End effector with double clamping mechanisms
By designing an end effector with a double clamping mechanism, the problems of unstable clamping of forgings, poor adaptability and forgings being turned out from the die bore in the prior art are solved, and stable clamping and flexible operation of forgings are achieved.
Patent Information
- Application Number
- CN202411562584.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-05
- Publication Date
- 2025-05-23
AI Technical Summary
The existing end effectors are difficult to perform without hurting the forging when clamping the forging, and are poorly adaptable to forgings of different thicknesses, and there is a problem of turning out the forgings out of the die, so the forgings need to be flattened, flipped, and reset.
An end effector having a double clamping mechanism is designed, including a first clamping mechanism and a second clamping mechanism. The first clamping mechanism realizes stable clamping of the forgings through the cooperation of the guide rod, the slider and the clamping plate; the second clamping mechanism can correct and flip the position of the forgings through the cooperation of the hinge support and the pressing plate.
It realizes stable clamping of forgings, adapts to forgings of different thicknesses, ensures that the forgings do not turn out of the die chamber, and can easily perform flip and reset operations, improving the practicality of the clamping mechanism.
Smart Images
Figure CN120023844A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of mechanical gripper devices, and in particular to an end effector with a double clamping mechanism. Background Art
[0002] On the die forging production line, workers need to work in extremely harsh environments. There is an urgent need to use industrial manipulators to liberate workers from the arduous hammer die forging production line and realize hammer die forging with fewer or even no people. The end effector is a key part of the industrial manipulator. It is very necessary to design the corresponding end effector according to the actual needs of the die forging production line.
[0003] It is difficult for the existing end effector to clamp the forging without damaging the forging body, and it has poor adaptability to forgings of different thicknesses in the hammer die forging production line. There is also the problem of forgings flipping out of the die cavity, which requires the forgings to be leveled, flipped, and reset.
[0004] Therefore, the present application provides an end effector with a double clamping mechanism to solve the above problems. Summary of the invention
[0005] The present application provides an end effector with a double clamping mechanism, aiming to solve the problem that the existing end effector mentioned in the background technology is difficult to clamp the forging without damaging the forging body, and has poor adaptability to forgings of different thicknesses in the die forging production line. At the same time, it is necessary to consider the situation where the forging is flipped out of the die cavity, and the forging needs to be leveled, flipped, and reset.
[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: an end effector with a double clamping mechanism, comprising a flange connection seat and a first clamping mechanism arranged on the flange connection seat;
[0007] In order to facilitate the clamping of forgings: the first clamping mechanism includes a guide rod, a bracket arranged at both ends of the guide rod and connected to the flange connecting seat, a slider symmetrically arranged on the guide rod and capable of relative movement, a clamping plate fixedly arranged on the slider away from the guide rod at one end for clamping the forging, and a first driving member for driving the two sliders to move closer to or away from the bracket; wherein, a supporting plate for lifting the forging is fixedly arranged at the bottom of the opposite end of the clamping plate; when clamping the forging; the first driving member drives the two sliders to move relative or oppositely along the guide rod to drive the clamping plate to move synchronously to clamp or release the forging, and during the clamping process, the bottom end of the forging is brought into contact with the top end of the supporting plate, so as to facilitate the adjustment of the distance between the two clamping plates according to the width of the forging, while ensuring the stability of the clamping of the forging and improving the applicability of the clamping of the forging.
[0008] In order to stably place the forging on the first clamping mechanism: the flange connection seat is also provided with a second clamping mechanism used in conjunction with the first clamping mechanism, the second clamping mechanism includes a hinged support symmetrically arranged on the flange connection seat, a pressure plate hinged at one end of the hinged support away from the flange connection seat, and a second driving member used to drive the pressure plate to move closer to or away from the first clamping mechanism. After the first clamping mechanism completes clamping the forging, the second driving member drives the pressure plate to hinge and rotate on the hinged support to control the clamping force of the pressure plate on the forging, and when the forging is clamped on the first clamping mechanism, the position of the forging can be corrected, and it is also convenient to turn over the forging, so that the forging can be stably placed between the first clamping mechanism and the second clamping mechanism;
[0009] Preferably, in order to facilitate the installation of the clamping plate: an end of the slider close to the clamping plate is provided with a mounting groove for inserting the clamping plate, and the clamping plate is fixedly connected to the slider by bolts. The clamping plate is detachably mounted on the slider by bolts, which is convenient for replacing the worn or damaged clamping plate, and the operation is simple.
