Automatic mechanical clamping jaw for mechanical manufacturing

Abstract

The invention discloses an automatic mechanical clamping jaw for mechanical manufacturing, and belongs to the technical field of mechanical clamping jaws, the automatic mechanical clamping jaw comprises a parallel pneumatic clamping jaw, two clamping fingers of the parallel pneumatic clamping jaw are both provided with material touching structures, each material touching structure comprises a mounting base and an elastic pressing unit, and each elastic pressing unit comprises a clamping seat; and a plurality of elastic spherical air bags are connected between the clamping seat and the mounting base. When the U-shaped channel steel is grabbed through the material touching structures arranged on the clamping fingers of the parallel pneumatic clamping jaw, hard contact in the traditional grabbing process can be converted into elastic buffering contact through the elastic pressing and holding units arranged on the material touching structures, and the impact acting force on the channel steel in the grabbing process can be effectively absorbed; the situation that in the grabbing process, a plating layer on the surface of the U-shaped steel groove is damaged is effectively avoided, and when the elastic pressing and holding unit is extruded and deformed in the grabbing process, additional negative pressure adsorption force can be further applied to the grabbed U-shaped steel groove through the positive pressure conversion unit on the elastic pressing and holding unit.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and more particularly to an automated mechanical gripper used in mechanical manufacturing. Background Art

[0002] Mechanical manufacturing refers to the process of transforming raw materials into finished products through a series of technological processes, including storage, transportation, processing, inspection, etc. Mechanical manufacturing involves a wide range of industries, including power machinery, lifting and transportation machinery, agricultural machinery, metallurgical and mining machinery, chemical machinery, textile machinery, machine tools, tools, instruments, meters and other mechanical equipment. These products provide technical equipment for the entire national economy and are the main indicators of a country's industrialization level.

[0003] U-shaped channel steel is the most common type of channel in mechanical manufacturing. It is named because its longitudinal section resembles the letter "U". U-shaped channel can be used to make parts of machines or tools. Therefore, in the field of mechanical manufacturing, U-shaped channel is widely used in the manufacture of various machines and tools.

[0004] At present, in the process of mechanical manufacturing, when grabbing U-shaped channel steel with mechanical clamps, in order to firmly grasp the U-shaped channel steel, the anti-rust coating on the surface of the U-shaped channel steel is often damaged due to the excessive tightening of the channel steel clamp, causing a layer of protective film protecting the U-shaped channel steel to be destroyed. This not only affects the quality of the U-shaped channel steel product, but also easily leads to rust and corrosion of the channel steel during storage or use, affecting the service life and performance of the channel steel, and it is difficult to meet the needs of mechanical manufacturing.

[0005] In view of this, we propose an automated mechanical gripper for use in mechanical manufacturing. Summary of the invention

[0006] Technical problem to be solved: The purpose of the present invention is to provide an automated mechanical gripper for use in mechanical manufacturing, which solves the technical problems raised in the above-mentioned background technology.

[0007] Technical solution: The technical solution of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, including a parallel pneumatic gripper, wherein the two gripping fingers of the parallel pneumatic gripper are each provided with a material contact structure, wherein the material contact structure includes a mounting base and an elastic holding unit, wherein the elastic holding unit includes a clamping seat and a micro air pump, wherein a one-way air inlet valve is connected to the input end of the micro air pump, wherein a plurality of elastic spherical air bags are connected between the clamping seat and the mounting base, wherein a rubber suction cup is provided at a position corresponding to each elastic spherical air bag on a side of the clamping seat away from the mounting base, wherein a positive pressure conversion unit is further provided at a position corresponding to the position of the elastic spherical air bag inside the clamping seat, and the elastic spherical air bag and the rubber suction cup are connected via the positive pressure conversion unit;

[0008] The positive pressure conversion unit includes an actuator component, a cooperative component and a warning light. The cooperative component includes a matching slide, an adjacent channel and a channel structure. The matching slide is provided with a positive pressure passive component and a negative pressure passive component that are oppositely arranged. The matching slide is connected to the actuator component through the channel structure and the adjacent channel respectively.

[0009] When the end opening of the rubber suction cup is blocked and the elastic spherical airbag is squeezed, the actuator drives the positive pressure passive component and the negative pressure passive component in the matching slideway to move in the same direction through the channel structure and the adjacent channel.

