Servo clamping jaw finger rapid replacing device

Abstract

The invention discloses a servo clamping jaw finger rapid replacing device, and relates to the technical field of clamping jaws, the servo clamping jaw finger rapid replacing device comprises a servo driving part, the servo driving part is provided with two linear driving ends, each linear driving end is provided with a clamping jaw, the clamping jaw comprises a connecting mechanism, the connecting mechanism comprises a convex seat, a plurality of balls are distributed in the circumferential direction of the convex part of the convex seat in an array mode, and the balls are arranged on the connecting mechanism; the ball body is abutted by an elastic piece in the convex seat and can move along the radial direction of the convex seat; the quick release mechanism comprises a groove and a plurality of guide blocks, a limiting ring seat is fixedly connected to the inner wall of the groove, the upper surface of the limiting ring seat is a first wedge surface, and a plurality of containing grooves are formed in the lower portion of the limiting ring seat; the guide block is axially arranged on the inner wall of the groove in a sliding mode, a limiting cambered surface is arranged above the guide block, a second wedge surface extending to the bottom of the limiting cambered surface is further arranged above the guide block, and a third wedge surface is arranged below the guide block; and the finger body is detachably connected to the lower part of the quick release mechanism.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, specifically a servo gripper finger quick-change device. Background Technology

[0002] In modern manufacturing processes, automated equipment is widely used, among which servo gripper fingers are one of the commonly used fixtures for gripping and securing workpieces. However, the traditional servo gripper finger replacement process is usually time-consuming and cumbersome, requiring operators to perform complex adjustments and installations, which limits the efficiency and production capacity of the production line.

[0003] To address this issue, quick-change fixture technology emerged. This technology allows for fixture replacement in a short time, improving production efficiency while reducing operator workload. However, existing quick-change fixture technologies still require the intervention of external high-pressure gas during the replacement process. This external high-pressure gas not only requires additional equipment and piping but also necessitates regular inspection and maintenance, increasing both operating and maintenance costs.

[0004] Furthermore, due to the presence of external high-pressure gas, operators must exercise extreme caution when changing fixtures to avoid accidents. Additionally, the instability of high-pressure gas can affect fixture accuracy during the changeover process, requiring additional adjustments and calibrations. These issues limit the further application and development of quick-change fixture technology in modern manufacturing.

[0005] Therefore, it is necessary to develop a servo gripper finger quick-change device to solve the above problems. Summary of the Invention

[0006] To achieve the above objectives, the present invention provides the following technical solution: a servo gripper finger quick-change device, comprising a servo drive unit having two linear drive ends, each linear drive end being equipped with a gripper, the gripper comprising:

[0007] A connecting mechanism includes a boss, on which a plurality of spheres are arranged in a circumferential array on the protruding portion of the boss. The spheres are abutted by an elastic element inside the boss, such that in the initial state, the vertical axis of the spheres is located outside the boss, and the spheres are capable of moving radially along the boss.

[0008] A quick-release mechanism includes a groove and multiple guide blocks, wherein a limiting ring seat is fixedly connected to the inner wall of the groove, the upper surface of the limiting ring seat is a first wedge surface, and the lower part has multiple receiving grooves;

[0009] The guide block is axially slidably disposed on the inner wall of the groove, and the guide block has a limiting arc surface above it to limit the radial outward displacement of the sphere. The guide block also has a second wedge surface extending to the bottom of the limiting arc surface above it, and a third wedge surface below it. The portion of the guide block above the top of the third wedge surface can be accommodated in the receiving groove.

[0010] The finger body is detachably connected to the lower part of the quick-release mechanism.

[0011] Furthermore, preferably, the elastic element includes a horizontal elastic portion corresponding to the sphere and a vertical elastic portion connecting the various horizontal elastic portions.

[0012] Furthermore, as a preferred embodiment, the protrusion has a chamber for accommodating the elastic element and a channel for the movement of the ball. The channel is provided with a force transmission strip connecting the ball and the elastic element, and the side of the force transmission strip closest to the ball is an arc surface.

