Quick positioning and connecting mechanism for automatic manipulator gripper of die-casting island

Abstract

The utility model discloses a quick positioning and connecting mechanism for a die-casting island automatic manipulator gripper, which relates to the field of pneumatic gripper tools and comprises a manipulator, a pneumatically-driven gripper A is fixedly mounted at the front end of a manipulator gripping arm, a pneumatic three-jaw positioning mechanism for tightening and gripping is arranged on the lower end face of the gripper A, and three pneumatic jaws mutually form an included angle of 120 degrees. A pneumatically-driven gripper B is arranged below the gripper A, a main body of the gripper B is a cylinder, the gripping end face of the gripper B faces downwards, main bodies of the three pneumatic clamping jaws are all in an L shape, the transverse section of each pneumatic clamping jaw is a mounting section, and the vertical section of each pneumatic clamping jaw is a positioning section and is provided with a gripper positioning mechanism. Three mounting grooves which are uniformly distributed in a ring shape are formed in the outer wall of a cylinder of the gripper B, connecting mechanisms are mounted in the mounting grooves, the connecting mechanisms are matched and locked with the gripper positioning mechanisms, and the gripper A and the gripper B are fixed.

Description

Technical Field

[0001] The utility model relates to the field of pneumatic gripper tools, in particular to a quick positioning and connection mechanism for an automated manipulator gripper of a die-casting island. Background Art

[0002] "Quick gripper change" is a common method used by robots in the current die-casting island automation assembly. The robot first grabs gripper B through gripper A, and then quickly switches to gripper B (gripper A grabs gripper B), and then grabs other objects.

[0003] At present, in the process of grasping gripper B through gripper A, it is often necessary to install an additional positioning device on gripper A and an additional connecting device on gripper B. The additional positioning device and the additional connecting device on gripper B are often installed on the outside of gripper A and gripper B. Although it saves the time for personnel to replace grippers, it will greatly increase the size of the grippers.

[0004] Therefore, it is urgent for designers to design a reasonable structure to ensure the rapid positioning and connection mechanism of the die-casting island's automated robot gripper A and gripper B, so as to achieve the purpose of quickly switching to gripper B (gripper A grabs gripper B) to grab other objects. Utility Model Content

[0005] In order to make up for the shortcomings of the existing technical problems, the purpose of the utility model is to provide a die-casting island automated manipulator gripper quick positioning and connection mechanism, the structural design is novel, does not increase the volume, the overall appearance is beautiful, the die-casting island automated manipulator can quickly switch to the B gripper (A gripper grabs B gripper) to grab other objects.

[0006] In order to achieve the above purpose, the technical solution of the utility model is as follows:

[0007] A quick positioning and connection mechanism for an automated manipulator gripper of a die-casting island comprises a manipulator, a pneumatically driven A gripper is fixedly mounted at the front end of the manipulator gripping arm, a pneumatic three-jaw positioning mechanism for inward gripping is arranged on the lower end face of the A gripper, the three pneumatic jaws mutually form an angle of 120°, a pneumatically driven B gripper is arranged below the A gripper, the B gripper body is a column, the gripping end faces downward, the bodies of the three pneumatic jaws are all L-shaped, the transverse section of each pneumatic jaw is an installation section, the vertical section is a positioning section and a gripper positioning mechanism is arranged; three installation grooves evenly distributed along a ring are arranged on the outer wall of the column of the B gripper, a connecting mechanism is arranged in the installation groove, the connecting mechanism cooperates with the gripper positioning mechanism to lock, and the A gripper is fixed to the B gripper.

[0008] Furthermore, the gripper positioning mechanism includes a quick-change plug and a positioning guide sleeve. A through hole is horizontally penetrated on the vertical section of the pneumatic claw, and a quick-change plug and a positioning guide sleeve of an external pneumatic negative pressure pump are respectively installed at both ends of the through hole; a positioning pin matching hole is also provided on the vertical section below the through hole;

[0009] The lower end surface of the vertical section is provided with a transverse groove, in which a clamping degree adjustment shaft is slidably installed, and a locking bolt is screwed and installed at the tail of the adjustment shaft, and the locking bolt passes through the adjustment shaft to support the bottom of the transverse groove.

[0010] Furthermore, the front end clamping surface of the adjusting shaft is processed into a frosted surface with dot-shaped protrusions, and the position of the adjusting shaft in the transverse groove can be adjusted before work to ensure the clamping degree.

