Elastic inner support fixed robot gripper

Abstract

The invention relates to an elastic inner support fixing robot gripper which is provided with at least three elastic fingers, a driving rod is installed in the robot gripper, the driving rod is located between the elastic fingers, the driving rod makes contact with the elastic fingers, the contact face is a wedge face, and the driving rod is connected with a driving device. The elastic fingers are inserted into grabbing holes formed in a workpiece, and the driving device drives the driving rod to move, so that the elastic fingers are opened or closed, and the workpiece is tensioned. The contact surfaces are located at the front ends of the elastic fingers or stretch across the elastic fingers. The driving rod is located at the front end of each elastic finger or stretches across the front and the back of each elastic finger on the contact surface of each elastic finger, so that when each elastic finger tensions a workpiece, the driving rod forms an inner support of each elastic finger, the workpiece can be kept stable during machining, and the machining precision is improved.

Description

Technical Field

[0001] The invention relates to automated grinding processing of a claw hammer head, and in particular to an elastic inner support fixed robot gripper. Background Art

[0002] The existing automatic processing equipment for claw hammer heads does not process claw hammer heads with high precision and cannot meet the requirements of high-precision processing. We studied the existing automatic processing equipment for the head of a claw hammer and found that the reason for the low precision lies in the robot gripper. The robot gripper is an integrally formed metal part with at least two elastic fingers, which is driven by a push rod. The push rod is located between the elastic fingers, and the push rod contacts the elastic fingers with a wedge surface. The contact point between the push rod and the elastic fingers is located at the root of the elastic fingers; the contact point between the push rod and the elastic fingers is located at the root of the elastic fingers, which makes the elastic fingers suspended when tightening the claw hammer head. The stability of the claw hammer head cannot be guaranteed during processing, which affects the processing accuracy. Summary of the Invention

[0003] In view of the above, the present invention proposes an elastic inner support fixed robot gripper.

[0004] The technical solution of the present invention: A robot gripper with elastic internal support, the robot gripper has at least three elastic fingers, a drive rod is installed in the robot gripper, the drive rod is located between the elastic fingers, the drive rod is in contact with the elastic fingers, the contact surface is a wedge surface, the drive rod is connected to a drive device; each elastic finger is inserted into a gripping hole provided on the workpiece, and the drive device drives the drive rod to move (under the action of the wedge surface) to open or close each elastic finger and tighten the workpiece; the contact surface is located at the front end of each elastic finger or spans across the front and back of each elastic finger to further refine the above technical solution, and the robot gripper is an integrally formed metal part.

[0005] Taking into account the fact that the push rod design is adopted, the wedge surfaces set in each elastic finger are difficult to process, such as the conical surface can only be processed into multiple inclined surfaces, and the machined wedge surfaces have a low degree of fit, making it difficult to achieve fine control of the opening or closing of each elastic finger, and easily damaging the workpiece; the above technical solution is further refined, and the driving rod is a pull rod; the wedge surfaces set in each elastic finger are easy to process, and the machined wedge surfaces have a high degree of fit, which can achieve fine control of the opening or closing of each elastic finger.

[0006] The above technical solution is further refined, and the wedge surface is a conical surface.

[0007] The above technical solution is further refined, and the driving device is a cylinder.

[0008] The above technical solution is further refined, the cylinder is angled with the drive rod and is connected by a connecting rod; the robot gripper and the cylinder share a bracket, the connecting rod is hinged on the bracket, one end of the connecting rod is movably connected to the cylinder, and the other two ends are movably connected to the drive rod; the connecting rod acts as a lever to amplify the pulling force applied by the cylinder; the applied pulling force can be adjusted by replacing the connecting rod (with different torques) without moving the cylinder.

[0009] The above technical solution is further refined, wherein the angle is 90°; and the connecting rod is an L-shaped connecting rod.

[0010] The above technical solution is further refined, and anti-slip teeth are distributed on the periphery of each elastic finger.

[0011] The above technical solution is further refined. The workpiece is a claw hammer head, which is provided with a hammer handle mounting hole. There is a protrusion in the hammer handle mounting hole, and the hammer handle mounting hole is a grabbing hole. The presence of the protrusion reduces the effective contact area between each elastic finger and the claw hammer head. A groove is provided on each elastic finger to avoid the protrusion, so that the effective contact area between each elastic finger and the claw hammer head is increased.

[0012] The advantages of the present invention are reasonable design and simple structure. The contact surface of the driving rod with each elastic finger is located at the front end of each elastic finger or spans the front and back of each elastic finger. In this way, when each elastic finger tightens the workpiece, the driving rod constitutes the internal support of each elastic finger, so that the workpiece can remain stable during processing and the processing accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the hammer head structure of a claw hammer (3D).

[0014] Figure 2 It is a schematic diagram of the hammer head structure of a claw hammer (main view).

