A machine gripper tool for 3D printing product clamping demolding

Abstract

The application discloses a machine gripper tool for clamping and demolding of a 3D printing product, which comprises a fixed connecting seat and a clamping mechanism, and the fixed connecting seat and the clamping mechanism are connected through a telescopic mechanism; the clamping mechanism comprises a gear connecting block and two profiled grippers located at the front end of the gear connecting block; the profiled grippers are transmissionally connected with the gear connecting block through a connecting rod mechanism; the connecting rod mechanism comprises a driving connecting rod and a driven connecting rod; the front ends of the driving connecting rod and the driven connecting rod are horizontally hinged with the profiled grippers; the rear ends of the driving connecting rod and the driven connecting rod are horizontally hinged with the gear connecting block; the driving connecting rod and the driven connecting rod are mutually parallel; a first steering engine is arranged on the gear connecting block and used for driving the two driving connecting rods to synchronously and reversely deflect so as to realize the opening and closing clamping action of the two profiled grippers; and the scheme realizes the stable clamping of the 3D printing product through the cooperation of the transmission mechanism and the clamping mechanism, and guarantees the clamping precision and the consistency of the clamping.

Description

Technical Field

[0001] This invention relates to the field of clamping equipment technology, and more specifically to a machine gripper tooling for clamping and demolding 3D printed products. Background Technology

[0002] In the 3D printing process, the finished model product is usually firmly attached to the printing platform or plane. However, current automated equipment often fails to pick up the part due to unreasonable fixture structure, insufficient clamping force, or clamping angle that cannot fit the irregularly shaped product. This results in the model not being able to be picked up smoothly, and may even damage the product surface when forcibly peeled off. Existing gripping equipment generally suffers from problems such as bulky structure, unstable operation, cantilever drooping, and poor adaptability to irregularly shaped parts. Therefore, it is necessary to design a mechanical gripper fixture that is reasonable in structure, efficient and simple, and can stably grip and demold. Summary of the Invention

[0003] To address the aforementioned shortcomings of the prior art, the present invention provides a machine gripper tooling for clamping and demolding 3D printed products, thereby solving the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A clamping jaw fixture for gripping and demolding 3D printed products is provided, comprising a fixed connecting base and a clamping mechanism. The fixed connecting base and the clamping mechanism are connected by a telescopic mechanism. The clamping mechanism includes a gear connecting block and two contouring jaws located at the front end of the gear connecting block. The contouring jaws are connected to the gear connecting block via a linkage mechanism. The linkage mechanism includes a driving link and a driven link. The front ends of the driving link and the driven link are horizontally hinged to the contouring jaws, and the rear ends of the driving link and the driven link are horizontally hinged to the gear connecting block. The driving link and the driven link are parallel to each other. A first servo motor is provided on the gear connecting block to drive the two driving links to deflect synchronously in opposite directions so that the two contouring jaws can open and close for gripping.

[0005] Furthermore, horizontal gears are provided at the rear ends of both drive linkages, and the two horizontal gears mesh with each other. A drive shaft is provided on the axis of one of the horizontal gears, and the drive shaft is connected to the shaft of the first servo motor through a planetary reducer.

[0006] Furthermore, the distance between the two hinge points at both ends of the driving link is equal to the distance between the two hinge points at both ends of the driven link.

[0007] Furthermore, each of the two contoured claws has a clamping plane on one side that is close to the other, and the two clamping planes are vertical planes that are parallel to each other.

[0008] Furthermore, a flexible PU layer is provided on the clamping plane, and the surface of the flexible PU layer is provided with an anti-slip texture.

[0009] Furthermore, both contoured claws are equipped with several weight-reducing perforations.

[0010] Furthermore, a cooling device is provided at the front end of the gear connecting block.

