Mechanical paw capable of adjusting guide core sliding block in multiple directions

Abstract

The utility model discloses a mechanical gripper capable of adjusting a guide core sliding block in multiple directions. The mechanical gripper comprises a clamping body used for clamping and a guide core body. The clamping main body comprises a clamping mounting block, a box body which is provided with a mounting cavity and is connected to the clamping mounting block, and a plurality of rows of clamping mechanisms which are uniformly distributed up and down and are mounted in the mounting cavity; each row of clamping mechanisms comprises a plurality of groups of clamping assemblies which are horizontally and uniformly distributed; each clamping assembly comprises a jacking column and an elastic piece connected to the jacking column. The guide core main body comprises a guide core mounting block, a guide core sliding rail and two guide core sliding blocks; the guide core sliding rail can be rotationally and adjustably mounted on the guide core mounting block by 360 degrees; the two guide core sliding blocks can be respectively and slidably adjusted on the guide core sliding rail along the length direction of the guide core sliding rail and are opposite to the top column; first inclined surfaces which are distributed in a splayed shape and vertically extend are respectively arranged on the opposite side surfaces of the two core guide slide blocks. According to the utility model, the inclination of the stick-shaped workpiece can be corrected in the clamping process, so that the workpiece does not incline when being unloaded.

Description

Technical Field

[0001] The utility model relates to the field of mechanical grippers, in particular to a mechanical gripper capable of adjusting a core guide slider in multiple directions. Background Art

[0002] With the development of modern manufacturing industry, many workstations with simple and repetitive movements use robotic grippers to replace manual operations, such as grasping and placing.

[0003] In order to enhance the adaptability of the robotic gripper, that is, to enable a robotic gripper to clamp workpieces of various shapes and sizes, application number 202323322863.4 discloses a flexible robotic gripper, which specifically discloses a clamping body; the clamping body includes a box body with an installation cavity opened on one side and multiple rows of clamping mechanisms evenly distributed up and down and installed in the installation cavity; each row of the clamping mechanisms includes multiple groups of horizontal and evenly distributed clamping assemblies; each group of the clamping assemblies includes a top column and an elastic member installed on the top column, the first end of the top column extending out of the installation cavity; the elastic member includes a spring; one end of the spring is connected to the second end of the top column, and the other end of the spring is positioned so that the spring can be used to provide the top column with a telescopic elastic force to enter and exit the installation cavity. The flexible robotic gripper also includes a driving device with two output ends; the clamping body is provided with two relatively arranged ones; the two clamping bodies are respectively connected to the two output ends of the driving device, so that the driving device can drive the two clamping bodies to move in relative or opposite directions, and when the two clamping bodies move relative to each other, a clamping structure can be formed.

[0004] However, the above-mentioned flexible manipulator gripper still has some disadvantages, for example, the two clamping bodies provided therein mainly clamp the workpiece by moving in opposite directions, and each clamping body is provided with multiple rows of clamping mechanisms, and each row of clamping mechanisms includes a top column and an elastic member. Although this design has some advantages, when the two clamping bodies need to clamp a vertical stick-shaped workpiece, if the position of the stick-shaped workpiece before being clamped is slightly tilted, the stick-shaped workpiece will still tilt when the two clamping bodies unload it after clamping, that is, the two clamping bodies cannot correct the inclination of the workpiece during the clamping process, which is not conducive to the subsequent workpiece processing for the processing technology with high precision requirements.

[0005] Therefore, it is necessary to improve the existing technology. Utility Model Content

[0006] In view of the problems existing in the above-mentioned prior art, the purpose of the utility model is to provide a mechanical gripper with a core guide slider that can be adjusted in multiple directions, which can correct the inclination of the stick-shaped workpiece during the clamping process, so that the stick-shaped workpiece will not tilt when being unloaded.