[0010] Preferably, the first driving member includes a first cylinder fixedly mounted on the bottom of the flange connection seat, a first hinge seat fixedly arranged at the output end of the first cylinder, and a hinge plate symmetrically hinged on the first hinge seat and hinged to the slider.
[0011] Preferably, in order to facilitate the clamping of forgings with small thickness: the clamping plates are provided with clamping grooves at opposite ends, and the top surface of the support plate and the bottom wall of the clamping groove are in the same plane. When clamping forgings with a thickness less than the clamping groove, it is only necessary to clamp the forgings directly through the clamping plates so that both sides of the forgings are located inside the clamping grooves, and it is not necessary to stabilize the position of the forgings through a second clamping mechanism. The clamping grooves can stably place forgings with a thickness less than the clamping grooves on the clamping plates, thereby ensuring the stability of clamping.
[0012] Preferably, in order to facilitate driving the pressing plate to press forgings of different thicknesses on the first clamping mechanism: the articulated support comprises two mutually articulated support plates, one end of one of the support plates is fixedly connected to the flange connection seat by bolts, and one end of the other support plate is connected to the pressing plate by bolts. When clamping forgings of different thicknesses on the first clamping mechanism, the pressing plate and the articulated support plate are articulated and rotated under the drive of the second driving member, and the two mutually articulated support plates are rotated at the same time, so that the pressing plate can be stably pressed on the forging.
[0013] Preferably, the second driving member includes a second cylinder fixedly mounted on the top of the flange connection seat, and a second hinged seat fixedly arranged at the output end of the second cylinder and hinged to the pressure plate.
[0014] The present application can clamp the two sides of the forging through two relatively moving clamping plates, and can clamp the top and bottom ends of the forging through the cooperation of the support plate and the pressure plate, thereby ensuring stable clamping of the forging and facilitating the rotation and flipping operation of the forging. It can not only complete the clamping and resetting of the forging, but also rotate and flip the forging, thereby improving the practicality of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of the flange connection seat connected to the first cylinder and the second cylinder. ;
[0016] Figure 2 It is a structural schematic diagram of an end effector with a double clamping mechanism.
[0017] In the figure:
[0018] 1. Flange connection seat; 2. First clamping mechanism; 21. Guide rod; 22. Bracket; 23. Slider; 231. Mounting groove; 24. Clamping plate; 241. Support plate; 242. Clamping groove; 25. First driving member; 251. First cylinder; 252. First hinged seat; 253. Hinge plate; 3. Second clamping mechanism; 31. Hinge support; 311. Support plate; 32. Pressing plate; 33. Second driving member; 331. Second cylinder; 332. Second hinged seat. DETAILED DESCRIPTION
[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0020] This embodiment provides an end effector with a double clamping mechanism, such as Figure 1-2 As shown, the end effector of the robot includes a flange connection seat 1 and a first clamping mechanism 2 arranged on the flange connection seat 1;
[0021] In order to facilitate the clamping of the forgings: the first clamping mechanism 2 includes a guide rod 21, a bracket 22 arranged at both ends of the guide rod 21 and connected to the flange connection seat 1, a slider 23 symmetrically arranged on the guide rod 21 and relatively movable, a clamping plate 24 fixedly arranged at the end of the slider 23 away from the guide rod 21 for clamping the forging, and a first driving member 25 for driving the two sliders 23 to move closer to or away from the bracket 22; wherein, a supporting plate 241 for lifting the forging is fixedly arranged at the bottom of the opposite end of the clamping plate 24; when clamping the forgings; the first driving member 25 drives the two sliders 23 to move relative to or oppositely along the guide rod 21 to drive the clamping plate 24 to move synchronously to clamp or release the forgings, and during the clamping process, the bottom end of the forging is brought into contact with the top end of the supporting plate 241, so as to facilitate the adjustment of the distance between the two clamping plates 24 according to the width of the forgings, while ensuring the stability of the clamping of the forgings and improving the applicability of the forgings.
