An adjustable bionic material taking gripper for forging automation production line robot

Abstract

The present application relates to the field of forging blank taking gripper, in particular to a kind of adjustable bionic taking gripper for forging automation production line robot, including two gripper assemblies being oppositely arranged, and linear driver for driving two gripper assemblies to be close to each other or away from each other;At least one of the two gripper assemblies has a gripper that can adaptively move along the external shape of the object when contacting the object, and the gripper is in contact with the surface of the object by elastic force.The taking gripper in the embodiment of the present application has at least one side with a gripper that can adaptively move along the external shape of the blank, and the gripper can be in contact with the blank by elastic force, so as to be able to grip the roll-forged blank with varying cross-sectional dimensions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of forging blank taking gripper, in particular to an adjustable bionic taking gripper for forging automation production line robot. BACKGROUND

[0002] The current robot gripping mechanism on the forging production line is a pneumatic gripper, which includes a cylinder and a guide rod driven by the cylinder, and a steel plate is fixed at the end of the guide rod, and the cylindrical bar with uniform size is clamped by the wedge structure at the end of the steel plate. The traditional gripping mechanism is only suitable for cylindrical bar with uniform size, but in actual production, more often, the rolled forging blank with varying cross-sectional size needs to be transported, so the application range is very limited. SUMMARY

[0003] The purpose of the present application is to provide an adjustable bionic taking gripper for forging automation production line robot to solve the problem that the traditional gripping mechanism is difficult to transport the rolled forging blank with varying cross-sectional size.

[0004] To solve the above technical problems, the present application specifically provides the following technical scheme:

[0005] An adjustable bionic taking gripper for forging automation production line robot, comprising a fixed gripper assembly and a movable gripper assembly arranged oppositely, and a linear actuator for driving the fixed gripper assembly and the movable gripper assembly to move closer to or farther away from each other.

[0006] The fixed gripper assembly comprises a fixed gripper plate and a first gripper, and the first gripper is fixed by the fixed gripper plate. The movable gripper assembly comprises a movable gripper plate, a second gripper and an elastic connecting assembly. The movable gripper plate is fixedly connected to the execution part of the linear actuator. The second gripper is movably connected to the movable gripper plate. The first gripper and the second gripper are arranged oppositely, and a plurality of second grippers are arranged side by side.

[0007] Each second gripper is connected to the movable gripper plate through an elastic connecting assembly, so that each second gripper can adaptively move away from the first gripper along the external shape of the object when contacting the object, and the surface of the object is tightly pressed by the elastic force of the elastic connecting assembly.

[0008] Further, the elastic connecting assembly comprises a gripper fixing rod and a first spring. The gripper fixing rod is fixedly connected to the execution part of the linear actuator. One end of the second gripper is rotatably connected to the gripper fixing rod. The other end of the second gripper is used to tightly press the surface of the object and can freely swing. The first spring connects the second gripper and the movable gripper plate, and provides elastic force for the second gripper to tightly press the surface of the object.

[0009] Further, the mobile gripper plate is fixedly connected with a nut, the first bolt is connected with the nut, the middle part of the second gripper is provided with a first through hole, the first bolt passes through the first through hole, and the head of the first bolt is located on the side of the second gripper away from the mobile gripper plate, and the first spring is sleeved on the first bolt.

[0010] Further, the fixed gripper assembly is fixedly installed on the execution part of the robot, the movable gripper assembly is slidably connected to the fixed gripper assembly, the linear actuator is fixedly connected to the fixed gripper assembly, and the execution part of the linear actuator is fixedly connected to the movable gripper assembly.

[0011] Further, the fixed gripper assembly comprises a robot connecting plate, a guide pipe fixing seat, a guide pipe, a gripper fixing seat, the fixed gripper plate and the first gripper which are sequentially connected, wherein the robot connecting plate is used for fixedly connecting the execution part of the robot, and the guide pipe is used for prolonging the distance between the robot connecting plate and the first gripper.