[0007] In order to achieve the above purpose, the technical solution of the utility model is:

[0008] A mechanical gripper capable of adjusting a core guide slider in multiple directions, comprising a clamping body and a core guide body that can be used for clamping; the clamping body comprises a clamping mounting block, a box body with a mounting cavity with an opening on one side and connected to the clamping mounting block, and multiple rows of clamping mechanisms evenly distributed up and down and installed in the mounting cavity; each row of the clamping mechanisms comprises multiple groups of horizontally and evenly distributed clamping assemblies; each group of the clamping assemblies comprises a top column with a first end extending forwardly out of the mounting cavity and an elastic member connected to the second end of the top column, the elastic member can be used to provide the top column with an extension force to enter and exit the mounting cavity The core guide body includes a core guide mounting block, a core guide rail mounted on the core guide mounting block and capable of 360° rotation and adjustment, and two core guide sliders that can be slid and adjusted along the length direction of the core guide rail and are opposite to the top column; first inclined surfaces that are distributed in an "eight" shape and extend vertically are respectively arranged on the opposite side surfaces of the two core guide sliders, so that when the workpiece contacts the first inclined surface, the workpiece can be automatically matched and clamped on the two first inclined surfaces through the clamping cooperation between the core guide body and the clamping body and the guidance of the first inclined surface. The above arrangement can facilitate the correction of the inclination of the workpiece during the clamping process, and can also be used to adjust the direction and angle of the core guide slider.

[0009] The following technical solutions are also included:

[0010] Furthermore, a V-shaped guide groove extending in the horizontal direction is respectively provided on the front end surface of the two guide slide blocks, so that when the workpiece contacts the side walls of the two guide grooves, the workpiece can be automatically matched and clamped into the angle between the two guide grooves through the clamping cooperation of the guide body and the clamping body. The guide grooves provided above can be used for the robot gripper to guide the workpiece in different directions.

[0011] Furthermore, when the two guide sliders are brought together, the two first inclined surfaces can form a V-shaped groove, and the angle of the groove is greater than the angle of the guide groove. The above arrangement enables the first inclined surface and the guide groove to be respectively suitable for workpieces of different sizes.

[0012] Furthermore, a T-shaped slot extending along the length direction of the core guide rail is provided on the front end surface of the core guide rail; a T-shaped block movably engaged in the T-shaped slot is provided on the rear end surface of each core guide slider, and the core guide slider can be fastened to the core guide rail by bolts. The above arrangement can facilitate the position adjustment of the core guide slider.

[0013] Furthermore, each of the core guide sliders is provided with a first threaded hole that penetrates the core guide slider backwards, and a first bolt is installed in each of the first threaded holes; by screwing the first bolt backwards, the rod of the first bolt can be pressed against the front end surface of the core guide rail, so as to form an effect of locking the core guide slider on the core guide rail. The above arrangement can facilitate the loosening or locking of the core guide slider.

[0014] Furthermore, on the side surface opposite to the two core guide sliders, second inclined surfaces are respectively arranged in an "eight" shape and extending vertically; the first inclined surface and the second inclined surface on each core guide slider are also arranged in an "eight" shape and the area of ​​the second inclined surface is larger than the area of ​​the first inclined surface; the T-shaped card slot runs through both ends of the core guide rail, and each core guide slider can slide to the outside of the core guide rail through the T-shaped card block, so that the two core guide sliders can be installed on the core guide rail by changing directions. The above settings can facilitate the matching of different inclined surfaces.

[0015] Furthermore, the rear end of the core guide rail is movably connected to the front end of the core guide mounting block through a rotating shaft, so that the core guide rail can rotate 360 ​​degrees on the core guide mounting block; at least two second threaded holes distributed on both sides of the rotating shaft are arranged at the front end of the core guide mounting block, and a second bolt is installed in each of the second threaded holes; by screwing the second bolt forward, the rod of the second bolt can be pressed against the rear end surface of the core guide rail to form a locking effect of the core guide rail on the core guide mounting block. The above arrangement can facilitate the rotation of the core guide rail, and can also facilitate the loosening or locking of the guide rail.

[0016] Furthermore, the manipulator gripper capable of adjusting the guide slider in multiple directions further comprises a double-axis cylinder having two output ends; the two output ends of the double-axis cylinder are respectively connected to the clamping mounting block and the guide mounting block, so that the double-axis cylinder can drive the clamping body and the guide body to move in opposite or opposite directions, and when the clamping body and the guide body move relative to each other, a clamping structure can be formed. The double-axis cylinder can be conveniently used to synchronously drive the clamping body and the guide body.

