Clamping and locking type gripper suitable for cylindrical materials with flanges

Abstract

The utility model discloses a clamping and locking type gripper suitable for cylindrical materials with flanges, which comprises a first fixing clamping plate, a clamping jaw beating plate, a second fixing clamping plate and a third fixing clamping plate, and the left side of the bottom of the first fixing clamping plate is fixedly connected with the top of the clamping jaw beating plate. And the right side of the second fixed clamping plate is fixedly connected with the rear side of the left side of the clamping jaw beating plate. Through the arrangement of the swing clamping plate, a robot drives the clamping jaw beating plate to press down the limiting table, the swing clamping plate can swing freely, cylindrical materials can enter and exit from the clamping jaw beating plate freely, and when the robot takes or puts the cylindrical materials, the robot drives the clamping jaw beating plate to move to jack up the limiting table, so that the cylindrical materials are separated from the limiting table. And at the moment, the materials are clamped on the inner sides of the swing clamping plates, the feeding and discharging functions are completed, the problems that the cylindrical materials are regular in shape but have a certain weight, and if manual work is used, the speed is low when a large number of cylindrical materials are conveyed in a reciprocating mode are solved, and the effect of improving the conveying efficiency is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of conveying materials or stacking materials using robots, in particular to a locking hand claw suitable for cylindrical materials with flanges. Background Art

[0002] Robotic conveying and palletizing projects are currently widely used in all walks of life. They are generally completed by various types of handling robots, materials and picking grippers. Corresponding picking grippers should be designed for materials of different shapes and types. Here, a picking gripper is designed for a longer and heavier cylindrical material with a flange at the bottom. This cylindrical material has a relatively regular shape, but has a certain weight. If a large amount of reciprocating transportation is done manually, the speed will be slow, so it is particularly suitable for robot transportation. Utility Model Content

[0003] In order to solve the problems raised in the above-mentioned background technology, the purpose of the utility model is to provide a locking gripper suitable for cylindrical materials with flanges, which has the advantage of improving transportation efficiency and solves the problem that cylindrical materials have a relatively regular shape but a certain weight, and the speed is slow if they are transported back and forth in large quantities by manual labor.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a locking gripper suitable for cylindrical materials with flanges, comprising a first fixed gripper plate, a gripper plate, a second fixed gripper plate and a third fixed gripper plate, wherein the left side of the bottom of the first fixed gripper plate is fixedly connected to the top of the gripper plate, the right side of the second fixed gripper plate is fixedly connected to the rear side of the left side of the gripper plate, the right side of the top of the third fixed gripper plate is fixedly connected to the bottom of the gripper plate, the left side of the front side of the top of the third fixed gripper plate is fixedly connected to an electric push rod, and the front side of the bottom of the first fixed gripper plate is fixedly connected to the left side of the front side of the bottom of the first fixed gripper plate. The side is movably connected with a swing clamping plate through an axle pin, a self-locking shaft is arranged on the front side of the left side of the top of the first fixed clamping plate, the bottom of the self-locking shaft passes through the top of the electric push rod and is movably connected with the first fixed clamping plate, a clamping plate spring is sleeved on the front side of the swing clamping plate, one end of the clamping plate spring away from the swing clamping plate is fixedly connected to the front side of the left top of the claw hitting plate, the left side of the claw hitting plate is fixedly connected with a cylindrical material through the first fixed clamping plate, the second fixed clamping plate and the third fixed clamping plate and the swing clamping plate, and an unlocking rod is fixedly connected to the bottom of the right rear side of the claw hitting plate.

[0005] As a preferred embodiment of the present invention, the inner sides of the first fixed clamping plate and the third fixed clamping plate and the front side of the second fixed clamping plate are all arranged in arc shape and the arc is slightly smaller than a semicircle.

[0006] As a preferred embodiment of the present invention, a reserved card slot is provided on the inner side of the third fixed card plate.