[0010] As an optional solution of the technical solution of the document of the present invention, the number of the elastic spherical airbags is three, and the connecting lines between the three elastic spherical airbags form an equilateral triangle.

[0011] As an optional solution of the technical solution of the present invention, the execution assembly includes a left slide, a right slide, a first guide channel, a vacuum generation channel, a connecting passage and an air extraction hose;

[0012] A negative pressure piston is provided in the sealing sliding of the left slideway, and a positive pressure piston is provided in the sealing sliding of the right slideway;

[0013] A coupling rod is connected between the negative pressure piston and the positive pressure piston;

[0014] A first return spring is connected to one end of the positive pressure piston away from the engagement rod, and the other end of the first return spring is connected to the end of the right slideway.

[0015] As an optional solution of the technical solution of the document of the present invention, the left slideway, the right slideway, the first guide channel, the vacuum generation channel and the connecting passage are all located inside the clamping seat;

[0016] One end of the coupling rod away from the positive pressure piston is sealed and penetrates into the left slideway and is connected with the negative pressure piston;

[0017] One end of the first guide channel is connected to an end of the right slideway close to the left slideway, and the other end is connected to the inner cavity of the elastic spherical airbag;

[0018] One end of the vacuum generating channel is fixedly connected to the end of the rubber suction cup, and the other end is connected to an end of the left slideway away from the right slideway.

[0019] As an optional solution of the technical solution of the document of the present invention, the positive pressure passive component includes an insulating push-up seat that is sealed and slides in a matching slideway;

[0020] A first trigger terminal is connected to one end of the insulating push-up seat close to the negative pressure passive component;

[0021] The side wall of the insulating push-up seat is also connected with a side sliding block, and the side wall of the matching slideway is provided with a limiting sliding groove matched with the side sliding block, and the side sliding block slides in the limiting sliding groove.

[0022] As an optional solution of the technical solution of the present invention, the negative pressure passive component includes an insulating cylindrical shell that is sealed and slides in a matching slideway, and the opening of the insulating cylindrical shell close to one end of the positive pressure passive component is sealed and connected with a sealing plate;

[0023] An insulating sliding rod is slidably inserted on the sealing plate;

[0024] One end of the insulating slide rod is also connected to a first trigger terminal, and the other end extends into the inner cavity of the insulating cylinder shell and is connected to an insulating end seat, and a second reset spring is connected between the insulating end seat and the sealing plate;

[0025] The inner cavity of the insulating cylindrical shell is also provided with two second trigger terminals which are arranged opposite to each other, and one of the second trigger terminals is connected to the insulating end seat, and the other is connected to the end of the inner cavity of the insulating cylindrical shell;

[0026] A third return spring is connected to one end of the insulating cylinder shell away from the sealing plate, and the other end of the third return spring is connected to the end of the matching slideway.

[0027] As an optional solution of the technical solution of the document of the present invention, the adjacent channel is connected between the vacuum generating channel and the matching slideway.

[0028] As an optional solution of the technical solution of the document of the present invention, the discharge channel structure includes a discharge channel and a large chamber that are interconnected and both located inside the clamping seat;

[0029] An airtight narrow mouth is provided in the middle of the large chamber, and a reciprocating piston is sealingly slidably disposed in the airtight narrow mouth;

[0030] A fourth return spring is connected to the end of the reciprocating piston, and the other end of the fourth return spring is connected to the end of the large chamber;

[0031] One end of the discharge channel is connected to an end of the matching slideway away from the adjacent channel, and the other end penetrates the side wall of the clamping seat and is connected to the atmosphere;

[0032] When the fourth return spring is in an initial relaxed state, the reciprocating piston is located inside the airtight narrow mouth portion;

[0033] One end of the connecting passage is connected to an end of the left slideway close to the right slideway, and the other end is connected to the discharge passage.

[0034] As an optional solution of the technical solution of the present invention, the micro vacuum pump is connected to the side wall of the mounting base of the corresponding contact material structure;

[0035] One end of the vacuum hose is connected to the input end of the one-way air inlet valve, and the other end is inserted into the clamping seat and connected to the vacuum generating channel;

[0036] The two mounting bases are respectively connected to the two clamping fingers of the parallel pneumatic clamping jaws;

[0037] The warning light is connected to the end of the clamping seat;

[0038] One end of the right slide away from the left slide is connected to the discharge channel;

[0039] Negative pressure grooves are provided on the surface of the clamping seat at positions corresponding to the positions of each rubber suction cup, and the opening end of each rubber suction cup is respectively connected to the end of the negative pressure groove;

[0040] The surface of the clamping seat is also connected to a rubber anti-skid pad, and reserved holes are provided at positions corresponding to the rubber anti-skid pad and each negative pressure groove on the clamping seat.