[0017] Furthermore, the elastic member includes a spring and an abutment rod; the spring is installed in an insertion cavity at the second end of the top column; the first end of the abutment rod is clamped in the insertion cavity and connected to the spring, and the second end of the abutment rod is fixedly arranged. The width of the spring gradually decreases from the direction close to the first end of the top column to the direction away from the first end of the top column, so that the spring forms a structure with one end larger and the other end smaller. The above arrangement can clamp the workpiece more stably when the clamping body needs to clamp the workpiece.

[0018] Furthermore, the size of the springs in the clamping assemblies located on the outer sides of the multiple rows of the clamping mechanisms is larger than the size of the springs in the clamping assemblies located on the inner sides. The above arrangement can be used to clamp the workpiece more stably.

[0019] The beneficial effects of the utility model are:

[0020] (I) The utility model sets a clamping body and a core guide body that cooperate with each other, and the core guide body includes two core guide slides respectively having first inclined surfaces, so that when the clamping body and the core guide body clamp the stick-shaped workpiece, the two first inclined surfaces can be used to guide the stick-shaped workpiece, so that after the stick-shaped workpiece contacts the top column, the top column will push the stick-shaped workpiece along the first inclined surface to move in the direction of the gap between the two first inclined surfaces until it is matched and engaged with the two first inclined surfaces, that is, the two sides of the stick-shaped workpiece will contact the two first inclined surfaces respectively. Therefore, the two first inclined surfaces can correct the inclination of the stick-shaped workpiece and the stick-shaped workpiece will not tilt during the clamping process (that is, the first inclined surface can adjust the position of the workpiece), so that the stick-shaped workpiece will not tilt when it is removed, which is ultimately beneficial to subsequent processing. In addition, by using the setting of the clamping body, the top column with telescopic elasticity of the clamping body can be pressed against the workpiece to prevent the workpiece from loosening.

[0021] (ii) In the present invention, since the guide rail can be rotated and adjusted 360°, the two guide sliders can also be rotated and adjusted accordingly, so that the two guide sliders can clamp the workpiece at different angles; and since the two guide sliders can also be adjusted along the length direction of the guide rail, the two guide sliders can move relative to or away from each other during the adjustment process, thereby changing the distance between the two first inclined surfaces. When the distance between the two adjustable guide sliders is larger, the robot gripper can be used for larger workpieces, and when the distance between the two adjustable guide sliders is smaller, the robot gripper can be used for smaller workpieces. That is, the present invention can adapt to workpieces of different sizes by adjusting the distance between the two guide sliders to meet the needs of different workpieces.

[0022] (III) The utility model provides centering grooves on two centering slide blocks respectively, so that the two centering grooves can be used to clamp workpieces in different directions and can be used to "center" the workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the first installation method of the core guide slider of the utility model. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the structure of the first installation method of the core guide slider of the utility model. Figure 2 ;

[0025] Figure 3 It is a structural schematic diagram of the core guide body of the utility model;

[0026] Figure 4 It is a structural schematic diagram of the clamping body of the utility model;

[0027] Figure 5 It is a front view of the clamping body of the utility model;

[0028] Figure 6 It is a schematic diagram of the internal structure of the clamping body of the utility model;

[0029] Figure 7 It is a structural schematic diagram of the clamping assembly of the utility model;

[0030] Figure 8 is a cross-sectional view of the clamping assembly of the utility model;

[0031] Fig. 9 It is a structural schematic diagram of the second installation method of the core guide slider of the utility model.

[0032] Reference numerals:

[0033] 1. Clamping body; 11. Clamping mounting block; 12. Mounting cavity; 13. Box body; 14. Clamping assembly; 141. Top column; 1411. Insert cavity; 142. Spring; 143. Abutment rod; 15. Positioning plate; 16. Baffle; 2. Core guide body; 21. Core guide mounting block; 22. Core guide rail; 23. Core guide slider; 24. First inclined surface; 25. T-shaped slot; 26. T-shaped block; 27. First threaded hole; 28. Second threaded hole; 29. ​​Core guide slot; 30. First bolt; 31. Rotating shaft; 32. Second bolt; 33. Second inclined surface; 3. Dual-axis cylinder. DETAILED DESCRIPTION

[0034] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments. The following description is only exemplary and does not limit the protection scope of the utility model.