[0012] Further, the movable gripper assembly comprises a shaft bushing, a guide rod, a bidirectional shaft bushing, the mobile gripper plate and a plurality of the second grippers which are sequentially connected, wherein the shaft bushing is used for connecting the execution part of the linear actuator and the guide rod, the guide rod is axially slidably connected to the guide pipe, and the bidirectional shaft bushing is axially slidably connected to the gripper fixing seat.

[0013] A kind of adjustable bionic material taking gripper for forging automated production line robot, including two bionic gripper assemblies which are oppositely arranged, and linear actuator driven two bionic gripper assemblies to be close to each other or away from each other;

[0014] The bionic gripper assembly comprises a bionic gripper plate, and a plurality of groups of third grippers, sliding connection assemblies and second springs which are arranged side by side;

[0015] Each group of the third gripper, the sliding connection assembly and the second spring comprises one third gripper, one sliding connection assembly and one second spring, each sliding connection assembly can be vertically slidably connected to the bionic gripper plate, and each sliding connection assembly is connected to the bionic gripper plate by one second spring, the elastic force of the second spring makes the sliding connection assembly always have the movement tendency of moving upward;

[0016] The bionic gripper plate is provided with two protrusions arranged oppositely, a throat with a wide end and a narrow middle is formed between the two protrusions, the sliding connection assembly is arranged at one end of the throat, one end of each third gripper passes through the throat and is rotatably connected to one sliding connection assembly, and the other end of the third gripper is used for abutting against the object to be gripped.

[0017] When each third gripper contacts the object to be gripped, it can be adapted to move away from the opposite third gripper along the external shape of the object, so that the sliding connection assembly moves downward, and the third gripper is driven to abut against the surface of the object by the elastic force of the second spring.

[0018] Further, the sliding connection assembly comprises a first sliding block and a second bolt.

[0019] The first sliding block is arranged at one end of the throat and is rotatably connected to one end of the third gripper, the first sliding block is provided with a first sliding groove with an opening arranged downward, and the end of the third gripper is provided with a sliding column capable of moving and rotating in the first sliding groove.

[0020] The second bolt is vertically arranged and is screw-connected to the first sliding block, the bionic gripper plate is provided with a second through hole, the second bolt passes through the second through hole, and the head of the second bolt is located on the side of the bionic gripper plate away from the first sliding block, the second spring is sleeved on the second bolt, and the two ends of the second spring abut against the end of the second bolt and the bionic gripper plate respectively, so that the elastic force of the second spring exerts an upward pulling force on the first sliding block.

[0021] Among the two bionic gripper assemblies, the first sliding block of one bionic gripper assembly is provided with a second sliding groove recessed inward, and the first sliding block of the other bionic gripper assembly is provided with a second sliding block protruding outward, the second sliding block is connected with the second sliding groove, so that the first sliding blocks of the two bionic gripper assemblies are slidingly connected.

[0022] Further, one bionic gripper assembly is fixedly installed on the execution part of the robot, the other bionic gripper assembly is fixedly connected to the execution part of the linear driver, and the two bionic gripper assemblies are slidingly connected to each other.

[0023] Further, among the two bionic gripper assemblies, the bionic gripper plate of one bionic gripper assembly is provided with a third sliding groove recessed inward, and the bionic gripper plate of the other bionic gripper assembly is provided with a third sliding block protruding outward, the third sliding block is connected with the third sliding groove, so that the two bionic gripper assemblies are slidingly connected.

[0024] The present application has the following beneficial effects compared with the prior art:

[0025] The present application provides an adjustable bionic material taking gripper for a forging automatic production line robot, at least one side of the material taking gripper in the embodiment of the present application is provided with a gripper capable of moving adaptively following the external shape of a blank, and the gripper is capable of abutting against the blank through elastic force, so as to be capable of gripping the blank after roll forging with varying cross-sectional size. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and other drawings can be obtained by the provided drawings without creative labor for those skilled in the art.

