Floating claw device

Abstract

The utility model discloses a floating claw device. In the floating claw device, a driving assembly comprises a first driving cylinder, a first limiting rod is arranged on the first driving cylinder, and the end of the first limiting rod is a first conical end. A first conical hole is formed in the connecting plate, and the first limiting rod is driven by the first driving cylinder to be arranged in a telescopic mode so that the first conical end can be arranged in the first conical hole in a floating mode. The clamping jaw assembly is installed on the connecting plate and comprises a clamping jaw used for grabbing objects. When the clamping jaw grabs an object, the first conical end retracts until a gap is reserved between the first conical end and the inner wall surface of the first conical hole, so that the connecting plate is allowed to slide after being stressed; when the clamping jaw assembly moves after grabbing an object, the first conical end extends out to be attached to the inner wall face of the first conical hole. According to the floating jaw device, the problem that grabbing fails due to the fact that the clamping jaw and the workpiece are mutually matched when the clamping jaw grabs the high-precision positioning workpiece is solved, damage to the clamping jaw is reduced, and the service life of the clamping jaw is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of clamping jaws, and in particular to a floating jaw device. Background Art

[0002] Pneumatic grippers can better solve the problem of workpiece gripping. At present, pneumatic grippers grasp the workpiece by closing, moving the grasped workpiece to the required position, and then opening.

[0003] However, when the workpiece to be grasped is restricted in all six degrees of freedom, the pneumatic gripper has extremely high requirements for position accuracy when grasping the workpiece. At the moment when the pneumatic gripper closes and grasps the workpiece, if there is a deviation between the grasping position and the workpiece position, the pneumatic gripper will compete with the workpiece with six degrees of freedom restricted, resulting in a grasping failure at best; in severe cases, the grasping action needs to be repeated, which is easy to cause damage to the grasping mechanism where the pneumatic gripper is located, causing the pneumatic gripper to fail and shorten the service life of the pneumatic gripper. Utility Model Content

[0004] The purpose of the present application is to provide a floating claw device to solve the problem of failure of the pneumatic claw to grasp a high-precision positioned workpiece due to the competition between the pneumatic claw and the workpiece, thereby reducing damage to the pneumatic claw and extending the service life of the pneumatic claw.

[0005] A floating claw device provided by the technical solution of the present application includes: a driving component, the driving component includes a first driving cylinder, the first driving cylinder is provided with a first limiting rod, the end of the first limiting rod is a first conical end; a connecting plate, the connecting plate is slidably arranged in a direction perpendicular to the first limiting rod, a first conical hole is provided on the connecting plate, the first limiting rod is retractably arranged under the drive of the first driving cylinder, so that the first conical end can be floated in the first conical hole; a clamping claw assembly, the clamping claw assembly is mounted on the connecting plate, the clamping claw assembly includes a clamping claw for grasping an object; when the clamping claw grasps an object, the first conical end retracts to leave a gap between it and the inner wall surface of the first conical hole, so as to allow the connecting plate to slide after being subjected to force; when the clamping claw assembly moves after grasping the object, the first conical end extends out to fit with the inner wall surface of the first conical hole.

[0006] Optionally, the floating claw device further comprises a base plate, the driving assembly is mounted on the base plate, and when the clamping claw assembly grabs an object, the base plate is fixedly arranged.

[0007] Optionally, the driving assembly also includes a second driving cylinder, which is provided with a second limiting rod, which is retractable and has a second conical end; a second conical hole is provided on the connecting plate, and the second limiting rod is retractable under the drive of the second driving cylinder, and when the clamp grasps an object, the second conical end retracts to leave a gap between the second conical end and the inner wall surface of the second conical hole to allow the connecting plate to slide after being subjected to force; when the clamp assembly moves after grasping an object, the second conical end extends out to fit the inner wall surface of the second conical hole.

[0008] Optionally, the floating claw device further comprises a sliding assembly, which comprises a guide rail and a slider slidably arranged on the guide rail; one of the guide rail and the slider is mounted on the connecting plate, and the other is mounted on the base plate.

[0009] Optionally, the first driving cylinder and the second driving cylinder are arranged at two opposite ends of the connecting plate.

[0010] Optionally, two opposite ends of the base plate are provided with a first end plate and a second end plate respectively; the first drive cylinder is bolted to the first end plate, and the second drive cylinder is bolted to the second end plate.