[0041] As an optional solution of the technical solution of the document of the present invention, the two first trigger terminals are electrically connected to the warning light, and when the two first trigger terminals are in contact, the trigger warning light is turned on;

[0042] The two second trigger terminals are electrically connected to the micro air pump, and when the two second trigger terminals are in contact, the micro air pump is triggered to start;

[0043] When the elastic spherical airbag is in an initial relaxed state, the two first trigger terminals are in contact with each other;

[0044] When the elastic spherical airbag is in an initial relaxed state, the two second trigger terminals are separated from each other.

[0045] Beneficial effects: One or more technical solutions provided in the technical solution of the present invention have at least the following technical effects or advantages: 1. When the present invention grasps the U-shaped channel steel through the material contact structure arranged on the clamping fingers of the parallel pneumatic clamp, the hard contact in the traditional grasping process can be converted into elastic buffering contact through the elastic pressing unit arranged on the material contact structure, which can effectively absorb the impact force on the channel steel during the grasping process, and effectively avoid the damage to the coating on the surface of the U-shaped steel channel during the grasping process. In addition, when the elastic pressing unit is extruded and deformed during the grasping process, it can further apply additional negative pressure adsorption force to the grasped channel steel through the positive pressure conversion unit thereon, thereby enhancing the stability of grasping.

[0046] 2. Control the two clamping fingers in the parallel pneumatic gripper to move toward each other, so that when the two contact structures moving toward each other grasp the U-shaped steel groove, the elastic spherical airbag on the elastic holding unit in the contact structure absorbs the impact force on the groove steel during the grasping process, and when the elastic spherical airbag in the elastic holding unit is squeezed and elastically deformed, the gas inside the elastic spherical airbag is squeezed and injected into the positive pressure conversion unit, and then the actuator in the positive pressure conversion unit converts the positive pressure injected by the elastic spherical airbag into a negative pressure adsorption force for negative pressure adsorption of the steel groove, so as to enhance the stability of grasping.

[0047] 3. When the U-shaped channel steel is clamped between the two contact structures, the actuator receives the gas source injected from the elastic spherical airbag after extrusion deformation, and converts the positive pressure generated by the injected gas source into a negative pressure process. At the same time, the gas in one end of the matching slide is extracted through the adjacent channel, and then the gas is injected into the other end of the matching slide through the exhaust structure, so that the positive pressure passive component and the negative pressure passive component in the matching slide move in the same direction. When the movement of the positive pressure passive component is restricted by the side slider, and the negative pressure passive component moves further under the action of the negative pressure suction force, the two first trigger terminals that were originally in contact with each other are separated, and the prompt light is changed from the original on state to the off state. When the operator observes that the prompt lights are all turned off, the operator can quickly determine that a negative pressure environment has been formed inside the rubber suction cup connected to the matching slide through the adjacent channel and negative pressure suction is applied to the U-shaped channel steel. Subsequently, the channel steel can be grabbed, which ensures the stability of the grasping of the channel steel while improving the safety of the grasping operation.

[0048] 4. After the two contact structures clamp the U-shaped channel steel, the surface of the U-shaped channel steel is contaminated with processing debris or dust and other dirt, which hinders the close contact between the contact structure and the surface of the channel steel. As a result, after the clamp clamps the channel steel, a stable negative pressure state is still not formed inside. When the clamp clamps the channel steel, under the top pressure of the moving positive pressure passive part, it retracts inward and makes the two second trigger terminals contact, and triggers the micro vacuum pump in the elastic holding unit to start, thereby realizing forced compensation for the negative pressure adsorption force, so as to ensure the stability of the clamp when grasping the U-shaped channel steel. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0050] Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged local structure of part A.

[0051] Figure 3 It is a bottom view of the overall structure of the present invention.

[0052] Figure 4 For the present invention Figure 3 Schematic diagram of the enlarged local structure of part B.