[0027] Figure 1 is a perspective view of the first embodiment of the present application;

[0028] Figure 2 is a front view of the partial structure of the first embodiment of the present application;

[0029] Figure 3 is a perspective view of the movable gripper assembly of the first embodiment of the present application;

[0030] Figure 4 is a perspective view of the elastic connection assembly of the first embodiment of the present application;

[0031] Figure 5 is an assembly view of the partial structure of the first embodiment of the present application;

[0032] Figure 6 is an assembly view of the partial structure of the first embodiment of the present application;

[0033] Figure 7 is a perspective view of the second embodiment of the present application;

[0034] Figure 8 is a side view of the second embodiment of the present application;

[0035] Figure 9 is a sectional view of the A-A direction of Figure 8

[0036] Figure 10 is a perspective view of the third gripper and the sliding connection assembly of the second embodiment of the present application;

[0037] The reference numerals in the drawings represent the following respectively:

[0038] ​1 - fixed gripper assembly; 11 - fixed gripper plate; 12 - first gripper; 13 - robot connecting plate; 14 - guide pipe fixing seat; 15 - guide pipe; 16 - gripper fixing seat; 2 - movable gripper assembly; 21 - movable gripper plate; 22 - second gripper; 23 - elastic connecting assembly; 231 - gripper fixing rod; 232 - first bolt; 233 - first spring; 234 - nut; 24 - shaft bushing; 25 - guide rod; 26 - bidirectional shaft bushing; 3 - linear driver; 4 - bionic gripper assembly; 41 - bionic gripper plate; 411 - protrusion; 412 - throat; 413 - third sliding groove; 414 - third sliding block; 42 - third gripper; 43 - sliding connecting assembly; 431 - first sliding block; 432 - second bolt; 433 - second sliding groove; 434 - second sliding block; 44 - second spring. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0040] The grasping mechanism of the robot on the current forging production line is a pneumatic gripper, which includes a cylinder and a guide rod driven by the cylinder, and a steel plate is fixed at the end of the guide rod. The cylindrical bar stock with uniform size is gripped by relying on the wedge structure at the end of the steel plate. The traditional grasping mechanism is only suitable for cylindrical bar stock with uniform size, but in actual production, more often, the roll-forged blank with varying cross-sectional size needs to be transported. Therefore, the application range is very limited.

[0041] To solve this problem, the embodiment discloses an adjustable bionic material taking gripper for a robot on a forging automated production line, hereinafter referred to as a material taking gripper.

[0042] (First embodiment, refer to Figures 1 to 6 )

[0043] Refer to Figure 1 , the material taking gripper includes a fixed gripper assembly 1 and a movable gripper assembly 2 arranged opposite to each other, and a linear driver 3 for driving the fixed gripper assembly 1 and the movable gripper assembly 2 to move closer to or farther away from each other.

[0044] The fixed gripper assembly 1 comprises a fixed gripper plate 11 and a first gripper 12, the first gripper 12 being fixed by the fixed gripper plate 11, the movable gripper assembly 2 comprises a movable gripper plate 21, a second gripper 22 and an elastic connecting assembly 23, the movable gripper plate 21 being fixedly connected to the execution part of the linear actuator 3, the second gripper 22 being movably connected to the movable gripper plate 21, the first gripper 12 and the second gripper 22 are oppositely arranged, and a plurality of second grippers 22 are arranged side by side.

[0045] Each second gripper 22 is connected to the movable gripper plate 21 through an elastic connecting assembly 23, so that each second gripper 22 can be adapted to move towards the direction away from the first gripper 12 along the external shape of the object when contacting the object to be gripped, and the surface of the object is tightly contacted by the elastic force of the elastic connecting assembly 23.