[0022] When in use, the two sliders 23 are driven by the first driving member 25 to drive the clamping plates 24 to be located on both sides of the guide rod 21, and the clamping plates 24 are moved to both sides of the forging through the flange connecting seat 1, and then the two sliders 23 and the clamping plates 24 are driven by the first driving member 25 to move relative to each other to clamp the forging, so that the bottom end of the forging contacts with the top end of the support plate 241, thereby ensuring the stability of the clamping of the forging and resetting the forging so that it can be forged next time.
[0023] In order to stably place the forging on the first clamping mechanism 2: the flange connection seat 1 is also provided with a second clamping mechanism 3 used in conjunction with the first clamping mechanism 2, and the second clamping mechanism 3 includes an articulated support 31 symmetrically arranged on the flange connection seat 1, a pressing plate 32 hinged at one end of the articulated support 31 away from the flange connection seat 1, and a second driving member 33 for driving the pressing plate 32 to move closer to or away from the first clamping mechanism 2. After the first clamping mechanism 2 completes the clamping of the forging, the second driving member 33 drives the pressing plate 32 to hinge and rotate on the articulated support 31 to control the clamping force of the pressing plate 32 on the forging, so that the position of the forging can be corrected when the forging is clamped on the first clamping mechanism 2, and it is also convenient to turn over the forging, so that the forging can be stably placed between the first clamping mechanism 2 and the second clamping mechanism 3;
[0024] When in use, after the first clamping mechanism 2 completes clamping the forging, the second driving member 33 drives the pressure plate 32 to be hinged on the hinged support 31 while moving in a direction away from the flange connection seat 1 to perform top pressure on the forging located on the first clamping mechanism 2, ensuring that the forging is stably placed between the first clamping mechanism 2 and the second clamping mechanism 3, ensuring the stability of clamping, and being able to clamp forgings of different thicknesses. At the same time, by rotating the flange connection seat 1, it is also convenient to turn over the forging.
[0025] Specifically, in order to facilitate the installation of the clamping plate 24: a mounting groove 231 for inserting the clamping plate 24 is provided at one end of the slider 23 close to the clamping plate 24, and the clamping plate 24 is fixedly connected to the slider 23 by bolts. During installation, one end of the clamping plate 24 is first inserted into the mounting groove 231, and then the clamping plate 24 is fixed to the mounting groove 231 by bolts; when the clamping plate 24 needs to be replaced, the bolts on the slider 23 are first removed, and then the clamping plate 24 is taken out of the mounting groove 231, and then the clamping plate 24 with the installation is inserted into the mounting groove 231, and then the clamping plate 24 is fixed to the mounting groove 231 by bolts; the clamping plate 24 is installed on the slider 23 by bolt removal, which is convenient for replacing the worn or damaged clamping plate 24, and the operation is simple.
[0026] Specifically, the first driving member 25 includes a first cylinder 251 fixedly mounted on the bottom of the flange connection seat 1, a first hinge seat 252 fixedly arranged at the output end of the first cylinder 251, and a hinge plate 253 symmetrically hinged on the first hinge seat 252 and hinged to the slider 23.
[0027] Furthermore, the clamping plate 24 has a clamping groove 242 at one opposite end, and the top surface of the support plate 241 is in the same plane as the bottom wall of the clamping groove 242. When clamping a forging whose thickness is less than the clamping groove 242, it is only necessary to clamp the forging directly through the clamping plate 24 so that both sides of the forging are located inside the clamping groove 242, and it is no longer necessary to stabilize the position of the forging through the second clamping mechanism 3. The clamping groove 242 can stably place the forging whose thickness is less than the clamping groove 242 on the clamping plate 24, thereby ensuring the stability of clamping.