[0011] Optionally, a first through hole is formed on the first end plate, a second through hole is formed on the second end plate, a first bushing is installed in the first through hole, and a second bushing is installed in the second through hole; the first limiting rod passes through the base plate from the first bushing, and the second limiting rod passes through the base plate from the second bushing.

[0012] Optionally, a through hole penetrating the connecting plate is formed at the tip of each of the first tapered hole and the second tapered hole.

[0013] Optionally, the clamping jaw assembly further includes a driving portion, and the clamping jaw includes a first gripping portion and a second gripping portion that are arranged opposite to each other; the driving portion is mounted on the connecting plate, and the first gripping portion and the second gripping portion are arranged opposite to each other and move closer to or farther from each other under the drive of the driving portion.

[0014] Optionally, the clamping jaw assembly further includes a first mounting plate and a second mounting plate; the first mounting plate is connected between the first gripping portion and the driving portion, and the second mounting plate is connected between the second gripping portion and the driving portion.

[0015] The above technical solution has the following beneficial effects:

[0016] The floating claw device provided by the present application has a first limiting rod which is telescopically arranged under the drive of a first driving cylinder to form a floating state. When the clamping jaw assembly grasps a workpiece, the first conical end of the first limiting rod retracts to leave a gap between the first conical hole and the inner wall surface, and the connecting plate is allowed to move within the space defined between the first conical hole and the first conical end on the basis of limiting the connecting plate. The mutual force generated between the clamping jaw assembly and the workpiece due to the position deviation when the clamping jaw assembly grasps the workpiece is removed through movement, thereby solving the problem of workpiece grasping failure due to the relative force between the clamping jaw assembly and the workpiece, reducing damage to the clamping jaw, and helping to extend the service life of the clamping jaw. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a floating claw device in one embodiment of the present application;

[0018] Figure 2 A longitudinal cross-sectional view of a floating claw device in one embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of a structure in which a driving component floats on a connecting plate in an embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of the structure in which the first limiting rod is limited in the first tapered hole in one embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the structure of the first bushing in one embodiment of the present application.

[0022] Reference Numbers

[0023] 1-driving assembly, 10-first driving cylinder, 11-first limiting rod, 12-second driving cylinder, 13-second limiting rod, 14-first tapered end, 15-second tapered end;

[0024] 2-connecting plate, 20-first tapered hole, 21-second tapered hole, 22-through hole;

[0025] 3-claw assembly, 30-claw, 31-first gripping part, 32-second gripping part, 33-first mounting plate, 34-second mounting plate, 35-driving part;

[0026] 4-base plate, 40-first end plate, 41-second end plate, 42-first through hole, 43-second through hole, 44-first bushing, 45-second bushing;

[0027] 5-sliding assembly, 50-guide rail, 51-sliding block. DETAILED DESCRIPTION

[0028] The specific implementation of the utility model is further described below in conjunction with the accompanying drawings.

[0029] It is easy to understand that according to the technical solution of the utility model, without changing the essential spirit of the utility model, a variety of structural modes and implementation modes can be replaced by those skilled in the art. Therefore, the following specific implementation methods and drawings are only exemplary descriptions of the technical solution of the utility model, and should not be regarded as the entirety of the utility model or as a limitation or restriction on the technical solution of the utility model.

[0030] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to different positions and different usage conditions. Therefore, these or other directional terms should not be interpreted as restrictive terms.

[0031] The present application provides a floating claw device, comprising: a driving assembly 1, a connecting plate 2 and a clamping claw assembly 3.

[0032] Please refer to Figures 1 to 3 The driving assembly 1 includes a first driving cylinder 10, on which a first limiting rod 11 is disposed, and the end of the first limiting rod 11 is a first tapered end 14. The first driving cylinder 10 in the embodiment of the present application may be a pneumatic cylinder or a hydraulic cylinder.

[0033] The connecting plate 2 can be slidably arranged in a direction perpendicular to the first limiting rod 11. A first conical hole 20 is opened on the connecting plate 2. The first limiting rod 11 can be telescopically arranged under the drive of the first driving cylinder 10 so that the first conical end 14 can be floated in the first conical hole 20.