[0053] Figure 5 It is a top view of the overall structure of the present invention.

[0054] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged local structure of part C in the middle.

[0055] Figure 7It is a partial cross-sectional schematic diagram of the contact material structure in the present invention.

[0056] Figure 8 It is a partial enlarged cross-sectional view of the clamping seat in the present invention.

[0057] Fig. 9 For the present invention Figure 8 A schematic diagram of the enlarged local structure of part D in the middle.

[0058] Fig.10 For the present invention Fig. 9 A schematic diagram of the enlarged local structure of part F in the middle.

[0059] Fig.11 For the present invention Figure 8 Schematic diagram of the enlarged local structure of part E in the middle.

[0060] Description of the numbers in the figure:

[0061] 10. Parallel pneumatic grippers;

[0062] 201. Mounting base; 202. Micro vacuum pump; 203. Rubber anti-skid pad; 204. Clamping seat; 205. Elastic spherical airbag; 206. Vacuum hose; 207. One-way air inlet valve; 208. Warning light; 209. Rubber suction cup; 210. Insulating push-up seat; 211. Exhaust channel; 212. Adjacent channel; 213. Vacuum generating channel; 214. Negative pressure piston; 215. Positive pressure piston; 216. First guide channel; 217. Side slider; 218. Insulating cylinder shell; 219. Third reset spring; 220. First trigger terminal; 221. Second trigger terminal; 222. Insulating end seat; 223. Closing plate; 224. Insulating slide rod; 225. Large chamber; 226. Airtight narrow mouth; 227. Reciprocating piston. DETAILED DESCRIPTION

[0063] 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 conjunction with the drawings in 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.

[0064] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] Example 1, reference Figures 1 to 7 The embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, including a parallel pneumatic gripper 10, wherein two gripping fingers of the parallel pneumatic gripper 10 are provided with a material contact structure, wherein the material contact structure includes a mounting base 201 and an elastic holding unit, and the two mounting bases 201 are respectively connected to the two gripping fingers of the parallel pneumatic gripper 10;

[0067] The elastic holding unit includes a clamping seat 204 and a micro air pump 202, and the micro air pump 202 is connected to the side wall of the mounting base 201 of the corresponding contact material structure;

[0068] A one-way air inlet valve 207 is connected to the input end of the micro air pump 202, and a plurality of elastic spherical airbags 205 are connected between the clamping seat 204 and the mounting base 201. A rubber suction cup 209 is provided at a position corresponding to each elastic spherical airbag 205 on the side of the clamping seat 204 away from the mounting base 201, and a positive pressure conversion unit is also provided inside the clamping seat 204 at a position corresponding to the position of the elastic spherical airbag 205, and the elastic spherical airbag 205 and the rubber suction cup 209 are connected through the positive pressure conversion unit;

[0069] The positive pressure conversion unit includes an execution component, a coordination component, and a prompt light 208, and the prompt light 208 is connected to the end of the clamping seat 204;

[0070] The cooperative component includes a matching slide, an adjacent channel 212, and a channel structure. The matching slide is provided with a positive pressure passive component and a negative pressure passive component that are oppositely arranged. The matching slide is connected to the execution component through the channel structure and the adjacent channel 212 respectively.

[0071] When the end opening of the rubber suction cup 209 is blocked and the elastic spherical airbag 205 is squeezed, the actuator drives the positive pressure passive component and the negative pressure passive component in the matching slideway to move in the same direction through the channel structure and the adjacent channel 212.

[0072] When the present invention grasps the U-shaped channel steel through the contact structure arranged on the clamping fingers of the parallel pneumatic clamp 10, the hard contact in the traditional grasping process can be converted into elastic buffer contact through the elastic pressing unit arranged on the contact structure, which can effectively absorb the impact force on the channel steel during the grasping process, and effectively avoid the damage to the coating on the surface of the U-shaped steel channel during the grasping process. In addition, when the elastic pressing unit is extruded and deformed during the grasping process, it can further apply additional negative pressure adsorption force to the grasped channel steel through the positive pressure conversion unit thereon, thereby enhancing the stability of grasping.