[0013] Furthermore, as a preferred embodiment, multiple guide blocks are fixed together on the inner wall of the slip ring, the slip ring is axially slidably disposed on the inner wall of the groove, the upper surface of the slip ring is flush with the horizontal plane where the top of the third wedge surface is located, and a limiting ring for restricting the downward movement of the slip ring is also fixed on the inner wall of the groove.

[0014] Furthermore, as a preferred embodiment, the inner bottom of the limiting ring seat is provided with an annular load-bearing groove;

[0015] The outer periphery of the slip ring is provided with an arc-shaped groove, and the bottom of the arc-shaped groove extends integrally to form an axial groove;

[0016] The inner wall of the groove is fixed with a locking block corresponding to the arc-shaped groove and the axial groove;

[0017] The number of the receiving groove, guide block and sphere is the same;

[0018] When the bearing groove is supported on the sphere, the guide block is located on the bottom side of the receiving groove. At this time, the distance between the upper surface of the guide block and the lower surface of the limiting ring seat, and the parameters of the arc groove satisfy the following: when the upper surface of the guide block contacts the lower surface of the limiting ring seat, the guide block deflects at a certain angle and is just below the receiving groove. At this time, the locking block is just located in the axial groove.

[0019] Furthermore, as a preferred embodiment, the bottom of the guide block also integrally extends to form a supporting arc surface to limit the downward movement of the sphere.

[0020] Furthermore, preferably, the shoulder of the protrusion has at least two downwardly extending positioning shafts arranged in a circumferential array, and the upper surface of the groove has positioning holes corresponding to the positioning shafts.

[0021] Furthermore, as a preferred embodiment, a spring is fixed to the inner bottom of the groove to provide preload for the protrusion.

[0022] Compared with the prior art, the present invention provides a servo gripper finger quick-change device, which has the following beneficial effects:

[0023] This device includes a connecting mechanism and a quick-release mechanism. The finger body is located at the bottom of the quick-release mechanism. Therefore, the finger body can be quickly replaced by rapidly changing the quick-release mechanism. During the replacement process, simply driving the connecting mechanism to press down and move up relative to the quick-release mechanism is sufficient to connect and disconnect the connection. The entire process is quick and efficient, requiring no external power mechanism. Attached Figure Description

[0024] Figure 1 A schematic diagram of a planar structure of a servo gripper finger quick-change device;

[0025] Figure 2 A three-dimensional structural diagram of a servo gripper finger quick-change device;

[0026] Figure 3 An exploded structural diagram of a servo gripper finger quick-change device;

[0027] Figure 4 This is a cross-sectional structural diagram of the connecting mechanism, quick-release mechanism, and finger body in a servo gripper finger quick-change device.

[0028] Figure 5 for Figure 4 A magnified structural diagram at point A;

[0029] Figure 6 A three-dimensional structural diagram of a limiting ring seat in a servo gripper finger quick-change device;

[0030] Figure 7 A three-dimensional structural diagram of the guide block and slip ring in a servo gripper finger quick-change device;

[0031] Figure 8 This is a three-dimensional structural diagram of a limit ring seat, guide block, and slip ring in a servo gripper finger quick-change device;

[0032] Figure 9 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 1 ;

[0033] Figure 10 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 2 ;

[0034] Figure 11 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 3 ;

[0035] Figure 12 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 4 ;

[0036] Figure 13 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 5 ;

[0037] Figure 14 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 6 ;

[0038] Figure 15 A schematic diagram of an implementation of a servo gripper finger quick-change device. Figure 7 ;

[0039] In the diagram: 1. Servo drive component; 2. Connecting mechanism; 3. Quick release mechanism; 4. Finger body; 21. Boss; 22. Positioning shaft; 23. Accommodating cavity; 24. Force transmission bar; 25. Elastic component; 26. Ball; 31. Groove; 32. Positioning hole; 33. Limiting ring seat; 34. Locking block; 35. Guide block; 36. Slip ring; 37. Limiting ring; 38. Spring; 331. Accommodating groove; 332. Bearing groove; 351. Limiting arc surface; 352. Second wedge surface; 353. Third wedge surface; 354. Lifting arc surface; 361. Arc groove; 362. Axial groove. Detailed Implementation

[0040] Example: Please refer to Figures 1-15 In this embodiment of the invention, a servo gripper finger quick-change device is provided, including a servo drive 1 having two linear drive ends, each of which is equipped with a gripper. The gripper includes:

[0041] The connecting mechanism 2 includes a boss 21, on which a plurality of spheres 26 are arranged in an array in the circumferential direction. The spheres 26 are abutted by an elastic member 25 inside the boss 21, such that in the initial state, the vertical axis of the spheres 26 is located outside the boss 21, and the spheres 26 can move radially along the boss 21.