[0034] The clamping jaw assembly 3 is mounted on the connecting plate 2, and the clamping jaw assembly 3 includes a clamping jaw 30 for grasping an object. When the clamping jaw 30 grasps an object, the first conical end 14 is retracted under the drive of the first driving cylinder 10 to leave a certain distance between the first conical end 14 and the inner wall surface of the first conical hole 20 (the horizontal straight line distance is between 1mm and 3mm) to allow the connecting plate 2 to slide after being subjected to force. When the clamping jaw assembly 3 grasps an object and starts to move, the first conical end 14 is extended under the drive of the first driving cylinder 10 to fit the inner wall surface of the first conical hole 20.

[0035] The floating limit principle between the first tapered end 14 and the first tapered hole 20 is as follows: Figure 3The state shown in A is the state where the first limiting rod 11 floats in the first tapered hole 20 to grasp the workpiece. In this state, the first limiting rod 11 retracts to leave a gap between the first tapered end 14 and the inner wall surface of the first tapered hole 20, and the connecting plate 2 is allowed to move in the space defined between the first tapered hole 20 and the first tapered end 14 on the basis of limiting the connecting plate 2, so as to remove the mutual force generated between the clamping jaw assembly 3 and the workpiece due to the position deviation when grasping the workpiece, until the workpiece is grasped. Figure 3 The state shown in B is the state in which the first limiting rod 11 is limited in the first conical hole 20, and the first conical end 14 is attached to the inner wall surface of the first conical hole 20. At this time, the driving assembly 1 and the connecting plate 2 drive the clamping jaw assembly 3 to move above the workpiece to grab the workpiece, or move the grabbed workpiece to the desired position.

[0036] The floating claw device provided by the present application has a first limiting rod 11 which is telescopically arranged under the drive of the first driving cylinder 10 to form a floating state. When the clamping jaw assembly 3 grasps the workpiece, the first conical end 14 of the first limiting rod 11 retracts to leave a gap between the inner wall surface of the first conical hole 20, and allows the connecting plate 2 to move within the space defined between the first conical hole 20 and the first conical end 14 on the basis of limiting the connecting plate 2. The mutual force generated between the clamping jaw assembly 3 and the workpiece due to the position deviation when grasping the workpiece is removed through movement, thereby solving the problem of workpiece grasping failure due to the relative force between the clamping jaw assembly 3 and the workpiece, reducing the damage to the clamping jaw 30, and helping to extend the service life of the clamping jaw 30.

[0037] As an optional embodiment, the floating claw device further includes a base plate 4, the driving assembly 1 is mounted on the base plate 4, and when the clamping claw assembly 3 grabs an object, the base plate 4 is fixedly arranged. The base plate 4 in the embodiment of the present application can play a role in positioning the driving assembly 1. The base plate 4 can be mounted on an operating platform for stable positioning.

[0038] As an optional embodiment, the driving assembly 1 further includes a second driving cylinder 12, on which a second limiting rod 13 is provided, and the second limiting rod 13 can be retracted under the drive of the second driving cylinder 12, and the end of the second limiting rod 13 is a second tapered end 15. The connecting plate 2 is provided with a second tapered hole 21, and the second limiting rod 13 can be retracted. When the clamping claw grasps an object, the second tapered end 15 retracts to leave a certain distance between the inner wall surface of the second tapered hole 21 (the horizontal straight line distance is between 1mm-3mm) to allow the connecting plate 2 to slide after being subjected to force; when the clamping claw assembly 3 grasps an object and moves, the second tapered end 15 extends to fit the inner wall surface of the second tapered hole 21. In the embodiment of the present application, the first driving cylinder 10 in the embodiment of the present application can be a cylinder or a hydraulic cylinder. The floating limit principle between the second tapered end 15 and the second tapered hole 21 is the same as the floating limit principle between the first tapered end 14 and the first tapered hole 20, which will not be repeated here. The first driving cylinder 10 and the second driving cylinder 12 jointly guide the sliding movement and limit the gripping of the connecting plate 2, so that the first tapered end 14 and the second tapered end 15 can be extended and retracted synchronously, which can increase the stability of the connecting plate 2 during sliding and gripping.