[0046] Reference Figure 2 , the fixed gripper assembly 1 is fixedly installed on the execution part of the robot, the movable gripper assembly 2 is slidably connected to the fixed gripper assembly 1, the linear actuator 3 is fixedly connected to the fixed gripper assembly 1, and the execution part of the linear actuator 3 is fixedly connected to the movable gripper assembly 2, during operation, the robot drives the fixed gripper assembly 1, the movable gripper assembly 2 and the linear actuator 3 to move to the position of the blank, so that the blank is located between the fixed gripper assembly 1 and the movable gripper assembly 2, then the linear actuator 3 drives the movable gripper assembly 2 to move close to the fixed gripper assembly 1, then the movable gripper assembly 2 contacts the blank and pushes the blank towards the fixed gripper assembly 1 until the blank is clamped by the fixed gripper assembly 1 and the movable gripper assembly 2, then the linear actuator 3 continues to drive the movable gripper assembly 2 to move close to the fixed gripper assembly 1, so that each second gripper 22 is adapted to move towards the direction away from the first gripper 12 along the external shape of the object, and the surface of the object is tightly contacted by the elastic force of the elastic connecting assembly 23, thereby completing the gripping of the blank with varying cross-sectional size.

[0047] Specifically, referring to Figure 2 、 Figure 3 and Figure 4 , the elastic connecting assembly 23 comprises a gripper fixing rod 231 and a first spring 233, the gripper fixing rod 231 is fixedly connected to the execution part of the linear actuator 3, one end of the second gripper 22 is rotatably connected to the gripper fixing rod 231, the other end of the second gripper 22 is used to tightly contact the surface of the object and can freely swing, and the first spring 233 is connected to the second gripper 22 and the execution part of the linear actuator 3 to provide elastic force for the second gripper 22 to tightly contact the surface of the object.

[0048] In order to avoid the first spring 233 from falling or mispositioning, the moving gripper plate 21 is fixedly connected with a nut 234, the first bolt 232 is connected to the nut 234, the middle part of the second gripper 22 is provided with a first through hole, the first bolt 232 passes through the first through hole, and the head of the first bolt 232 is located on the side of the second gripper 22 away from the moving gripper plate 21, the first spring 233 is sleeved on the first bolt 232, and the first spring 233 abuts against the second gripper 22 and the moving gripper plate 21, so that when the second gripper 22 moves around the gripper fixing rod 231 to approach the moving gripper plate 21, the first spring 233 is compressed, and in addition, rotating the first bolt 232 can compress or release the first spring 233, so as to adjust the initial position of the second gripper 22.

[0049] Further, in order to avoid that the high temperature of the blank damages the robot and the linear driver 3, with reference to Figure 5 and Figure 6 .

[0050] The fixed gripper assembly 1 comprises, in sequence: a robot connecting plate 13, a guide pipe fixing seat 14, a guide pipe 15, a gripper fixing seat 16, a fixed gripper plate 11 and a first gripper 12.

[0051] The robot connecting plate 13 is fixedly installed on the execution part of the robot, and the guide pipe 15 is used to extend the distance between the robot connecting plate 13 and the first gripper 12.

[0052] The movable gripper assembly 2 comprises, in sequence: a shaft bushing 24, a guide rod 25, a bidirectional shaft bushing 26, a moving gripper plate 21 and a plurality of second grippers 22.

[0053] The shaft bushing 24 is used to connect the execution part of the linear driver 3 and the guide rod 25, the guide rod 25 is axially slidably connected to the guide pipe 15, and the bidirectional shaft bushing 26 is axially slidably connected to the gripper fixing seat 16.

[0054] The linear driver 3 adopts a pneumatic cylinder, and when the pneumatic cylinder works, it pushes the guide rod 25 to move axially in the inside of the guide pipe 15, so as to push the bidirectional shaft bushing 26 to move axially in the inside of the gripper fixing seat 16, and further push the moving gripper plate 21 to approach the fixed gripper plate 11.

[0055] (A second embodiment, with reference to Figures 7 to 10 )

[0056] Since the first embodiment of the material taking gripper has only one side of the movable gripper assembly 2 with a bionic structure, although it can grasp the blanks with varying cross-sectional sizes, the center line of the blank is not coaxial with the center line of the material taking gripper, which affects the accuracy of the position of the blank placed by the robot.