[0035] like Figure 1-Figure 9 As shown, a mechanical gripper capable of adjusting a core guide slider in multiple directions comprises a clamping body 1 and a core guide body 2 for clamping; the clamping body 1 comprises a clamping mounting block 11, a box body 13 having a mounting cavity 12 with an opening on one side and connected to the clamping mounting block 11, and multiple rows of clamping mechanisms evenly distributed up and down and installed in the mounting cavity 12; each row of clamping mechanisms comprises multiple groups of horizontally and evenly distributed clamping assemblies 14; each group of clamping assemblies 14 comprises a top column 141 with a first end extending forwardly out of the mounting cavity 12 and an elastic member connected to the top column 141, the elastic member being used to provide the top column 141 with a telescopic elastic force for entering and exiting the mounting cavity 12; the core guide body 2 comprises a core guide mounting block 21, A core guide rail 22 is mounted on the core guide mounting block 21 and can be rotated and adjusted 360°. Two core guide sliders 23 can be slidably adjusted on the core guide rail 22 along the length direction of the core guide rail 22 and are opposite to the top column 141. First inclined surfaces 24 are distributed in an "eight" shape and extend vertically and are respectively arranged on the side surfaces opposite to the two core guide sliders 23. When the workpiece contacts the first inclined surfaces 24, the workpiece can be automatically matched and clamped on the two first inclined surfaces 24 through the clamping cooperation between the core guide body 2 and the clamping body 1 and the guidance of the first inclined surfaces 24. That is, this process can automatically guide the workpiece to form an effect of guiding the workpiece to the center of the gap direction, that is, "core guiding".

[0036] Therefore, the utility model sets a clamping body 1 and a core guide body 2 that cooperate with each other, and the core guide body 2 includes two core guide sliders 23 respectively having first inclined surfaces 24, so that when the clamping body 1 and the core guide body 2 clamp a stick-shaped workpiece, the two first inclined surfaces 24 can be used to guide the stick-shaped workpiece, so that after the stick-shaped workpiece contacts the top column 141, the top column 141 will push the stick-shaped workpiece along the first inclined surface 24 toward the gap direction between the two first inclined surfaces 24 until it is matched and engaged with the two first inclined surfaces 24, that is, the two sides of the stick-shaped workpiece will contact the two first inclined surfaces 24 respectively. Therefore, the two first inclined surfaces 24 can correct the inclination of the stick-shaped workpiece and the stick-shaped workpiece will not tilt during the clamping process (that is, the first inclined surfaces 24 can adjust the position of the workpiece), so that the stick-shaped workpiece will not tilt when being unloaded, which is ultimately beneficial to subsequent processing; in addition, by utilizing the setting of the clamping body 1, the top column 141 with telescopic elasticity of the clamping body 1 can be pressed against the workpiece to prevent the workpiece from loosening. At the same time, since the guide rail 22 can be rotated and adjusted 360°, the two guide sliders 23 can also be rotated and adjusted accordingly, so that the two guide sliders 23 can clamp the workpiece at different angles; and, since the two guide sliders 23 can also be adjusted along the length direction of the guide rail 22, the two guide sliders 23 can move relative to or away from each other during the adjustment process, thereby changing the distance between the two first inclined surfaces 24. When the distance between the two adjustable guide sliders 23 is larger, the robot gripper can be used for larger workpieces, and when the distance between the two adjustable guide sliders 23 is smaller, the robot gripper can be used for smaller workpieces. That is, the utility model can adapt to workpieces of different sizes by adjusting the distance between the two guide sliders 23.

[0037] like Figure 1-Figure 3 As shown, preferably, a V-shaped guide groove 29 extending in the horizontal direction is respectively provided on the front end surface of the two guide sliders 23, so that when the workpiece contacts the side walls of the two guide grooves 29, the workpiece can be automatically matched and clamped into the angle between the two guide grooves 29 through the clamping cooperation of the guide body 2 and the clamping body 1. Specifically, the extension direction of the guide groove 29 is perpendicular to the extension direction of the first inclined surface 24. Therefore, by respectively providing the guide grooves 29 on the two guide sliders 23, the two guide grooves 29 can be used to clamp workpieces in different directions and can be used to "guide" the workpiece. Since the functions of the two guide grooves 29 are similar to those of the first inclined surface 24 mentioned above, they will not be described in detail here.