[0039] As an optional embodiment, the floating claw device further includes a sliding assembly 5, which includes a guide rail 50 and a slider 51 slidably arranged on the guide rail 50; one of the guide rail 50 and the slider 51 is installed on the connecting plate 2, and the other is installed on the base plate 4. In the embodiment of the present application, the slider 51 slides in the guide rail 50 to realize the movement of the connecting plate 2 relative to the base plate 4. Figure 1 The embodiment shows that the guide rail 50 is installed on the connecting plate 2 and the slider 51 is installed on the base plate 4. A slide groove is provided on the guide rail 50, and the top of the slide groove is constricted. The slider 51 is provided with a wedge block adapted to the slide groove, and the wedge block is embedded in the slide groove to prevent the slider 51 from falling out from the top of the slide groove.

[0040] As an optional embodiment, the first driving cylinder 10 and the second driving cylinder 12 are arranged at two opposite ends of the connecting plate 2, so that the first limiting rod 11 on the first driving cylinder 10 and the second limiting rod 13 on the second driving cylinder 12 can synchronously limit and float the connecting plate 2 at both ends of the connecting plate 2, thereby increasing the stability and reliability of the limiting of the connecting plate 2.

[0041] As an optional embodiment, the two opposite ends of the base plate 4 are respectively provided with a first end plate 40 and a second end plate 41; the first drive cylinder 10 is bolted to the first end plate 40, and the second drive cylinder 12 is bolted to the second end plate 41. Figure 1Threaded holes can be set at the four top corners of the first driving cylinder 10 and the second driving cylinder 12, and each threaded hole is installed with a bolt. The four bolts located on the first driving cylinder 10 are fastened to the first end plate 40, and the four bolts located on the second driving cylinder 12 are fastened to the second end plate 41 to achieve a stable connection between the first driving cylinder 10 and the second driving cylinder 12 and the base plate 4.

[0042] As an optional embodiment, the first end plate 40 is provided with a first through hole 42, the second end plate 41 is provided with a second through hole 43, a first bushing 44 is installed in the first through hole 42, and a second bushing 45 is installed in the second through hole 43; the first limiting rod 11 passes through the base plate 4 from the first bushing 44, and the second limiting rod 13 passes through the base plate 4 from the second bushing 45. Figures 4 to 5 As shown, one end of the first bushing 44 and the second bushing 45 in the embodiment of the present application is provided with an end plate, and the two end plates are respectively clamped on the steps opened in the first through hole 42 and the second through hole 43. The first bushing 44 and the second bushing 45 can be respectively installed in the first through hole 42 and the second through hole 43 by bolts, welding or interference fit. The first bushing 44 is conducive to reducing the force on the first through hole 42 and increasing the stability of the first limiting rod 11 in the first through hole 42, and the second bushing 45 is conducive to reducing the force on the second through hole 43 and increasing the stability of the second limiting rod 13 in the second through hole 43.

[0043] As an optional embodiment, the tips of the first tapered hole 20 and the second tapered hole 21 are both provided with a through hole 22 penetrating the connecting plate 2. Figures 2 to 4 The through hole 22 in the embodiment of the present application can discharge the gas in the first tapered hole 20 and the second tapered hole 21, so as to prevent the high pressure environment caused by gas accumulation in the first tapered hole 20 and the second tapered hole 21 from affecting the movement of the first tapered end 14 and the second tapered end 15.

[0044] As an optional embodiment, the clamping jaw assembly 3 further includes a driving unit 35, and the clamping jaw 30 includes a first grasping unit 31 and a second grasping unit 32 which are arranged opposite to each other; the driving unit 35 is installed on the connecting plate 2, and the first grasping unit 31 and the second grasping unit 32 are arranged opposite to each other and move closer to or farther from each other under the drive of the driving unit 35. The first grasping unit 31 and the second grasping unit 32 in the embodiment of the present application are also called fingers, which move closer to each other under the drive of the driving unit 35 so that the clamping jaw 30 closes to grasp objects such as workpieces, and move away from each other under the drive of the driving unit 35 to open and wait for the next grasping task. The driving unit 35 in the embodiment of the present application can be a cylinder or a hydraulic cylinder, etc.