[0011] Furthermore, the telescopic mechanism includes two first connecting rods, the rear ends of which are vertically hinged to a fixed connecting seat, and each of the rear ends of the two first connecting rods is provided with a first vertical gear, which meshes with each other. The front ends of the two first connecting rods are vertically hinged to the rear ends of two second connecting rods respectively, and the front ends of the two second connecting rods are vertically hinged to a mounting seat, and each of the front ends of the two second connecting rods is provided with a second vertical gear, which meshes with each other. A gear connecting block is fixedly mounted on the mounting seat, and a second servo motor is provided on the fixed connecting seat for driving the two first connecting rods to rotate synchronously in opposite directions.

[0012] Furthermore, a drive shaft is provided on the axis of one of the first vertical gears, and the drive shaft is connected to the shaft of the second servo motor via a planetary reducer.

[0013] The beneficial effects of this invention are as follows: 1. In this design, the first servo motor drives one of the horizontal gears to rotate via a planetary reducer and a drive shaft. This drives the other horizontal gear meshing with it to rotate synchronously in the opposite direction, thereby driving two drive linkages to deflect synchronously in the opposite direction, causing the two homing jaws to perform opening and closing gripping actions. Simultaneously, by hinged parallel drive and driven linkages between the homing jaws and the gear connecting block, a parallelogram linkage structure is formed. This ensures that during the opening and closing gripping actions, the two gripping planes always remain symmetrical and parallel to each other. This design avoids the uneven loading or point contact that traditional flip-type grippers cause to 3D printed products with curved surfaces, slopes, or irregular contours due to changes in the opening and closing angle. This prevents uneven force on the 3D printed products, which can lead to damage or loss of grip. It ensures the gripping accuracy and consistency of the 3D printed products. In addition, the flexible PU layer on the clamping plane provides flexible gripping of the 3D printed products and increases the gripping friction through anti-slip texture, thereby avoiding damage to the surface of the 3D printed products and ensuring efficient demolding.

[0014] 2. The telescopic mechanism of this solution adopts a four-bar telescopic structure consisting of two first links and two second links. The second servo motor drives one of the first vertical gears to rotate through a planetary reducer and a transmission shaft, which in turn drives the other first vertical gear meshing with it to rotate synchronously in the opposite direction. This drives the two first links to deflect synchronously in the opposite direction and the two second links to deflect synchronously in the opposite direction, thereby achieving smooth and stable telescopic adjustment of the mounting base. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of the present invention will become clearer through the accompanying drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual dimensions; the focus is on illustrating the main points of the invention.

[0016] Figure 1 This is a schematic diagram of a clamping jaw tooling used for gripping and demolding 3D printed products.

[0017] Figure 2 This is a schematic diagram of the clamping mechanism.

[0018] Figure 3 This is a partial structural diagram of the clamping mechanism.

[0019] Among them, 1. fixed connecting seat, 2. gear connecting block, 3. contouring claw, 4. drive link, 5. driven link, 6. first servo motor, 7. horizontal gear, 8. clamping plane, 9. flexible PU layer, 10. weight-reducing hollow hole, 11. first link, 12. first vertical gear, 13. second link, 14. mounting seat, 15. second vertical gear, 16. second servo motor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] like Figures 1 to 3 As shown, the clamping jaw tooling for gripping and demolding 3D printed products in this solution includes a fixed connecting seat 1 and a gripping mechanism. The fixed connecting seat 1 and the gripping mechanism are connected by a telescopic mechanism.

[0025] Specifically, the clamping mechanism includes a gear connecting block 2 and two contoured claws 3 located at the front end of the gear connecting block 2. Each of the two contoured claws 3 has a clamping plane 8 on its side that is close to each other, and the two clamping planes 8 are vertical planes that are parallel to each other. The contoured claws 3 are connected to the gear connecting block 2 through a linkage mechanism. The linkage mechanism includes a driving link 4 and a driven link 5. The front ends of the driving link 4 and the driven link 5 are horizontally hinged to the contoured claws 3, and the rear ends of the driving link 4 and the driven link 5 are horizontally hinged to the gear connecting block 2. The driving link 4 and the driven link 5 are parallel to each other, and the distance between the two hinge points at both ends of the driving link 4 is equal to the distance between the two hinge points at both ends of the driven link 5.