[0007] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0008] 1. The utility model sets a swinging clamping plate, uses a robot with a clamping claw to press down the limit table, and the swinging clamping plate can swing freely, and the cylindrical material can freely enter and exit the clamping claw hitting plate. When the robot has taken the cylindrical material or put the cylindrical material, the robot moves with the clamping claw to lift the limit table. At this time, the material is stuck on the inner side of the swinging clamping plate, completing the loading and unloading function, solving the problem that the cylindrical material has a relatively regular shape but a certain weight, and the speed is slow if a large amount of reciprocating transportation is done manually, thereby achieving the effect of improving transportation efficiency.

[0009] 2. The utility model sets the inner sides of the first fixed card plate and the third fixed card plate and the front side of the second fixed card plate in arc shape, so that the first fixed card plate, the second fixed card plate and the third fixed card plate can better adapt to the shape of the cylindrical material. Secondly, the overall arc is slightly smaller than the semicircle, so that the first fixed card plate, the second fixed card plate and the third fixed card plate can only be aligned with the cylindrical material, but cannot clamp the cylindrical material. At the same time, space is also freed up for the material rack to make the corresponding clamp of the material rack, and the clamping of the cylindrical material is achieved by swinging the card plate.

[0010] 3. The utility model sets a reserved slot and designs a reserved slot by using the third fixed card plate, which can clamp the boss below the cylindrical material so that the cylindrical material will not move axially in the third fixed card plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0012] Figure 2 It is a three-dimensional structural schematic diagram of the clamping claw hitting the plate of the utility model;

[0013] Figure 3 It is a schematic diagram of releasing the swinging card plate of the utility model.

[0014] In the figure: 1. First fixed card plate; 2. Card claw hitting plate; 3. Second fixed card plate; 4. Unlocking rod; 5. Third fixed card plate; 6. Swinging card plate; 7. Self-locking shaft; 8. Electric push rod; 9. Card plate spring; 10. Cylindrical material. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0016] like Figures 1 to 3 As shown, the utility model provides a locking gripper suitable for flanged cylindrical materials, comprising a first fixed gripper plate 1, a gripper plate 2, a second fixed gripper plate 3 and a third fixed gripper plate 5. The left side of the bottom of the first fixed gripper plate 1 is fixedly connected to the top of the gripper plate 2, the right side of the second fixed gripper plate 3 is fixedly connected to the rear side of the left side of the gripper plate 2, the right side of the top of the third fixed gripper plate 5 is fixedly connected to the bottom of the gripper plate 2, the left side of the top front side of the third fixed gripper plate 5 is fixedly connected to an electric push rod 8, and the front side of the bottom of the first fixed gripper plate 1 is movably connected through an axle pin. It is connected to a swing card plate 6, and a self-locking shaft 7 is arranged on the front side of the left side of the top of the first fixed card plate 1. The bottom of the self-locking shaft 7 passes through the top of the electric push rod 8 and is movably connected with the first fixed card plate 1. A card plate spring 9 is sleeved on the front side of the swing card plate 6. The end of the card plate spring 9 away from the swing card plate 6 is fixedly connected to the front side of the top left side of the claw hitting plate 2. The left side of the claw hitting plate 2 is fixedly connected to the swing card plate 6 with a cylindrical material 10 through the first fixed card plate 1, the second fixed card plate 3, and the third fixed card plate 5. The bottom of the right rear side of the claw hitting plate 2 is fixedly connected with an unlocking rod 4.

[0017] refer to Figure 2 The inner sides of the first fixed card plate 1 and the third fixed card plate 5 and the front side of the second fixed card plate 3 are all arranged in arcs, and the arc is slightly smaller than a semicircle.

[0018] As a technical optimization scheme of the utility model, by setting the inner sides of the first fixed clamping plate 1 and the third fixed clamping plate 5 and the front side of the second fixed clamping plate 3 to be arc-shaped, the first fixed clamping plate 1, the second fixed clamping plate 3 and the third fixed clamping plate 5 can better adapt to the shape of the cylindrical material 10. Secondly, the overall arc is slightly smaller than the semicircle, so that the first fixed clamping plate 1, the second fixed clamping plate 3 and the third fixed clamping plate 5 can only be aligned with the cylindrical material 10, but cannot clamp the cylindrical material 10. At the same time, space is also freed up for the material rack to make the corresponding clamp for the material rack, and the clamping of the cylindrical material 10 is achieved by swinging the clamp 6.