[0057] In order to solve this problem, with reference to Figure 7The taking hand includes two bionic hand assemblies 4 arranged oppositely, and a linear driver 3 driving the two bionic hand assemblies 4 to move close to or away from each other. The linear driver 3 of the second embodiment is not shown in the figure, and the working principle of the linear driver 3 is the same as that of the first embodiment. One bionic hand assembly 4 is fixedly installed on the execution part of the robot, and the other bionic hand assembly 4 is fixedly connected to the execution part of the linear driver 3, and the two bionic hand assemblies 4 are slidably connected to each other.

[0058] The bionic hand assembly 4 includes a bionic hand plate 41, and a plurality of groups of third hands 42, sliding connection assemblies 43 and second springs 44 arranged side by side.

[0059] Each group of the third hand 42, the sliding connection assembly 43 and the second spring 44 includes one third hand 42, one sliding connection assembly 43 and one second spring 44. Each sliding connection assembly 43 is vertically slidably connected to the bionic hand plate 41, and each sliding connection assembly 43 is connected to the bionic hand plate 41 through one second spring 44. The elastic force of the second spring 44 makes the sliding connection assembly 43 always have a movement tendency of moving upward.

[0060] The bionic hand plate 41 has two protrusions 411 arranged oppositely, and a throat 412 with a wide end and a narrow middle is formed between the two protrusions 411. The sliding connection assembly 43 is arranged at one end of the throat 412. One end of each third hand 42 passes through the throat 412 and is rotatably connected to one sliding connection assembly 43. The other end of the third hand 42 is used to abut against the object to be grabbed.

[0061] When each third hand 42 contacts the object to be grabbed, it can adaptively move away from the opposite third hand 42 along the external shape of the object, so that the sliding connection assembly 43 moves downward and abuts against the surface of the object through the elastic force of the second spring 44.

[0062] Specifically, referring to Figure 8 and Figure 9 The sliding connection assembly 43 includes a first sliding block 431 and a second bolt 432.

[0063] The first sliding block 431 is arranged at one end of the throat 412 and is rotatably connected to one end of the third hand 42. Referring to Figure 10 The first sliding block 431 has a first sliding groove with an opening arranged downward. The end of the third hand 42 is provided with a sliding column which can move and rotate in the first sliding groove.

[0064] The second bolt 432 is vertically arranged and is screwed to the first sliding block 431. The bionic gripper plate 41 is provided with a second through hole. The second bolt 432 passes through the second through hole, and the head of the second bolt 432 is located on the side of the bionic gripper plate 41 away from the first sliding block 431. The second spring 44 is sleeved on the second bolt 432, and the two ends of the second spring 44 abut against the end of the second bolt 432 and the bionic gripper plate 41 respectively, so that the elastic force of the second spring 44 exerts an upward pulling force on the first sliding block 431.

[0065] With reference to Figure 8 , Figure 9 and Figure 10 , of the two bionic gripper assemblies 4, the first sliding block 431 of one bionic gripper assembly 4 is provided with a second sliding groove 433 recessed inward, and the first sliding block 431 of the other bionic gripper assembly 4 is provided with a second sliding block 434 protruding outward, the second sliding block 434 being connected with the second sliding groove 433, so that the first sliding blocks 431 of the two bionic gripper assemblies 4 are slidingly connected.

[0066] Therefore, when the third gripper 42 moves towards the direction away from the opposite another third gripper 42, the first sliding blocks 431 of the two bionic gripper assemblies 4 move downward synchronously, so that the two third grippers 42 arranged oppositely move towards the direction away from each other synchronously.

[0067] This design can also meet the requirement that the different third grippers 42 grasp the parts of the blank with different cross-sectional sizes, and can ensure that the center line of the blank is aligned with the center line of the material taking gripper, thereby improving the accuracy of the position of the blank placed by the robot.

[0068] In addition, with reference to Figure 8 and Figure 9 , of the two bionic gripper assemblies 4, the bionic gripper plate 41 of one bionic gripper assembly 4 is provided with a third sliding groove 413 recessed inward, and the bionic gripper plate 41 of the other bionic gripper assembly 4 is provided with a third sliding block 414 protruding outward, the third sliding block 414 being connected with the third sliding groove 413, so that the two bionic gripper assemblies 4 are slidingly connected.