[0026] The gear connecting block 2 is equipped with a first servo motor 6 for driving the two drive linkages 4 to deflect synchronously in opposite directions so that the two contour claws 3 can open and close to perform clamping actions; specifically, the rear ends of the two drive linkages 4 are each equipped with a horizontal gear 7, and the two horizontal gears 7 mesh with each other. A transmission shaft is provided on the axis of one of the horizontal gears 7, and the transmission shaft is connected to the rotating shaft of the first servo motor 6 through a planetary reducer.

[0027] In this design, the first servo motor 6 drives one of the horizontal gears 7 to rotate via a planetary reducer and a transmission shaft. This, in turn, drives the other horizontal gear 7 meshing with it to rotate synchronously in the opposite direction. This, in turn, drives the two drive linkages 4 to deflect synchronously in the opposite direction, causing the two contouring claws 3 to perform opening and closing gripping actions. Simultaneously, by hinged between the contouring claws 3 and the gear connecting block 2, parallel drive linkages 4 and driven linkages 5 are set up to form a parallelogram linkage structure. This ensures that when the two contouring claws 3 are performing opening and closing gripping actions, the two gripping planes 8 always remain symmetrical and parallel to each other. This avoids the situation where traditional flipping claws cause uneven loading or point contact on 3D printed products with curved surfaces, inclined surfaces, irregular contours, etc., due to changes in the opening and closing angle. This prevents the 3D printed products from being damaged due to uneven force or falling due to insecure gripping. This ensures the gripping accuracy and consistency of the 3D printed products.

[0028] As an optional implementation, a flexible PU layer 9 is provided on the clamping plane 8, and the surface of the flexible PU layer 9 is provided with an anti-slip texture, so that it can provide flexible clamping for 3D printed products, and the anti-slip texture can increase the friction of clamping, thereby avoiding damage to the surface of 3D printed products, while ensuring the efficiency of demolding. As an optional implementation, both contoured claws 3 are provided with several weight-reducing hollow holes 10, and the front end of the gear connecting block 2 can be provided with a wind-cooling device to facilitate the air-cooling and cooling of the 3D printed product, thereby improving the demolding efficiency.

[0029] As an optional implementation, the telescopic mechanism includes two first connecting rods 11, the rear ends of which are vertically hinged to the fixed connecting seat 1, and each of the two first connecting rods 11 is provided with a first vertical gear 12, which meshes with each other. The front ends of the two first connecting rods 11 are vertically hinged to the rear ends of two second connecting rods 13, and the front ends of the two second connecting rods 13 are vertically hinged to the mounting seat 14, and each of the front ends of the two second connecting rods 13 is provided with a second vertical gear 15, which meshes with each other. The gear connecting block 2 is fixedly mounted on the mounting seat 14, and a second servo motor 16 is mounted on the fixed connecting seat 1. A transmission shaft is provided on the axis of one of the first vertical gears 12, and the transmission shaft is connected to the rotating shaft of the second servo motor 16 through a planetary reducer.

[0030] Specifically, the first link 11 and the second link 13 can be hinged and locked together by a half-threaded bolt, a flat washer, a nut and a bushing, so as to achieve stable rotational movement and prevent loosening.

[0031] The telescopic mechanism of this solution adopts a four-bar telescopic structure consisting of two first connecting rods 11 and two second connecting rods 13. The second servo motor 16 drives one of the first vertical gears 12 to rotate through a planetary reducer and a transmission shaft, which in turn drives the other first vertical gear 12 meshing with it to rotate synchronously in the opposite direction. This drives the two first connecting rods 11 to deflect synchronously in the opposite direction and the two second connecting rods 13 to deflect synchronously in the opposite direction, thereby achieving smooth and stable telescopic adjustment of the mounting base 14.

[0032] In particular, the planetary reducer of this solution can amplify the torque of the first servo motor 6 and the second servo motor 16 through multiple reduction stages, thereby increasing the output torque so that the telescopic mechanism can achieve smooth telescopic extension and the clamping mechanism can achieve stable clamping.