[0045] As an optional embodiment, the clamping jaw assembly 3 further includes a first mounting plate 33 and a second mounting plate 34; the first mounting plate 33 is connected between the first gripping portion 31 and the driving portion 35, and the second mounting plate 34 is connected between the second gripping portion 32 and the driving portion 35. Figure 1 to Figure 2 As shown, the first gripping portion 31 is fixedly mounted on the first mounting plate 33, and the first mounting plate 33 is slidably arranged relative to the driving portion 35, and slides under the drive of the driving portion 35. The second gripping portion 32 is fixedly mounted on the second mounting plate 34, and the second mounting plate 34 is slidably arranged relative to the driving portion 35, and slides under the drive of the driving portion 35, thereby realizing the mutual distance or approach between the first gripping portion 31 and the second gripping portion 32.

[0046] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0047] The above are only the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, on the basis of the principles of the present invention, several other modifications can be made, which should also be considered as the protection scope of the present invention.

Claims

1. A floating claw device, characterized in that: include: A driving assembly, the driving assembly comprising a first driving cylinder, the first driving cylinder being provided with a first limiting rod, the end of the first limiting rod being a first tapered end; A connecting plate, the connecting plate is slidably arranged in a direction perpendicular to the first limiting rod, a first tapered hole is formed on the connecting plate, and the first limiting rod is telescopically arranged under the drive of the first driving cylinder so that the first tapered end can float in the first tapered hole; A clamping jaw assembly is mounted on the connecting plate, and the clamping jaw assembly includes a clamping jaw for grasping an object; when the clamping jaw grasps an object, the first conical end retracts to leave a gap between the first conical end and the inner wall surface of the first conical hole, so as to allow the connecting plate to slide after being subjected to force; when the clamping jaw assembly moves after grasping an object, the first conical end extends out to fit the inner wall surface of the first conical hole.

2. The floating claw device according to claim 1, characterized in that: The floating claw device also includes a base plate, the driving assembly is mounted on the base plate, and when the clamping claw assembly grabs an object, the base plate is fixedly arranged.

3. The floating claw device according to claim 2, characterized in that: The driving assembly further comprises a second driving cylinder, on which a second limiting rod is arranged, the second limiting rod is telescopically arranged, and an end of the second limiting rod is a second tapered end; A second conical hole is provided on the connecting plate, and the second limiting rod can be retracted under the drive of the second driving cylinder. When the clamp grasps an object, the second conical end retracts to leave a gap between the second conical end and the inner wall surface of the second conical hole to allow the connecting plate to slide after being subjected to force; when the clamp assembly moves after grasping an object, the second conical end extends to fit the inner wall surface of the second conical hole.

4. The floating claw device according to claim 3, characterized in that: The floating claw device further comprises a sliding assembly, wherein the sliding assembly comprises a guide rail and a sliding block slidably arranged on the guide rail; One of the guide rail and the slider is mounted on the connecting plate, and the other is mounted on the base plate.

5. The floating claw device according to claim 3, characterized in that: The first driving cylinder and the second driving cylinder are arranged at two opposite ends of the connecting plate.

6. The floating claw device according to claim 5, characterized in that: Two opposite ends of the base plate are respectively provided with a first end plate and a second end plate; The first drive cylinder is bolted to the first end plate, and the second drive cylinder is bolted to the second end plate.

7. The floating claw device according to claim 6, characterized in that: A first through hole is formed on the first end plate, a second through hole is formed on the second end plate, a first bushing is installed in the first through hole, and a second bushing is installed in the second through hole; The first limiting rod is disposed through the base plate from the first bushing, and the second limiting rod is disposed through the base plate from the second bushing.

8. The floating claw device according to claim 3, characterized in that: The tips of the first tapered hole and the second tapered hole are both provided with through holes penetrating the connecting plate.

9. The floating claw device according to any one of claims 1 to 8, characterized in that: The clamping jaw assembly further comprises a driving portion, and the clamping jaw comprises a first grasping portion and a second grasping portion which are arranged opposite to each other; The driving part is mounted on the connecting plate, and the first grabbing part and the second grabbing part are arranged opposite to each other and move closer to or farther from each other under the drive of the driving part.

10. The floating claw device according to claim 9, characterized in that: The clamping jaw assembly also includes a first mounting plate and a second mounting plate; The first mounting plate is connected between the first grabbing portion and the driving portion, and the second mounting plate is connected between the second grabbing portion and the driving portion.

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