[0073] The two clamping fingers in the parallel pneumatic clamp 10 are controlled to move toward each other, so that when the two contact structures moving toward each other grasp the U-shaped steel groove, the impact force on the groove steel during the grasping process is absorbed by the elastic spherical airbag 205 on the elastic pressing unit in the contact structure. Moreover, when the elastic spherical airbag 205 in the elastic pressing unit is squeezed and elastically deformed, the gas inside the elastic spherical airbag 205 is squeezed and injected into the positive pressure conversion unit, and then the actuator in the positive pressure conversion unit converts the positive pressure injected by the elastic spherical airbag 205 into a negative pressure adsorption force for negative pressure adsorption of the steel groove, so as to enhance the stability of grasping.

[0074] Reference Figures 7 to 9 , an embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, wherein the execution assembly includes a left slideway, a right slideway, a first guide channel 216, a vacuum generation channel 213, a connecting passage, and an exhaust hose 206;

[0075] The left slideway, the right slideway, the first guide channel 216, the vacuum generating channel 213 and the connecting passage are all located inside the clamping seat 204;

[0076] One end of the air extraction hose 206 is connected to the input end of the one-way air inlet valve 207, and the other end penetrates into the clamping seat 204 and is connected to the vacuum generation channel 213;

[0077] One end of the first guide channel 216 is connected to the end of the right slideway close to the left slideway, and the other end is connected to the inner cavity of the elastic spherical airbag 205;

[0078] One end of the vacuum generating channel 213 is fixedly connected to the end of the rubber suction cup 209, and the other end is connected to the end of the left slideway away from the right slideway;

[0079] The adjacent channel 212 is connected between the vacuum generating channel 213 and the matching slideway;

[0080] A negative pressure piston 214 is provided in a sealing and sliding manner in the left slideway, and a positive pressure piston 215 is provided in a sealing and sliding manner in the right slideway;

[0081] A coupling rod is connected between the negative pressure piston 214 and the positive pressure piston 215. One end of the coupling rod away from the positive pressure piston 215 is sealed and penetrates into the left slideway and is connected to the negative pressure piston 214.

[0082] A first return spring is connected to one end of the positive pressure piston 215 away from the engagement rod, and the other end of the first return spring is connected to the end of the right slideway.

[0083] Reference Figures 8 to 10 , the embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, the positive pressure passive component includes an insulating push-up seat 210 that is sealed and slides into a matching slideway;

[0084] A first trigger terminal 220 is connected to one end of the insulating push-up seat 210 close to the negative pressure passive component;

[0085] A side sliding block 217 is also connected to the side wall of the insulating push-up seat 210 , and a limiting sliding groove matched with the side sliding block 217 is provided on the side wall of the matching slideway, and the side sliding block 217 slides in the limiting sliding groove.

[0086] Reference Figures 8 to 10 , an embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, wherein the negative pressure passive component comprises an insulating cylindrical shell 218 that is sealed and slides in a matching slideway, and the insulating cylindrical shell 218 is sealed and covered with a sealing plate 223 at an opening near one end of the positive pressure passive component;

[0087] An insulating sliding rod 224 is slidably inserted on the sealing plate 223;

[0088] One end of the insulating slide rod 224 is also connected to the first trigger terminal 220, and the other end extends into the inner cavity of the insulating cylinder shell 218 and is connected to the insulating end seat 222. A second reset spring is connected between the insulating end seat 222 and the sealing plate 223.

[0089] The inner cavity of the insulating cylindrical shell 218 is also provided with two second trigger terminals 221 which are arranged opposite to each other, and one of the second trigger terminals 221 is connected to the insulating end seat 222, and the other is connected to the inner end of the insulating cylindrical shell 218;

[0090] A third return spring 219 is connected to one end of the insulating cylindrical shell 218 away from the sealing plate 223, and the other end of the third return spring 219 is connected to the end of the matching slideway;

[0091] The two first trigger terminals 220 are both electrically connected to the warning light 208 , and when the two first trigger terminals 220 are in contact, the warning light 208 is triggered to turn on;

[0092] The two second trigger terminals 221 are both electrically connected to the micro air pump 202, and when the two second trigger terminals 221 are in contact, the micro air pump 202 is triggered to turn on;

[0093] When the elastic spherical airbag 205 is in an initial relaxed state, the two first trigger terminals 220 are in contact with each other. Since the two first trigger terminals 220 are in contact with each other in the initial relaxed state of the elastic spherical airbag 205, when the warning light 208 is powered by the mains, the warning light 208 is in an on and lit state;

[0094] When the elastic spherical airbag 205 is in an initial relaxed state, the two second trigger terminals 221 are separated from each other.