[0042] The quick-release mechanism 3 includes a groove 31 and multiple guide blocks 35, wherein a limiting ring seat 33 is fixedly connected to the inner wall of the groove 31, the upper surface of the limiting ring seat 33 is a first wedge surface, and the lower part has multiple receiving grooves 331.

[0043] The guide block 35 is axially slidably disposed on the inner wall of the groove 31, and the guide block 35 has a limiting arc surface 351 above it to limit the radial outward displacement of the ball 26. The guide block 35 also has a second wedge surface 352 extending to the bottom of the limiting arc surface 351 above it, and a third wedge surface 353 below it. The portion of the guide block 35 above the top of the third wedge surface 353 can be accommodated in the receiving groove 331.

[0044] The finger body 4 is detachably connected to the lower part of the quick-release mechanism 3.

[0045] In this embodiment, as Figure 4 or Figure 5 A portion of the ball 26 is located in the boss 21, and another portion of the ball 26 is located outside the boss 21. The portion of the ball 26 located outside the boss 21 can be used to support the limiting ring seat 33. The limiting ring seat 33 is fixedly connected to the groove 31. The lower part of the groove 31 is connected to the finger body. Therefore, the finger body 4 can be supported under the boss 21 by the ball 26.

[0046] In order to enable the ball to better support the limiting ring seat 33, that is, to prevent the ball from moving inward to the inside of the protrusion 21 during the process of the ball 26 supporting the limiting ring seat 33, in this embodiment, the ball 26 is abutted by the elastic member 25 inside the protrusion 21, and in the initial state, the vertical axis of the ball 26 is located outside the protrusion 21. Thus, when the limiting ring seat 33 presses down on the ball 26, the ball 26 may disengage from the protrusion 21 and will not move inward to the inside of the protrusion 21.

[0047] Based on the above, during the process of supporting the ball and limiting the ring seat 33, there may be a situation where the ball 26 is dislodged from the protrusion 21. To solve this problem, in this embodiment, a guide block 35 is also provided. The guide block 35 is axially slidably disposed on the inner wall of the groove 31, and the upper part of the guide block 35 has a limiting arc surface 351, which is used to limit the radial outward displacement of the ball 26.

[0048] It should be explained that the sphere has good integrity and load-bearing capacity, and the sphere is rotatable. Therefore, the load-bearing capacity at different positions of the sphere can be achieved by utilizing the rotation of the sphere itself (the sphere may rotate when replacing disassembly mechanism 3).

[0049] Additionally, when installing or disassembling mechanism 3, such as Figure 9 , Figure 9 This is a diagram showing the state where the protrusion 21 is just inserted into the groove 31.

[0050] If the protrusion 21 is moved downward relative to the groove 31, then the following will occur: Figure 10 The state;

[0051] At this point, as the protrusion 21 continues to move downward relative to the groove 31, the sphere 26 will move inward toward the protrusion 21 under the action of the second wedge surface 352, and thus be located below the third wedge surface 353, that is, as shown in the figure. Figure 11 The state;

[0052] At this time, relative to the upward movement of the protrusion 21 relative to the groove 31, the guide block 35 will move upward, thereby making the third wedge surface approach the first wedge surface. Simultaneously, the portion of the guide block 35 above the top of the third wedge surface 353 is accommodated in the receiving groove 331, i.e., as shown... Figure 12 The state;

[0053] If the protrusion 21 is moved upward relative to the groove 31, the following will occur: Figure 13 and Figure 14 In this state, the groove 31 can be released from the constraint of the sphere 26 at any time, thus disengaging from the protrusion 21, that is, it appears as... Figure 15 The state;

[0054] In other words, this device includes a connecting mechanism and a quick-release mechanism. The finger body is located at the bottom of the quick-release mechanism. Therefore, the finger body can be quickly replaced by rapidly changing the quick-release mechanism. During the replacement process, simply driving the connecting mechanism to press down and move up relative to the quick-release mechanism is sufficient to connect and disconnect it. The entire process is quick and efficient, requiring no external power mechanism.

