3), the motor is fixed at the center position of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod (401).

3. A box-type parts mechanical gripper according to claim 2, characterized in that: The scissor assembly (3) comprises a plurality of intermediate scissor assemblies and two end scissor assemblies, the intermediate scissor assemblies comprising a first scissor rod (301) and a second scissor rod (302), the first scissor rod (301) and the second scissor rod (302) being hinged at their center positions; For two adjacent intermediate scissor-type groups, one end of the first scissor-type rod (301) and the second scissor-type rod (302) in one intermediate scissor-type group is respectively hinged to one end of the second scissor-type rod (302) and the first scissor-type rod (301) in the other intermediate scissor-type group; The end scissors-type assembly comprises a third scissors-type rod (303) and a fourth scissors-type rod (304), one end of the third scissors-type rod (303) and the fourth scissors-type rod (304) are hinged, and one end of the third scissors-type rod (303) and the fourth scissors-type rod (304) being hinged is hinged to the clamping claw (5), and the other ends of the third scissors-type rod (303) and the fourth scissors-type rod (304) are respectively hinged to one end of the first scissors-type rod (301) and the second scissors-type rod (302) in the adjacent middle scissors-type assembly.

4. The mechanical gripper for box-type parts according to claim 3, characterized in that: The number of intermediate scissor groups on both sides of a set of intermediate scissor groups in the scissor assembly (3) is the same, and the intermediate scissor groups on both sides with the same number of intermediate scissor groups are the central scissor groups; One end of the fourth linkage rod (404) and the fifth linkage rod (405) are respectively hinged to one end of the second scissor rod (302) and the first scissor rod (301) in one central scissor assembly, and one end of the sixth linkage rod (406) and the seventh linkage rod (407) are respectively hinged to one end of the second scissor rod (302) and the first scissor rod (301) in another central scissor assembly.

5. The mechanical gripper for box-type parts according to claim 1, characterized in that: One ends of two adjacent connecting rods (201) are hinged, and the four connecting rods (201) form a parallelogram structure with four hinge points, and the four hinge points are respectively located on the four sliding blocks (104).

6. The mechanical gripper for box-type parts according to claim 1, characterized in that: The clamping claw (5) is provided with a rectangular slot for clamping the edge of a box-like part.

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