[0095] When the U-shaped channel steel is clamped between the two contact structures, the actuator receives the gas source injected from the elastic spherical airbag 205 after extrusion deformation, and converts the positive pressure generated by the injected gas source into a negative pressure process. At the same time, the gas in one end of the matching slide is extracted through the adjacent channel 212, and then the gas is injected into the other end of the matching slide through the exhaust structure, so that the positive pressure passive component and the negative pressure passive component in the matching slide move in the same direction. When the movement of the positive pressure passive component is restricted by the side slider 217, and the negative pressure passive component moves further under the action of the negative pressure suction force, the two first trigger terminals 220 that were originally in contact with each other are separated, and the prompt light 208 is changed from the original on state to the off state. When the operator observes that the prompt light 208 is completely turned off, it can be quickly determined that a negative pressure environment has been formed inside the rubber suction cup 209 connected to the matching slide through the adjacent channel 212 and negative pressure suction is applied to the U-shaped channel steel. Subsequently, the channel steel can be grasped, which ensures the stability of the grasping of the channel steel and improves the safety of the grasping operation. The above process is specifically as follows: after the elastic spherical airbag 205 is squeezed and deformed, the gas inside it is injected into the right slide through the first guide channel 216 and in the process of driving the negative pressure piston 214 to move through the positive pressure piston 215, the positive pressure piston 215 injects gas into one end of the matching slide through the exhaust channel 211 and pushes the positive pressure passive part to move. The moving negative pressure piston 214 simultaneously draws the rubber suction cup 209 and the inside of the matching slide into a negative pressure state through the vacuum generating channel 213, and drives the negative pressure passive part to move, so that the positive pressure passive part and the negative pressure passive part in the matching slide move in the same direction. When the movement of the positive pressure passive part is restricted by the side slider 217, and the negative pressure passive part moves further under the action of the negative pressure suction force, the two first trigger terminals 220 that were originally in contact with each other are separated, and the warning light 208 is changed from the original on state to the off state.

[0096] When the two contact structures clamp the U-shaped channel steel, the surface of the U-shaped channel steel is contaminated with processing debris or dust and other dirt, which hinders the close contact between the contact structure and the surface of the channel steel, resulting in that after the clamp clamps the channel steel, a stable negative pressure state is still not formed inside the rubber suction cup 209, so that when the clamp clamps the channel steel, under the top pressure of the moving positive pressure passive component, the insulating slide rod 224 retracts into the insulating cylinder shell 218 and makes the two second trigger terminals 221 contact, and triggers the micro vacuum pump 202 in the elastic pressure holding unit to turn on, thereby realizing forced compensation for the negative pressure adsorption force. When the prompt light 208 in the positive pressure conversion unit is changed from on to off again, it means that a stable negative pressure environment has been formed inside the rubber suction cup 209, and the negative pressure environment can apply additional negative pressure suction to the U-shaped channel steel. Subsequently, the operator lifts the U-shaped channel steel through the clamp to ensure the stability of the clamp when grasping the U-shaped channel steel.

[0097] Reference Figure 8 and Fig.11 , an embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, wherein the discharge channel structure includes a discharge channel 211 and a large chamber 225 that are interconnected and both located inside a clamping seat 204;

[0098] One end of the right slide away from the left slide is connected to the discharge channel 211;

[0099] The middle of the large chamber 225 is provided with an airtight narrow opening 226, and a reciprocating piston 227 is sealingly slidably disposed in the airtight narrow opening 226;

[0100] A fourth return spring is connected to the end of the reciprocating piston 227, and the other end of the fourth return spring is connected to the end of the large chamber 225;

[0101] One end of the discharge channel 211 is connected to the end of the matching slideway away from the adjacent channel 212, and the other end passes through the side wall of the clamping seat 204 and is connected to the atmosphere;

[0102] When the fourth return spring is in an initial relaxed state, the reciprocating piston 227 is located inside the airtight narrow opening 226;

[0103] One end of the connecting passage is connected to an end of the left slideway close to the right slideway, and the other end is connected to the discharge channel 211.