[0038] like Figure 1-Figure 3As shown, in this embodiment, when the two guide sliders 23 are brought close to each other, the two first inclined surfaces 24 can form a V-shaped groove. Specifically, the angle of the groove is greater than the angle of the guide groove 29, so that the two first inclined surfaces 24 can be used to clamp larger workpieces than the guide groove 29.

[0039] More specifically, the included angle of the groove and the included angle of the core guide groove 29 are both obtuse angles.

[0040] like Figure 1-Figure 3 As shown, in this embodiment, a T-shaped slot 25 extending along the length direction of the core guide rail 22 is provided on the front end surface of the core guide rail 22. Specifically, the T-shaped slot 25 runs through both ends of the core guide rail 22; a T-shaped block 26 movably engaged in the T-shaped slot 25 is provided on the rear end surface of each core guide slider 23, and the core guide slider 23 can be locked on the core guide rail 22 by bolts. By providing the T-shaped slot 25 and the T-shaped block 26, when the T-shaped block 26 moves in the T-shaped slot 25, the corresponding synchronous movement of each core guide slider 23 can be achieved, that is, the core guide slider 23 can be adjusted in position to meet the needs of different workpieces, and then the core guide slider 23 can be locked by bolts so that the core guide slider 23 cannot move, that is, positioning is achieved.

[0041] like Figure 1 and Fig. 9 As shown, on the side surface opposite to the two core guide sliders 23, second inclined surfaces 33 are respectively arranged in an "eight" shape and extend vertically; the first inclined surface 24 and the second inclined surface 33 on each core guide slider are also distributed in an "eight" shape and the area of ​​the second inclined surface 33 is larger than the area of ​​the first inclined surface 24; the T-shaped slot 25 passes through both ends of the core guide rail 22, and each core guide slider 23 can be slid to the outside of the core guide rail 22 through the T-shaped block 26, that is, it can be disassembled, so that the two core guide sliders 23 can be installed on the core guide rail 22 by changing the direction, thereby realizing different combinations of inclined surfaces between the first inclined surface 24 and the second inclined surface 33. Therefore, it can be known from the above description that the two guide sliders 23 can be removed from the T-shaped slot 25, and then, by changing the installation direction of the guide slider 23, different inclined planes can be matched. For example, by adjusting the two guide sliders 23, two first inclined planes 24 can be matched, two second inclined planes 33 can be matched, or one first inclined plane 24 and one second inclined plane 33 can be matched, so that the above inclined planes can meet the needs of different workpieces; the matching of the two first inclined planes 24 can be used for small workpieces, and because the area of ​​the two second inclined planes 33 is larger, it can be used for large workpieces. Of course, after adjusting the guide slider 23, it needs to be locked with bolts.

[0042] like Figure 1-Figure 3 As shown, preferably, each of the core guide sliders 23 is provided with a first threaded hole 27 that penetrates the core guide slider 23 backward, and a first bolt 30 is installed in each of the first threaded holes 27; by screwing the first bolt 30 backward, the rod of the first bolt 30 can be pressed against the front end surface of the core guide rail 22 to form a locking effect of the core guide slider 23 on the core guide rail 22, and similarly, after screwing the first bolt 30 forward, the core guide slider 23 can be loosened. Therefore, the first bolt 30 can be used to conveniently and quickly loosen or lock the core guide slider 23. Specifically, the first threaded hole 27 can be provided on the second inclined surface 33.