[0028] Specifically, in order to facilitate driving the pressing plate 32 to press forgings of different thicknesses on the first clamping mechanism 2: the articulated support 31 includes two mutually articulated support plates 311, one end of one of the support plates 311 is fixedly connected to the flange connection seat 1 by bolts, and one end of the other support plate 311 is connected to the pressing plate 32 by bolts. When in use, firstly fix one end of one of the support plates 311 to the flange connection seat 1 by bolts, and then connect one end of the other support plate 311 to the pressing plate 32 by bolts; when clamping forgings of different thicknesses on the first clamping mechanism 2, the pressing plate 32 is articulated and rotated with the articulated support plate 311 under the drive of the second driving member 33, and the two mutually articulated support plates 311 are rotated at the same time, so that the pressing plate 32 can be stably pressed on the forgings.
[0029] Specifically, the second driving member 33 includes a second cylinder 331 fixedly mounted on the top of the flange connection seat 1 , and a second hinge seat 332 fixedly arranged at the output end of the second cylinder 331 and hinged to the pressure plate 32 .
[0030] When clamping a forging whose length is greater than the clamping plate 24, the two sides of the forging can be clamped by the two relatively moving clamping plates 24, and the top and bottom ends of the forging can be clamped by the cooperation of the support plate 241 and the pressure plate 32, thereby ensuring stable clamping of the forging and facilitating the rotation and flipping of the forging. After clamping, it is flipped 180°, the far end of the forging is aligned with the die cavity, and the mechanical claws are moved backward to reset the forging; it can not only complete the clamping and resetting of the forging, but also rotate and flip the forging, thereby improving the practicability of the clamping mechanism.
[0031] When the forging is tilted, the forging is first straightened by the end of the pressing plate 32, and the forging is fixed by the pressing plate 32. Then, the forging is clamped by the first clamping mechanism 2.
[0032] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. An end effector with a double clamping mechanism, comprising a flange connection seat (1) and a first clamping mechanism (2) arranged on the flange connection seat (1); Features: The first clamping mechanism (2) comprises a guide rod (21), a bracket (22) arranged at both ends of the guide rod (21) and connected to the flange connection seat (1), a slider (23) symmetrically arranged on the guide rod (21) and relatively movable, a clamping plate (24) fixedly arranged on the slider (23) at one end away from the guide rod (21) for clamping the forging, and a first driving member (25) for driving the two sliders (23) to move closer to or away from the bracket (22); wherein a supporting plate (241) for lifting the forging is fixedly arranged at the bottom of the opposite end of the clamping plate (24); The flange connection seat (1) is also provided with a second clamping mechanism (3) for use in conjunction with the first clamping mechanism (2), the second clamping mechanism (3) comprising an articulated support (31) symmetrically arranged on the flange connection seat (1), a pressure plate (32) articulated at one end of the articulated support (31) away from the flange connection seat (1), and a second driving member (33) for driving the pressure plate (32) to move closer to or away from the first clamping mechanism (2).
2. The end effector of the robot according to claim 1, characterized in that: An installation groove (231) for inserting the clamping plate (24) is provided at one end of the sliding block (23) close to the clamping plate (24), and the clamping plate (24) and the sliding block (23) are fixedly connected by bolts.
3. The end effector of the robot according to claim 1, characterized in that: The first driving member (25) comprises a first cylinder (251) fixedly mounted on the bottom of the flange connection seat (1), a first hinge seat (252) fixedly arranged at the output end of the first cylinder (251), and a hinge plate (253) symmetrically hinged on the first hinge seat (252) and hinged to the slider (23).
4. The end effector of the robot according to claim 1, characterized in that: The clamping plate (24) is provided with a clamping groove (242) at one opposite end, and the top surface of the support plate (241) and the bottom wall of the clamping groove (242) are located in the same plane.
5. The end effector of the robot according to claim 1, characterized in that: The hinged support (31) comprises two mutually hinged support plates (311), one end of one of the support plates (311) being fixedly connected to the flange connection seat (1) by means of bolts, and one end of the other support plate (311) being connected to the pressure plate (32) by means of bolts.
6. The end effector of the robot according to claim 1, characterized in that: The second driving member (33) comprises a second cylinder (331) fixedly mounted on the top of the flange connection seat (1), and a second hinge seat (332) fixedly arranged at the output end of the second cylinder (331) and hingedly connected to the pressure plate (32).