[0104] Reference Figure 1 , Figure 3 and Figure 5 , an embodiment of the present invention provides an automated mechanical gripper for use in mechanical manufacturing, wherein a negative pressure groove is provided on the surface of the clamping seat 204 at a position corresponding to each rubber suction cup 209, and an open end of each rubber suction cup 209 is respectively connected to an end of the negative pressure groove;

[0105] The surface of the clamping seat 204 is also connected to a rubber anti-skid pad 203 , and the rubber anti-skid pad 203 and each negative pressure groove on the clamping seat 204 are provided with reserved holes at positions corresponding to the positions. The rubber anti-skid pad 203 is made of elastic rubber material.

[0106] Example 2. The difference between this example and Example 1 is that the example of the present invention provides an automated mechanical gripper for use in mechanical manufacturing. The number of elastic spherical airbags 205 is three, and the connecting lines between the three elastic spherical airbags 205 are equilateral triangles, so that the three rubber suction cups 209 on the clamping seat 204 are also arranged in an equilateral triangle. This enables the three rubber suction cups 209 to form a stable supporting structure during the adsorption process, which helps to firmly adsorb the U-shaped channel steel.

[0107] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The electrical components appearing in this article are all electrically connected to the main controller and the 220V mains, and the main controller is a common prior art such as a computer that plays a control role. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated mechanical gripper for use in mechanical manufacturing, characterized in that: The invention comprises a parallel pneumatic clamp (10), wherein two clamping fingers of the parallel pneumatic clamp (10) are provided with a material contact structure, wherein the material contact structure comprises a mounting base (201) and an elastic holding unit, wherein the elastic holding unit comprises a clamping seat (204) and a micro air pump (202), wherein a one-way air inlet valve (207) is connected to the input end of the micro air pump (202), wherein a plurality of elastic spherical air bags (205) are connected between the clamping seat (204) and the mounting base (201), wherein a rubber suction cup (209) is provided at a position corresponding to each elastic spherical air bag (205) on a side of the clamping seat (204) away from the mounting base (201), wherein a positive pressure conversion unit is also provided at a position corresponding to the position of the elastic spherical air bag (205), and wherein the elastic spherical air bag (205) and the rubber suction cup (209) are connected via the positive pressure conversion unit; The positive pressure conversion unit comprises an execution component, a coordination component and a warning light (208); the coordination component comprises a matching slideway, an adjacent channel (212) and a channel arrangement structure; a positive pressure passive component and a negative pressure passive component are arranged opposite to each other in the matching slideway; the matching slideway is connected to the execution component through the channel arrangement structure and the adjacent channel (212) respectively; When the end opening of the rubber suction cup (209) is blocked and the elastic spherical airbag (205) is squeezed, the actuator drives the positive pressure passive component and the negative pressure passive component in the matching slideway to move in the same direction through the channel structure and the adjacent channel (212).

2. The automated mechanical gripper for use in mechanical manufacturing according to claim 1, characterized in that: The number of the elastic spherical airbags (205) is three, and the connecting lines between the three elastic spherical airbags (205) form an equilateral triangle.

3. The automated mechanical gripper for use in mechanical manufacturing according to claim 1, characterized in that: The actuator assembly comprises a left slideway, a right slideway, a first guide channel (216), a vacuum generating channel (213), a connecting passage and an air extraction hose (206); A negative pressure piston (214) is sealed and slidable in the left slideway, and a positive pressure piston (215) is sealed and slidable in the right slideway; A coupling rod is connected between the negative pressure piston (214) and the positive pressure piston (215); A first return spring is connected to one end of the positive pressure piston (215) away from the engagement rod, and the other end of the first return spring is connected to the end of the right slideway.

4. The automated mechanical gripper for use in mechanical manufacturing according to claim 3, characterized in that: The left slideway, the right slideway, the first guide channel (216), the vacuum generating channel (213) and the connecting passage are all located inside the clamping seat (204); One end of the engagement rod away from the positive pressure piston (215) is sealed and penetrates into the left slideway and is connected to the negative pressure piston (214); One end of the first guide channel (216) is connected to an end of the right slideway close to the left slideway, and the other end is connected to the inner cavity of the elastic spherical airbag (205); One end of the vacuum generating channel (213) is fixedly connected to the end of the rubber suction cup (209), and the other end is connected to the end of the left slideway away from the right slideway.