[0043] like Figure 1-Figure 3 As shown, in the present embodiment, the rear end of the core guide rail 22 is movably connected to the front end of the core guide mounting block 21 through a rotating shaft 31, so that the core guide rail 22 can rotate 360° on the core guide mounting block 21. Specifically, a stopper (not shown in the figure) is respectively provided at both ends of the rotating shaft 31 for blocking the core guide rail 22 and the core guide mounting block 21 to prevent the two from disengaging; at least two second threaded holes 28 extending forward and distributed on both sides of the rotating shaft are provided at the front end of the core guide mounting block 21, and a second bolt 32 is installed in each second threaded hole 28; by screwing the second bolt 32 forward, the rod portion of the second bolt 32 can be pressed against the rear end surface of the core guide rail 22 to form a locking effect of the core guide rail 22 on the core guide mounting block 21. Similarly, after screwing the second bolt 32 backward, the core guide rail 22 can be loosened. Therefore, by utilizing the rotating shaft 31 in the above-mentioned setting, the core guide slide rail 22 can be rotated on the core guide mounting block 21, and the core guide slider 23 can be rotated synchronously. This can also adjust the angle of the core guide slider 23 to meet the needs of different workpieces. In addition, the second bolt 32 can be used to conveniently and quickly loosen or lock the core guide slide rail 22.

[0044] like Figure 1-Figure 2 As shown, the manipulator gripper with multi-directional adjustable core guide slider also includes a double-axis cylinder 3 with two output ends; the two output ends of the double-axis cylinder 3 are respectively connected to the clamping mounting block 11 and the core guide mounting block 21, so that the double-axis cylinder 3 can drive the clamping body 1 and the core guide body 2 to move in opposite or opposite directions, and when the clamping body 1 and the core guide body 2 move relative to each other, a clamping structure can be formed. By setting the double-axis cylinder 3, the clamping and separation actions of the clamping body 1 and the core guide body 2 can be easily realized.

[0045] like Figure 7 and Figure 8As shown, in this embodiment, the elastic member includes a spring 142 and an abutting rod 143; the spring 142 is installed in an insertion cavity 1411 at the second end of the top column 141; the first end of the abutting rod 143 is clamped in the insertion cavity 1411 and connected to the spring 142, and the second end of the abutting rod 143 is fixed. By setting the spring 142 and the abutting rod 143, the top column 141 can compress the spring 143 on the abutting rod 143 when it is pressed by an external force, and after the external force is released, the spring 142 can drive the top column 141 to reset, that is, the top column 141 can be conveniently provided with a telescopic elastic force; in addition, the abutting rod 143 can position the top column 141 to prevent it from falling out during the movement. Specifically, the diameter of the part of the abutting rod 143 inserted into the insertion cavity 1411 is larger than the diameter of the remaining position, so that the top column 141 can be installed on the abutting rod 143.

[0046] like Figure 4-Figure 6 As shown, in this embodiment, a positioning plate 15 is fixed to the rear end of the box body 13; the second end of the abutment rod 143 is inserted into the positioning hole on the positioning plate 15 and is fastened to the positioning plate 15 by a bolt. The positioning plate 15 can be used to fix the abutment rod 143, and after the abutment rod 143 is fixed, the top column 141 can be positioned synchronously.

[0047] like Figure 4-Figure 6 As shown, in this embodiment, the clamping mechanism is provided with at least three rows, and the clamping components 14 in two adjacent rows of the clamping mechanism are staggered and arranged correspondingly to each other. Of course, the clamping components 14 in the clamping mechanism are matched and arranged in the installation cavity 12, so that their positions in the installation cavity 12 are basically fixed to each other, and are not prone to loosening or swinging, so as to ensure the accuracy of the clamping action. Specifically, as Figure 5 It can be seen that among the three rows of clamping mechanisms distributed sequentially, the number of clamping components 14 in the clamping mechanism located in the middle is one less than the number of clamping components 14 in the remaining two rows of clamping mechanisms, so that a matching misalignment effect can be formed. More specifically, since one clamping component 14 in the clamping mechanism located in the middle forms a triangle structure with the corresponding two clamping components 14 in the remaining upper or lower rows of clamping mechanisms, this can make it more stable when clamping a workpiece and have a good use effect.

[0048] like Figure 8As shown, in this embodiment, the size of the spring 142 in the clamping assembly 14 located on the outer side of the multi-row clamping mechanism is larger than the size of the spring 142 in the clamping assembly 14 located on the inner side, so that the clamping force of the clamping assembly 14 corresponding to the outer side of the four sides can be larger. When clamping, the workpiece needs to be stably abutted against the clamping assembly 14 on the outer side of the four sides to form a stable clamping effect. Specifically, the clamping assembly 14 on the outer side of the four sides includes the top row of clamping assemblies 14 and the bottom row of clamping assemblies 14 and two clamping assemblies 14 on the left and right sides of each row of clamping mechanisms, that is, the clamping assembly 14 on the outer side of the four sides will form an area close to a rectangle. Therefore, through the above-mentioned arrangement, when the clamping body 1 needs to clamp a heavier workpiece, it can also clamp stably. Since the above-mentioned design is a prior art, it will not be described in detail here.