[0011] Furthermore, the adjustment shaft and the transverse groove are dovetail matched, dovetail grooves are provided on the opposite side walls of the transverse groove, and sliders that cooperate with the dovetail grooves are symmetrically distributed on the outer wall of the adjustment shaft; the dovetail groove is provided on the adjustment shaft, and the slider is provided on the inner wall of the transverse groove.

[0012] Furthermore, the mounting groove on the B gripper column is an open groove that opens upward, and the open end extends to the upper end surface of the column.

[0013] Furthermore, the main body of the connecting mechanism is a block, a longitudinal positioning groove is provided in the middle of the mating surface between the block and the mounting groove, fixing holes are provided on the block on both sides of the positioning groove, and the positioning groove is provided with a quick-change joint mounting hole, a positioning hole, and an adjustment shaft hole from top to bottom, and the quick-change joint mounting hole and the positioning hole are respectively installed with a quick-change joint and a positioning pin.

[0014] The advantages of the utility model are:

[0015] The utility model has a novel structural design. The A gripper and the B gripper are hidden in the contact surface where the two grippers are connected through the positioning mechanism and the connecting mechanism. The volume is not increased and the overall appearance is beautiful. The automatic manipulator of the die-casting island can quickly switch to the B gripper (the A gripper grabs the B gripper) to grab other objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 This is a schematic diagram of the structure of the gripper A and the gripper positioning mechanism of the utility model.

[0018] Figure 3 This is a cross-sectional view of the structure of the gripper A and the gripper positioning mechanism of the utility model.

[0019] Figure 4 It is a three-dimensional diagram of the connection mechanism of the utility model.

[0020] Figure 5 It is a cross-sectional view of the connection structure of the utility model. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0022] A quick positioning and connection mechanism for an automated manipulator gripper of a die-casting island comprises a manipulator 1, a pneumatically driven A gripper 2 is fixedly mounted at the front end of the manipulator gripping arm, the lower end face of the A gripper 2 has a pneumatic three-jaw positioning mechanism for inward gripping, the three pneumatic jaws form an angle of 120° with each other, a pneumatically driven B gripper 3 is arranged below the A gripper 2, the main body of the B gripper 3 is a column, the gripping end faces downward, the main bodies of the three pneumatic jaws are all L-shaped, the transverse section of each pneumatic jaw is an installation section, the vertical section is a positioning section and a gripper positioning mechanism 4 is arranged; three installation grooves 6 evenly distributed along a ring are arranged on the outer wall of the column of the B gripper, a connecting mechanism 5 is installed in the installation groove 6, the connecting mechanism 5 cooperates with the gripper positioning mechanism 4 to lock, at this time, the A gripper 2 and the B gripper 3 are fixed.

[0023] Furthermore, the gripper positioning mechanism 4 includes a quick-change plug 4-1 and a positioning guide sleeve 4-2. A through hole 4-3 is horizontally penetrated on the vertical section of the pneumatic claw, and a quick-change plug 4-1 and a positioning guide sleeve 4-2 for an external pneumatic negative pressure pump are respectively installed at both ends of the through hole 4-3; a positioning pin matching hole 4-4 is also provided on the vertical section below the through hole;

[0024] The lower end surface of the vertical section is provided with a transverse groove 4-5, in which a clamping degree adjustment shaft 4-6 is slidably installed, and a locking bolt 4-7 is screwed on the tail of the adjustment shaft 4-6, and the locking bolt 4-5 passes through the adjustment shaft 4-6 to support the bottom of the transverse groove 4-4.

[0025] Furthermore, the front end clamping surface of the adjusting shaft 4-6 is processed into a frosted surface 4-8 with dot-shaped protrusions, and the position of the adjusting shaft 4-6 in the transverse groove can be adjusted before work to ensure the clamping degree.

[0026] Furthermore, the adjustment shaft 4-6 and the transverse groove 4-5 are dovetail-matched, and dovetail grooves (not shown in the figure) are provided on the opposite side walls of the transverse groove 4-5, and sliders (not shown in the figure) that cooperate with the dovetail grooves are symmetrically distributed on the outer wall of the adjustment shaft; the dovetail groove is provided on the adjustment shaft, and the slider can also be provided on the inner wall of the transverse groove.

[0027] Furthermore, the mounting groove 6 on the column of the B gripper 2 is an open groove that opens upward, and the open end extends to the upper end surface of the column.