[0069] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements are also regarded as falling within the protection scope of the embodiments of the present application.

Claims

1. A robot adjustable bionic material taking gripper for forging automation production line, characterized in that, comprising two bionic gripper assemblies (4) arranged oppositely, and a linear driver (3) driving the two bionic gripper assemblies (4) to move closer to or farther away from each other; the bionic gripper assembly (4) comprises a bionic gripper plate (41), and multiple groups of third grippers (42), sliding connection assemblies (43) and second springs (44) arranged side by side; each group of the third gripper (42), the sliding connection assembly (43) and the second spring (44) comprises one third gripper (42), one sliding connection assembly (43) and one second spring (44), each sliding connection assembly (43) is vertically and slidably connected to the bionic gripper plate (41), and each sliding connection assembly (43) is connected to the bionic gripper plate (41) through one second spring (44), the elastic force of the second spring (44) makes the sliding connection assembly (43) always have a upward movement trend; the bionic gripper plate (41) has two oppositely arranged protrusions (411), a throat (412) with a wide end and a narrow middle is formed between the two protrusions (411), the sliding connection assembly (43) is arranged at one end of the throat (412), one end of each third gripper (42) passes through the throat (412) and is rotatably connected to one sliding connection assembly (43), the other end of the third gripper (42) is used for abutting against the object to be grabbed; each third gripper (42) can adaptively move away from the opposite third gripper (42) along the external shape of the object to be grabbed, so that the sliding connection assembly (43) moves downward, and the third gripper (42) is driven by the elastic force of the second spring (44) to abut against the surface of the object; the sliding connection assembly (43) comprises a first sliding block (431); one first sliding block (431) of one bionic gripper assembly (4) has a second sliding groove (433) recessed inward, and the first sliding block (431) of the other bionic gripper assembly (4) has a second sliding block (434) protruding outward, the second sliding block (434) is connected with the second sliding groove (433), so that the first sliding blocks (431) of the two bionic gripper assemblies (4) are slidably connected. 2.A robot adjustable bionic material taking gripper for forging automation production line according to claim 1, characterized in that, the sliding connection assembly (43) comprises a second screw (432). ​ ​ ​ ​ ​ ​ ​ ​ The first slider (431) is arranged at one end of the throat (412) and rotatably connected to one end of the third gripper (42), the first slider (431) is provided with a first sliding groove arranged with an opening downward, and the end of the third gripper (42) is provided with a sliding column capable of moving and rotating in the first sliding groove; The second bolt (432) is arranged vertically and screw-connected to the first slider (431), the bionic gripper plate (41) is provided with a second through hole, the second bolt (432) passes through the second through hole, and the head of the second bolt (432) is located on the side of the bionic gripper plate (41) away from the first slider (431), the second spring (44) is sleeved on the second bolt (432), and the two ends of the second spring (44) abut against the end of the second bolt (432) and the bionic gripper plate (41) respectively, so that the elastic force of the second spring (44) exerts upward pulling force on the first slider (431).

3. The adjustable bionic material taking gripper for forging automatic production line robot according to claim 1, characterized in that, One of the bionic gripper assemblies (4) is fixedly installed on the execution part of the robot, and the other bionic gripper assembly (4) is fixedly connected to the execution part of the linear driver (3), and the two bionic gripper assemblies (4) are slidably connected to each other.

4. The adjustable bionic material taking gripper for forging automatic production line robot according to claim 3, characterized in that, Among the two bionic gripper assemblies (4), the bionic gripper plate (41) of one of the bionic gripper assemblies (4) is provided with a third sliding groove (413) recessed inward, and the bionic gripper plate (41) of the other bionic gripper assembly (4) is provided with a third sliding block (414) protruding outward, the third sliding block (414) is connected with the third sliding groove (413), so that the two bionic gripper assemblies (4) are slidably connected.

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