[0019] refer to Figure 3 A reserved card slot is provided on the inner side of the third fixed card plate 5 .

[0020] As a technical optimization solution of the utility model, a reserved slot is set and designed using the third fixed clamping plate 5, which can clamp the boss below the cylindrical material 10 so that the cylindrical material 10 will not move axially in the third fixed clamping plate 5.

[0021] The working principle and use process of the utility model are as follows: when in use, the swing card plate 6 opens, approaches the cylindrical material 10 and grabs it, and the flange of the cylindrical material 10 is fixed on the third fixed card plate 5. At the same time, the cylindrical material 10 presses the card plate spring 9 in the swing card plate 6, pushing the swing card plate 6 to tighten until the cylindrical material 10 is held. This process will trigger the movement of the self-locking shaft 7 and lock the swing card plate 6. After locking, the cylindrical material 10 will be firmly fixed in the swing card plate 6 so that the cylindrical material 10 cannot be separated from the swing card plate 6. When the swing card plate 6 grabs the cylindrical material 10 and sends it to the designated position for placement, the electric push rod 8 runs, pushes the self-locking shaft 7 upward, so that the buckle part on the self-locking shaft 7 is separated from the swing card plate 6, and the card plate spring 9 rebounds, and the swing card plate 6 releases the cylindrical material 10 at the same time to complete the transfer work.

[0022] To sum up: the locking gripper suitable for cylindrical materials with flanges, by setting a swing clamping plate 6, uses the robot with the clamping claw hitting plate 2 to press down the limit table, the swing clamping plate can swing freely, and the cylindrical material 10 can freely enter and exit the clamping claw hitting plate 2. When the robot has taken the cylindrical material 10 or put the cylindrical material 10, the robot moves with the clamping claw hitting plate 2 to lift the limit table. At this time, the material is stuck on the inside of the swing clamping plate, completing the loading and unloading functions, and solving the problem that the cylindrical material has a relatively regular shape but a certain weight, and the speed is slow if manual labor is used for large-scale reciprocating transportation.

[0023] 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0024] 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 locking gripper suitable for cylindrical materials with flanges, comprising a first fixed gripper plate (1), a gripper plate (2), a second fixed gripper plate (3) and a third fixed gripper plate (5), characterized in that: The left side of the bottom of the first fixed card plate (1) is fixedly connected to the top of the claw plate (2), the right side of the second fixed card plate (3) is fixedly connected to the rear side of the left side of the claw plate (2), the right side of the top of the third fixed card plate (5) is fixedly connected to the bottom of the claw plate (2), the left side of the front side of the top of the third fixed card plate (5) is fixedly connected to an electric push rod (8), the front side of the bottom of the first fixed card plate (1) is movably connected to a swing card plate (6) through an axle pin, the front side of the left side of the top of the first fixed card plate (1) is provided with a self-locking shaft (7), the self-locking shaft (8) is fixedly connected to the left side of the top of the third fixed card plate (5), and the self-locking shaft (8) is fixedly connected to the left side of the top of the third fixed card plate (5). The bottom of the shaft (7) passes through the top of the electric push rod (8) and is movably connected to the first fixed card plate (1). The front of the swing card plate (6) is sleeved with a card plate spring (9). The end of the card plate spring (9) away from the swing card plate (6) is fixedly connected to the front side of the top of the left side of the claw plate (2). The left side of the claw plate (2) is fixedly connected to the swing card plate (6) through the first fixed card plate (1), the second fixed card plate (3), and the third fixed card plate (5). The bottom of the right rear side of the claw plate (2) is fixedly connected to an unlocking rod (4).

2. A locking gripper suitable for cylindrical materials with flanges according to claim 1, characterized in that: The inner sides of the first fixed clamping plate (1) and the third fixed clamping plate (5) and the front side of the second fixed clamping plate (3) are all arranged in the form of arcs, and the arc is slightly smaller than a semicircle.

3. The locking gripper for cylindrical materials with flanges according to claim 1, characterized in that: The inner side of the third fixed clamping plate (5) is provided with a reserved clamping slot.

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