[0055] In a preferred embodiment, the elastic element 25 includes a horizontal elastic portion corresponding to the sphere 26 and a vertical elastic portion connecting the respective horizontal elastic portions.

[0056] On the one hand, the horizontal elastic part can provide horizontal buffering for the ball 26 and provide a tendency for the ball 26 to move outward toward the boss 21. On the other hand, the forces received by the multiple horizontal elastic parts can be gathered onto the vertical elastic part and absorbed by it.

[0057] The elastic element can be an elastic pad, a combination of an elastic pad and a spring, etc.

[0058] In this embodiment, the protrusion 21 has a cavity for accommodating the elastic member 25 and a channel for the movement of the ball 26. The channel is provided with a force transmission strip 24 connecting the ball 26 and the elastic member 25. The side of the force transmission strip 24 closest to the ball 26 is an arc surface.

[0059] In this embodiment, multiple guide blocks 35 are fixed together on the inner wall of the slip ring 36. The slip ring 36 is axially slidably disposed on the inner wall of the groove 31. The upper surface of the slip ring 36 is flush with the horizontal plane where the top of the third wedge surface is located. A limiting ring 37 for restricting the downward movement of the slip ring 36 is also fixed on the inner wall of the groove 31.

[0060] In this embodiment, since a receiving groove 331 is provided at the bottom inner side of the limiting ring seat 33, the contact surface between the limiting ring seat 33 and the ball 26 is small. Furthermore, due to the presence of the receiving groove 331, the strength of the limiting ring seat 33 at this contact position is low.

[0061] To solve this problem, other positions of the limiting ring seat 33 (excluding the receiving groove 331) should be used to contact the ball 26, and these contact positions can be configured as arc-shaped to increase the contact area. Specifically:

[0062] The bottom inner side of the limiting ring seat 33 is provided with an annular load-bearing groove 332;

[0063] The outer periphery of the slip ring 36 is provided with an arc-shaped groove 361, and the bottom of the arc-shaped groove 361 extends integrally to form an axial groove 362.

[0064] The inner wall of the groove 31 is fixed with a locking block 34 corresponding to the arc groove 361 and the axial groove 362;

[0065] The number of receiving slots 331, guide blocks 35 and spheres 26 are the same;

[0066] When the bearing groove 332 supports the sphere 26, the guide block 35 is located on the bottom side of the receiving groove 331. At this time, the distance between the upper surface of the guide block 35 and the lower surface of the limiting ring seat 33, and the parameters of the arc groove 361 satisfy the following: when the upper surface of the guide block 35 contacts the lower surface of the limiting ring seat 33, the guide block 35 deflects at a certain angle and is just below the receiving groove. At this time, the locking block 34 is just located in the axial groove 362.

[0067] In a preferred embodiment, the bottom of the guide block 35 is integrally extended to form a supporting arc surface 354, which is used to limit the downward movement of the ball 26.

[0068] More preferably, the force transmission strip 24 has a magnet inside, which can attract the ball 26 and prevent the ball 26 from accidentally moving away from the force transmission strip 24 and the protrusion 21. Of course, even if this happens in a very low probability, in this embodiment, the bottom of the guide block 35 is also integrally extended to form a supporting arc surface 354 to limit the downward movement of the ball 26.

[0069] In a preferred embodiment, the shoulder portion of the protrusion 21 has at least two downwardly extending positioning shafts 22 arranged in a circumferential array, and the upper surface of the groove 31 has positioning holes 32 corresponding to the positioning shafts 22.

[0070] The cooperation between the positioning shaft 22 and the positioning hole 32 prevents relative rotation between the boss 21 and the groove 31, improving the overall stability and allowing part of the subsequent guide block 35 structure to be accommodated in the accommodating groove 331.