[0015] Figure 3 yes Figure 2 Schematic diagram of the cross section in the AA direction.

[0016] Figure 4 This is a schematic diagram (3D) of the installation of the elastic inner support fixed robot gripper.

[0017] Figure 5 This is a schematic diagram of the installation of the elastic inner support fixed robot gripper (side view).

[0018] Figure 6 yes Figure 5 Schematic diagram of the cross section in the middle BB direction.

[0019] Figure 7 This is a schematic diagram of the elastic inner support fixed robot gripper structure (three-dimensional).

[0020] Figure 8 This is a schematic diagram (3D) of the elastic inner support fixing robot gripper structure after grasping the claw hammer head.

[0021] In the figure, the claw hammer head 1, the hammer handle mounting hole 1-1, the protrusion 1-2, the robot gripper 2, the elastic finger 2-1, the anti-slip teeth 2-2, the groove 2-3, the pull rod 3, the cylinder 4, the bracket 5, the L-shaped connecting rod 6, and the wedge surface 7. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

[0023] like Figure 1-3 As shown, the claw hammer head 1 is provided with a hammer handle mounting hole 1-1, and a protrusion 1-2 is provided in the hammer handle mounting hole 1-1; the hammer handle mounting hole 1-1 is a grabbing hole; like Figure 4-7 As shown, an elastic internal support fixed robot gripper, the robot gripper 2 is an integrally formed metal part, the robot gripper 2 has four elastic fingers 2-1, a pull rod 3 is installed in the robot gripper 2, the pull rod 3 is located between the elastic fingers 2-1, the pull rod 3 is in contact with each elastic finger 2-1, the contact surface is a wedge surface 7, the contact surface spans the front and back of each elastic finger head 2-1, the wedge surface 7 is a conical surface; the cylinder 4 and the robot gripper 2 share a bracket 5, the cylinder 4 and the pull rod 3 are at 90 degrees and are connected by an L-shaped connecting rod 6, the L-shaped connecting rod 6 is hinged on the bracket 5, one end of the L-shaped connecting rod 6 is movably connected to the cylinder 4, and the other two ends are movably connected to the pull rod 3; anti-slip teeth 2-2 are distributed on the periphery of the head of each elastic finger 2-1, and each elastic finger 2-1 is provided with a groove 2-3 for avoiding the protrusion 1-2; like Figure 8 As shown, the elastic internal support fixing robot 2 gripper grasps the claw hammer head 1: the elastic internal support fixing robot gripper 2 moves (at this time, each elastic finger 2-1 is closed), so that the head of each elastic finger 2-1 is inserted into the hammer handle mounting hole 1-1 (grasping hole) on the claw hammer head 1; the cylinder 4 drives the pull rod 3 to move, and under the action of the wedge surface 7, each elastic finger 2-1 is opened, and the tightening part tightens the claw hammer head 1 (at this time, the pull rod 3 constitutes the internal support of each elastic finger 2-1); the grasping of the claw hammer head 1 is completed.

[0024] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. An elastic internal support fixed robot gripper, the robot gripper having at least three elastic fingers, a drive rod installed in the robot gripper, the drive rod being located between the elastic fingers, the drive rod being in contact with the elastic fingers, the contact surface being a wedge surface, the drive rod being connected to a drive device; each elastic finger is inserted into a gripping hole provided on a workpiece, the drive device drives the drive rod to move, causing each elastic finger to open or close and tighten the workpiece; characterized in that The contact surface is located at the front end of each elastic finger or spans across the front and back of each elastic finger.

2. The elastic inner support fixed robot gripper according to claim 1, characterized in that: The robot gripper is an integrally formed metal part.

3. The elastic inner support fixed robot gripper according to claim 2 is characterized in that: The driving rod is a pull rod.

4. The elastic inner support fixed robot gripper according to claim 1, characterized in that: The wedge surface is a conical surface.

5. The elastic inner support fixed robot gripper according to claim 1, characterized in that: The driving device is a cylinder.

6. The elastic inner support fixed robot gripper according to claim 5, characterized in that: The cylinder is angled with the drive rod and connected via a connecting rod; The robot gripper and the cylinder share a bracket, the connecting rod is hinged on the bracket, one end of the connecting rod is movably connected to the cylinder, and the other two ends are movably connected to the driving rod.

7. The elastic inner support fixed robot gripper according to claim 6, characterized in that: The angle is 90°; the connecting rod is an L-shaped connecting rod.

8. The elastic inner support fixed robot gripper according to claim 1, characterized in that: Anti-slip teeth are distributed on the periphery of each elastic finger.

9. The elastic inner support fixed robot gripper according to claim 1, characterized in that: The workpiece is a claw hammer head, which is provided with a hammer handle mounting hole. A protrusion is arranged in the hammer handle mounting hole, and the hammer handle mounting hole is a grabbing hole; each elastic finger is provided with a groove for avoiding the protrusion.

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