[0049] like Figure 8 As shown, the width of the spring 142 gradually decreases from the direction close to the first end of the top column 141 to the direction away from the first end of the top column 141, so that the spring 142 forms a structure with one end larger and the other end smaller. Through the above-mentioned structural setting of the spring 142, the top column 141 can form a very uniform force on the workpiece after it abuts against the workpiece, and during the entire compression process of the spring 142, due to the structure of the spring 142 with one end larger and the other end smaller, the force exerted on the workpiece by the spring 142 is basically the same, thereby avoiding the situation that the spring 142 exerts different forces on the workpiece during the compression process, resulting in unstable clamping.

[0050] In this embodiment, twelve rows of clamping mechanisms are arranged in the installation cavity 12 .

[0051] like Figure 4 As shown, a baffle 16 is also provided in the installation cavity 12; six rows of clamping mechanisms are respectively provided above and below the baffle 23. Specifically, the outer end surface of the baffle 16 is flush with the end surface of the box body 13. By providing the baffle 16, when the clamping body 1 clamps the workpiece, the baffle 16 can be used to block the workpiece and prevent the workpiece from retracting into the installation cavity 12, that is, the baffle 16 can be used to prevent the workpiece and the top column 141 from exceeding the preset stroke.

[0052] Combination Figure 1 , the specific use principle of the utility model is introduced below to facilitate understanding of the utility model:

[0053] First, the adjusted clamping body 1 and the core guide body 2 are correspondingly mounted on the two output ends of the double-axis cylinder 3, and then the double-axis cylinder 3 is connected to other multi-axis manipulators (not shown). When it is necessary to clamp a stick-shaped workpiece, the multi-axis manipulator moves the clamping body 1 and the core guide body 2 to the two sides of the stick-shaped workpiece, and then, after the dual-axis cylinder 3 drives the clamping body 1 and the core guide body 2 to make relative movement, until the top column 141 abuts and squeezes one side of the stick-shaped workpiece, and the other side of the stick-shaped workpiece contacts a first inclined surface 24, when the top column 141 applies pressure to the stick-shaped workpiece, it can push the stick-shaped workpiece to move in the direction of the gap between the two first inclined surfaces 24 until the stick-shaped workpiece is matchedly engaged on the two first inclined surfaces 24, that is, the two sides of the stick-shaped workpiece will contact the two first inclined surfaces 24 respectively, thereby completing the inclination correction of the stick-shaped workpiece; and, the clamping body 1 will make the corresponding top column 141 move toward the mounting cavity 12 and compress the spring 142 according to the specific shape structure of the stick-shaped workpiece, so that the extension force of the spring 142 can be utilized to enable the clamping body 1 and the core guide body 2 to clamp the stick-shaped workpiece very stably. After the stick-shaped workpiece is moved to the position, the double-axis cylinder 3 drives the clamping body 1 and the core guide body 2 to move in opposite directions, and then the stick-shaped workpiece can be removed to the preset position. At this time, the stick-shaped workpiece will not tilt, and the top column 141 is also reset by the extension force of the spring 142. After the above steps, the clamping of a workpiece is completed. Then, when it is necessary to rotate or adjust the two core guide sliders 23 along the length direction of the core guide slide rail 22, the second bolt 32 or the first bolt 31 can be loosened accordingly for adjustment, which will not be described in detail here.