[0033] In the specific implementation of this solution, the transmission shafts on both the horizontal gear 7 and the first vertical gear 12 can be fitted with sealing rings, and the two sealing rings are respectively fixed in the transmission holes opened on the gear connecting block 2 and the fixed connecting seat 1, thereby achieving axial sealing of the transmission shaft and improving the dustproof and waterproof effect.

[0034] A torque sensor can be installed on the shaft of the first servo motor 6 in this solution. By detecting the torque in real time, the transmission resistance can be sensed in real time, thereby realizing the real-time detection of the clamping force of the two contouring claws 3. When the torque reaches the preset threshold, the first servo motor 6 can be turned off to avoid excessive clamping force that could damage the 3D printed product. Furthermore, during the clamping process, if the torque suddenly decreases, it indicates that the 3D printed product has fallen or been crushed. At this time, the signal of sudden torque decrease can be fed back to the control terminal to trigger the system alarm or stop the action, so as to ensure the yield of the 3D printed product after demolding.

[0035] The working principle of this solution will be explained in detail below: After the 3D printed product is completed, the solution first activates the second servo motor 16 and drives the gripping mechanism forward, so that the gripping mechanism moves closer to the 3D printed product; then activates the first servo motor 6 and drives the two contoured claws 3 to gradually close and stably grip the two sides of the 3D printed product; finally, the second servo motor 16 reverses its operation and drives the gripping mechanism to retract, thereby gripping the 3D printed product and removing it from the printing plane.

[0036] Although the specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent; various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims are still within the scope of protection of this patent.

Claims

1. A clamping jaw fixture for gripping and demolding 3D printed products, characterized in that, It includes a fixed connecting seat and a clamping mechanism, wherein the fixed connecting seat and the clamping mechanism are connected by a telescopic mechanism; The clamping mechanism includes a gear connecting block and two contoured claws located at the front end of the gear connecting block. The contoured claws are connected to the gear connecting block via a linkage mechanism. The linkage mechanism includes a driving link and a driven link. The front ends of the driving link and the driven link are horizontally hinged to the contoured claws, and the rear ends of the driving link and the driven link are horizontally hinged to the gear connecting block. The driving link and the driven link are parallel to each other. The gear connecting block is provided with a first servo motor for driving the two driving links to deflect synchronously in opposite directions so that the two contoured claws can open and close to perform clamping actions.

2. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, Both drive linkages are equipped with horizontal gears at their rear ends, and the two horizontal gears mesh with each other. A drive shaft is provided on the axis of one of the horizontal gears, and the drive shaft is connected to the shaft of the first servo motor through a planetary reducer.

3. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, The distance between the two hinge points at both ends of the driving link is equal to the distance between the two hinge points at both ends of the driven link.

4. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, Both of the two contoured claws have clamping planes on their sides that are close to each other, and the two clamping planes are vertical planes that are parallel to each other.

5. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 4, characterized in that, A flexible PU layer is provided on the clamping plane, and the surface of the flexible PU layer is provided with an anti-slip texture.

6. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, Both of the aforementioned contour claws are provided with several weight-reducing hollow holes.

7. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, The front end of the gear connecting block is equipped with an air-cooling device.

8. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 1, characterized in that, The telescopic mechanism includes two first connecting rods, the rear ends of which are vertically hinged to a fixed connecting seat, and each of the rear ends of the two first connecting rods is provided with a first vertical gear, which meshes with each other. The front ends of the two first connecting rods are vertically hinged to the rear ends of two second connecting rods respectively, and the front ends of the two second connecting rods are vertically hinged to a mounting seat, and each of the front ends of the two second connecting rods is provided with a second vertical gear, which meshes with each other. The gear connecting block is fixedly mounted on the mounting seat, and the fixed connecting seat is provided with a second servo motor for driving the two first connecting rods to deflect synchronously in opposite directions.

9. The clamping jaw fixture for gripping and demolding 3D printed products according to claim 8, characterized in that, One of the first vertical gears has a drive shaft on its axis, and the drive shaft is connected to the shaft of the second servo motor via a planetary reducer.

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