[0028] Furthermore, the main body of the connecting mechanism 5 is a block 5-1, and a longitudinal positioning groove 5-2 is provided in the middle of the matching surface between the block 5-1 and the mounting groove 6. Fixing holes 5-3 are provided on the block on both sides of the positioning groove 5-2. The fixing holes 5-3 and the mounting groove 6 are fixed by connecting parts. The bottom of the positioning groove 5-3 is provided with a quick-change joint mounting hole 5-4, a positioning hole 5-5, and an adjusting shaft hole 5-6 from top to bottom. The quick-change joint mounting hole 5-4, the positioning hole 5-5, and the quick-change joint 5-7 and the positioning pin 5-8 are respectively installed.

[0029] The cooperation process between the gripper positioning mechanism of the utility model and the connecting mechanism 5 is as follows:

[0030] The positioning guide sleeve 4-2 of the gripper positioning mechanism 4 cooperates with the quick-change connector 5-7 of the connecting mechanism 5. The connection between the positioning guide sleeve 4-2 and the quick-change connector 5-7 of the connecting mechanism 5 is sealed and airtight, and negative pressure suction is formed through the quick-change plug 4-1 of the external pneumatic negative pressure pump; the positioning pin matching hole 4-4 of the gripper positioning mechanism 4 cooperates with the positioning pin 5-8 of the connecting mechanism 5 for positioning and locking; the adjusting shaft 4-6 of the gripper positioning mechanism passes through the adjusting shaft hole 5-6 of the connecting mechanism 5, and the frosted surface 4-8 at its front end presses against the bottom of the mounting groove 6 on the outer wall of the column of the B gripper.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A die-casting island automated manipulator gripper quick positioning and connection mechanism, including a manipulator, a pneumatically driven A gripper fixedly installed at the front end of the manipulator gripping arm, the lower end face of the A gripper has an inwardly grasping pneumatic three-claw positioning mechanism, the three pneumatic claws are at an angle of 120° to each other, a pneumatically driven B gripper is arranged below the A gripper, the B gripper body is a column, and the gripping end face faces downward, Features: The main bodies of the three pneumatic clamps are all L-shaped, the transverse section of each pneumatic clamp is an installation section, the vertical section is a positioning section and is provided with a gripper positioning mechanism; the outer wall of the column of the B gripper is provided with three installation grooves evenly distributed along a ring, a connecting mechanism is installed in the installation groove, the connecting mechanism cooperates and locks with the gripper positioning mechanism, and the A gripper is fixed to the B gripper.

2. The die casting island automation manipulator gripper quick positioning and connection mechanism according to claim 1, It is characterized in that The gripper positioning mechanism includes a quick-change plug and a positioning guide sleeve. A through hole is horizontally penetrated on the vertical section of the pneumatic claw, and a quick-change plug and a positioning guide sleeve for an external pneumatic negative pressure pump are respectively installed at both ends of the through hole; a positioning pin matching hole is also provided on the vertical section below the through hole; The lower end surface of the vertical section is provided with a transverse groove, in which a clamping degree adjustment shaft is slidably installed, and a locking bolt is screwed and installed at the tail of the adjustment shaft, and the locking bolt passes through the adjustment shaft to support the bottom of the transverse groove.

3. The die casting island automation manipulator gripper quick positioning and connection mechanism according to claim 2, It is characterized in that The front end clamping surface of the adjusting shaft is processed into point-shaped protrusions to form a frosted surface.

4. The die casting island automation manipulator gripper quick positioning and connection mechanism according to claim 2, It is characterized in that The adjusting shaft and the transverse groove are in dovetail fit, and dovetail grooves are arranged on two opposite side walls of the transverse groove. Slide blocks that cooperate with the dovetail grooves are symmetrically distributed on the outer wall of the adjusting shaft.

5. The die casting island automated manipulator gripper quick positioning and connection mechanism according to claim 1, It is characterized in that The mounting groove on the B gripper column is an upwardly opening groove, and the opening end extends to the upper end surface of the column.

6. The die casting island automated manipulator gripper quick positioning and connection mechanism according to claim 1, It is characterized in that The main body of the connecting mechanism is a block, and a longitudinal positioning groove is provided in the middle of the matching surface between the block and the installation groove. Fixing holes are provided on the block on both sides of the positioning groove. The bottom of the positioning groove is provided with a quick-change joint installation hole, a positioning hole, and an adjustment shaft hole from top to bottom. The quick-change joint installation hole and the positioning hole are respectively installed with a quick-change joint and a positioning pin.

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