[0071] In a preferred embodiment, a spring 38 is fixed to the inner bottom of the groove 31 to provide preload force to the boss 21. The spring 38 not only provides preload force to the boss 21, ensuring its stability under various operating conditions, but also acts as a buffer and damper. By adjusting the preload force, friction and wear between the boss 21 and the groove 31 can be further controlled, thereby improving the overall durability and service life of the mechanism.

[0072] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A servo gripper finger quick-change device, comprising a servo drive (1) having two linear drive ends, each linear drive end being equipped with a gripper, characterized in that: The gripper includes: The connecting mechanism (2) includes a boss (21) with a plurality of spheres (26) arranged in a circumferential array on the protruding part of the boss (21). The spheres (26) are abutted by an elastic element (25) inside the boss (21), such that in the initial state, the vertical axis of the spheres (26) is located outside the boss (21), and the spheres (26) can move radially along the boss (21). The quick-release mechanism (3) includes a groove (31) and multiple guide blocks (35), wherein a limiting ring seat (33) is fixedly connected to the inner wall of the groove (31), the upper surface of the limiting ring seat (33) is a first wedge surface, and the lower part has multiple receiving grooves (331). The guide block (35) is axially slidably disposed on the inner wall of the groove (31), and the guide block (35) has a limiting arc surface (351) above it to limit the radial outward displacement of the ball (26). The guide block (35) also has a second wedge surface (352) extending to the bottom of the limiting arc surface (351) above it, and a third wedge surface (353) below it. The portion of the guide block (35) above the top of the third wedge surface (353) can be accommodated in the receiving groove (331); and The finger body (4) is detachably connected to the lower part of the quick-release mechanism (3).

2. The servo gripper finger quick-change device according to claim 1, characterized in that: The elastic element (25) includes a horizontal elastic portion corresponding to the sphere (26) and a vertical elastic portion connecting each horizontal elastic portion.

3. The servo gripper finger quick-change device according to claim 1, characterized in that: The protrusion (21) has a chamber for accommodating the elastic member (25) and a channel for the movement of the ball (26). The channel is provided with a force transmission strip (24) connecting the ball (26) and the elastic member (25). The side of the force transmission strip (24) closest to the ball (26) is an arc surface.

4. The servo gripper finger quick-change device according to claim 1, characterized in that: Multiple guide blocks (35) are fixed together on the inner wall of the slip ring (36). The slip ring (36) is axially slidably disposed on the inner wall of the groove (31). The upper surface of the slip ring (36) is flush with the horizontal plane where the top of the third wedge surface is located. A limiting ring (37) for restricting the downward movement of the slip ring (36) is also fixed on the inner wall of the groove (31).

5. A servo gripper finger quick-change device according to claim 4, characterized in that: The inner bottom of the limiting ring seat (33) is provided with an annular load-bearing groove (332); The slip ring (36) has an arc-shaped groove (361) on its outer periphery, and the bottom of the arc-shaped groove (361) extends integrally to form an axial groove (362); The inner wall of the groove (31) is fixed with a locking block (34) corresponding to the arc groove (361) and the axial groove (362); The number of the receiving groove (331), guide block (35) and sphere (26) is the same; When the bearing groove (332) is supported on the sphere (26), the guide block (35) is located on the bottom side of the receiving groove (331). At this time, the distance between the upper surface of the guide block (35) and the lower surface of the limiting ring seat (33) and the parameters of the arc groove (361) satisfy the following: when the upper surface of the guide block (35) contacts the lower surface of the limiting ring seat (33), the guide block (35) deflects at a certain angle and is just below the receiving groove. At this time, the locking block (34) is just in the axial groove (362).

6. The servo gripper finger quick-change device according to claim 1, characterized in that: The bottom of the guide block (35) also integrally extends to form a supporting arc surface (354) to limit the downward movement of the ball (26).

7. The servo gripper finger quick-change device according to claim 1, characterized in that: The shoulder of the protrusion (21) has at least two locating shafts (22) extending downward in a circumferential array, and the upper surface of the groove (31) has locating holes (32) corresponding to the locating shafts (22).

8. A servo gripper finger quick-change device according to claim 1, characterized in that: A spring (38) is fixed to the bottom inner side of the groove (31) to provide preload force to the protrusion (21).

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