5. The automated mechanical gripper for use in mechanical manufacturing according to claim 4, characterized in that: The positive pressure passive component comprises an insulating push-up seat (210) which is sealed and slides in a matching slideway; A first trigger terminal (220) is connected to one end of the insulating push-up seat (210) close to the negative pressure passive component; A side sliding block (217) is also connected to the side wall of the insulating push-up seat (210), and a limiting sliding groove matched with the side sliding block (217) is provided on the side wall of the matching slideway, and the side sliding block (217) slides in the limiting sliding groove.

6. The automated mechanical gripper for use in mechanical manufacturing according to claim 5, characterized in that: The negative pressure passive component comprises an insulating cylindrical shell (218) which is sealed and slides in a matching slideway, and a sealing plate (223) is sealed and connected to an opening of the insulating cylindrical shell (218) close to one end of the positive pressure passive component; An insulating sliding rod (224) is slidably inserted on the sealing plate (223); One end of the insulating slide rod (224) is also connected to the first trigger terminal (220), and the other end extends into the inner cavity of the insulating cylindrical shell (218) and is connected to the insulating end seat (222), and a second reset spring is connected between the insulating end seat (222) and the sealing plate (223); The inner cavity of the insulating cylindrical shell (218) is also provided with two second trigger terminals (221) arranged opposite to each other, and one of the second trigger terminals (221) is connected to the insulating end seat (222), and the other is connected to the inner cavity end of the insulating cylindrical shell (218); A third return spring (219) is connected to one end of the insulating cylindrical shell (218) away from the sealing plate (223), and the other end of the third return spring (219) is connected to the end of the matching slideway.

7. The automated mechanical gripper for use in mechanical manufacturing according to claim 4, characterized in that: The adjacent channel (212) is connected between the vacuum generating channel (213) and the matching slideway.

8. The automated mechanical gripper for use in mechanical manufacturing according to claim 4, characterized in that: The discharge channel structure comprises a discharge channel (211) and a large chamber (225) which are interconnected and both located inside the clamping seat (204); An airtight narrow mouth (226) is provided in the middle of the large chamber (225), and a reciprocating piston (227) is sealingly slidably disposed in the airtight narrow mouth (226); A fourth return spring is connected to the end of the reciprocating piston (227), and the other end of the fourth return spring is connected to the end of the large chamber (225); One end of the discharge channel (211) is connected to an end of the matching slideway away from the adjacent channel (212), and the other end passes through the side wall of the clamping seat (204) and is connected to the atmosphere; When the fourth return spring is in an initial relaxed state, the reciprocating piston (227) is located inside the airtight narrow mouth portion (226); One end of the connecting passage is connected to an end of the left slideway close to the right slideway, and the other end is connected to the discharge channel (211).

9. The automated mechanical gripper for use in mechanical manufacturing according to claim 8, characterized in that: The micro air pump (202) is connected to the side wall of the mounting base (201) of the corresponding contact material structure; One end of the air extraction hose (206) is connected to the input end of the one-way air inlet valve (207), and the other end penetrates into the interior of the clamping seat (204) and is connected to the vacuum generation channel (213); The two mounting bases (201) are respectively connected to two clamping fingers of the parallel pneumatic clamp (10); The warning light (208) is connected to the end of the clamping seat (204); One end of the right slide away from the left slide is connected to the discharge channel (211); A negative pressure groove is provided on the surface of the clamping seat (204) at a position corresponding to each rubber suction cup (209), and an open end of each rubber suction cup (209) is respectively connected to an end of the negative pressure groove; The surface of the clamping seat (204) is also connected to a rubber anti-skid pad (203), and reserved holes are provided at positions corresponding to the rubber anti-skid pad (203) and each negative pressure groove on the clamping seat (204).

10. The automated mechanical gripper for use in mechanical manufacturing according to claim 6, characterized in that: The two first trigger terminals (220) are both electrically connected to the warning light (208), and when the two first trigger terminals (220) are in contact, the warning light (208) is triggered to turn on; The two second trigger terminals (221) are both electrically connected to the micro air pump (202), and when the two second trigger terminals (221) are in contact, the micro air pump (202) is triggered to turn on; When the elastic spherical airbag (205) is in an initial relaxed state, the two first trigger terminals (220) are in contact with each other; When the elastic spherical airbag (205) is in an initial relaxed state, the two second trigger terminals (221) are separated from each other.

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