[0054] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the claims of the present invention and the scope of equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A mechanical gripper capable of adjusting a guide slider in multiple directions, characterized in that: It includes a clamping body and a core guide body that can be used for clamping; The clamping body comprises a clamping mounting block, a box body with a mounting cavity having an opening on one side and connected to the clamping mounting block, and multiple rows of clamping mechanisms evenly distributed up and down and installed in the mounting cavity; each row of the clamping mechanisms comprises multiple groups of horizontally and evenly distributed clamping assemblies; each group of the clamping assemblies comprises a top column with a first end extending forward from the mounting cavity and an elastic member connected to the second end of the top column, and the elastic member can be used to provide the top column with a telescopic elastic force to enter and exit the mounting cavity; The core guide body includes a core guide mounting block, a core guide rail mounted on the core guide mounting block and rotatably adjustable by 360°, and two core guide sliders which can be slidably adjusted on the core guide rail along the length direction of the core guide rail and are opposite to the top column; first inclined surfaces which are distributed in an "eight" shape and extend vertically are respectively arranged on the opposite side surfaces of the two core guide sliders, so that when the workpiece contacts the first inclined surfaces, the workpiece can be automatically matched and clamped on the two first inclined surfaces through the clamping cooperation between the core guide body and the clamping body and the guidance of the first inclined surfaces.

2. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 1 is characterized in that: A V-shaped guide groove extending in the horizontal direction is respectively arranged on the front end surface of the two guide sliders, so that when the workpiece contacts the side walls of the two guide grooves, the workpiece can be automatically matched and clamped into the angle between the two guide grooves through the clamping cooperation of the guide body and the clamping body.

3. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 2 is characterized in that: When the two core guide sliders are brought close together, the two first inclined surfaces may form a V-shaped groove, and the included angle of the groove is greater than the included angle of the core guide groove.

4. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 1 is characterized in that: A T-shaped slot extending along the length direction of the core guide rail is arranged on the front end surface of the core guide rail; a T-shaped block movably engaged in the T-shaped slot is arranged on the rear end surface of each core guide slider, and the core guide slider can be locked on the core guide rail by bolts.

5. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 4 is characterized in that: A first threaded hole penetrating backwards through the core guide slider is respectively provided on each of the core guide sliders, and a first bolt is installed in each of the first threaded holes; by screwing the first bolt backwards, the rod of the first bolt can be pressed against the front end surface of the core guide rail, so as to form an effect of locking the core guide slider on the core guide rail.

6. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 4 is characterized in that: On the side surface opposite to each other of the two core guide sliders, second inclined surfaces are respectively arranged in an "eight" shape and extend vertically; the first inclined surface and the second inclined surface on each of the core guide sliders are also distributed in an "eight" shape and the area of ​​the second inclined surface is larger than that of the first inclined surface; the T-shaped slot runs through both ends of the core guide rail, and each of the core guide sliders can be slid to the outside of the core guide rail through the T-shaped block, so that the two core guide sliders can be installed on the core guide rail by changing their directions.

7. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 1 is characterized in that: The rear end of the core guide rail is movably connected to the front end of the core guide mounting block via a rotating shaft, so that the core guide rail can rotate 360° on the core guide mounting block; at the front end of the core guide mounting block, at least two second threaded holes extending forward and distributed on both sides of the rotating shaft are provided, and a second bolt is installed in each of the second threaded holes; by screwing the second bolt forward, the rod of the second bolt can be pressed against the rear end surface of the core guide rail, so as to form a locking effect of the core guide rail on the core guide mounting block.

8. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 1 is characterized in that: The robotic gripper with multi-directionally adjustable core guide slider also includes a dual-axis cylinder with two output ends; the two output ends of the dual-axis cylinder are respectively connected to the clamping mounting block and the core guide mounting block, so that the dual-axis cylinder can drive the clamping body and the core guide body to move in relative or opposite directions, and when the clamping body and the core guide body move relative to each other, a clamping structure can be formed.

9. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 1 is characterized in that: The elastic member includes a spring and an abutment rod; the spring is installed in an insertion cavity at the second end of the top column; the first end of the abutment rod is clamped in the insertion cavity and connected to the spring, and the second end of the abutment rod is fixedly arranged; the outer diameter of the spring gradually decreases from the direction close to the first end of the top column to the direction away from the first end of the top column, so that the spring forms a structure with one end larger and the other end smaller.

10. The mechanical gripper capable of adjusting the guide slider in multiple directions according to claim 9, characterized in that: The size of the springs in the clamping assemblies located on the outer sides of the multiple rows of clamping mechanisms is greater than the size of the springs in the clamping assemblies located on the inner sides.

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