Mechanical clamping jaw

Abstract

The utility model relates to the technical field of clamping jaws, and provides a mechanical clamping jaw which comprises a mechanical arm and a chuck arranged on the mechanical arm, the chuck comprises a mounting frame arranged on the mechanical arm, a suction cup arranged on the mounting frame and a pressure control part arranged on the mounting frame, and the suction cup is provided with a negative pressure cavity; the suction cup is provided with an adsorption opening which is communicated with the negative pressure cavity so as to be adsorbed to the surface of the part, the pressure control piece is used for controlling the negative pressure state in the negative pressure cavity and comprises an air pipe fixedly arranged on the suction cup in a penetrating mode and an air pump communicated with the air pipe, and the air pump is arranged on the installation frame. The clamping device has the beneficial effect that the clamping stability is improved while the damage to the part caused by clamping is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of clamps, and in particular to a mechanical clamp. Background Art

[0002] The gripper is the most common type of end effector. It is a component installed on the arm of an industrial robot that directly grasps the workpiece or performs operations. It has the function of clamping, transporting, and placing the workpiece to a certain location.

[0003] Some traditional mechanical grippers use a clamping structure to grasp parts. However, when using a clamping structure to grasp injection-molded parts, if the clamping force is too large, it is easy to damage the parts and affect the quality of the parts. However, if the clamping force is too small, it is not easy to maintain a stable clamp, which can easily cause the parts to slip and become unable to be transported. Utility Model Content

[0004] In order to increase the stability of clamping while reducing damage to parts caused by clamping, the present application provides a mechanical clamp.

[0005] The present application provides a mechanical gripper, which adopts the following technical solution:

[0006] A mechanical gripper comprises a mechanical arm and a chuck arranged on the mechanical arm, the chuck comprises a mounting frame arranged on the mechanical arm, a suction cup arranged on the mounting frame, and a pressure control component arranged on the mounting frame, the suction cup has a negative pressure chamber, the suction cup is provided with a suction port connected to the negative pressure chamber for adsorbing on the surface of a part, the pressure control component is used to control the negative pressure state in the negative pressure chamber, the pressure control component comprises an air pipe fixedly penetrated by the suction cup and an air pump connected to the air pipe, and the air pump is arranged on the mounting frame.

[0007] By adopting the above technical solution, after the chuck is driven to the corresponding position of the injection-molded part by the robotic arm, it is adsorbed on the surface of the part through the adsorption port, and then the air pump is started to extract the air in the negative pressure chamber between the suction cup and the part. After the negative pressure state is formed, the robotic arm is started to drive the part to rise. Compared with transporting parts by clamping, the damage to the outer tube of the part is relatively less, and the negative pressure state in the negative pressure chamber can be controlled to improve the adsorption effect between the suction cup and the part, thereby increasing the stability of clamping while reducing the damage to the part caused by clamping.

[0008] Preferably, a plurality of suction cups are arranged at intervals along the length direction of the mounting frame, the chuck further comprises an adjustment component arranged on the mounting frame for adjusting the positions of adjacent suction cups, the adjustment component comprises a sliding seat sliding along the length direction of the mounting frame and a limit member arranged on the mounting frame to limit the sliding of the sliding seat, a plurality of sliding seats are arranged at intervals along the length direction of the mounting frame, and the suction cups are arranged on the sliding seats.

[0009] By adopting the above technical solution, for different injection molded parts, some parts are longer, so multiple suction cups are needed for adsorption to ensure their stable transportation. However, for parts of the same length but different quality, the number of suction cups used is different. If the clamps with different numbers and different suction cup spacing are replaced, more chucks are required, the adaptability is poor, and a certain cost will be incurred. Therefore, a sliding seat is provided accordingly. Since the sliding seat slides along the length direction of the mounting frame, after the sliding seat is slid to the corresponding position according to the demand, the sliding of the sliding seat is then limited by the limiter to adjust the position of the suction cup to adsorb and transport the parts.

[0010] Preferably, a first slide groove is provided on the outer surface of the mounting frame along its own length direction, the first slide groove extends to both ends of the mounting frame, and the sliding seat is slidably connected to the first slide groove.

[0011] By adopting the above technical solution, the first slide groove is extended to both ends of the mounting frame, so that a corresponding number of sliding seats, that is, a corresponding number of suction cups, are provided along the length direction of the mounting frame according to requirements.

[0012] Preferably, the adjustment assembly also includes a first adjustment rod arranged below the mounting frame, the length direction of the first adjustment rod is parallel to the length direction of the first adjustment rod, a plurality of first adjustment rods are arranged at intervals along the length direction of the mounting frame, the first adjustment rod slides along the length direction of the mounting frame, a plurality of sliding seats are arranged at intervals along the length direction of the first adjustment rod, the sliding seat slides along the length direction of the first adjustment rod, a limiting member for limiting the sliding of the first adjustment rod is provided on the mounting frame, and the limiting member for limiting the sliding seat is provided on the first adjustment member.

[0013] By adopting the above technical solution, since some parts are relatively wide, in addition to having several suction cups in the length direction, suction cups are also required in the corresponding width direction. Therefore, a first adjusting rod that slides along the width direction of the mounting frame is provided accordingly, and since the length direction of the first adjusting rod is parallel to the width direction of the mounting frame, several sliding seats are arranged at intervals along the length direction of the first adjusting rod, and the sliding seats are slidably connected to the first adjusting rod. When the spacing of the sliding seats in the width direction is limited by the limit piece, the spacing of adjacent suction cups in the width direction can be adjusted, thereby improving the application range and transportation stability of the clamp.

[0014] Preferably, a first slide groove is formed on the lower surface of the mounting frame along its length direction, the first slide groove extends to both end surfaces of the mounting frame, the first adjusting rod is provided with a first slide plate slidably connected to the first slide groove, the limiting member includes a limiting bolt and a limiting plate fixedly connected to the limiting bolt, the limiting bolt is threadedly penetrated through the first slide plate, the limiting plate is slidably connected to the first slide groove, and the length of the limiting plate is greater than the width of the first slide groove.

[0015] By adopting the above technical scheme, since the length of the limiting plate is greater than the slot width of the first slide slot, the limiting bolt is rotated, and when a gap is left between the limiting plate and the inner wall of the first slide slot, the limiting plate can be slidably connected to the first slide slot, and at this time, the first slide plate is pushed to slide along the first adjusting rod to the corresponding position. When in place, the limiting bolt is rotated, and when the limiting plate is tightly against the bottom inner wall and bottom wall of the first slide slot, the first slide plate is pressed tightly against the first adjusting rod to limit the sliding of the sliding seat, thereby limiting the sliding of the first adjusting rod, and the sliding of the sliding seat is limited according to the limiting member.

[0016] Preferably, the adjustment assembly also includes a second adjustment rod, the length direction of the second adjustment rod is parallel to the height direction of the mounting frame, a plurality of second adjustment rods are arranged at intervals along the length direction of the first adjustment rod, the second adjustment rod slides along the length direction of the first adjustment rod, the sliding seat slides along the height direction of the second adjustment rod, a plurality of sliding seats are arranged at intervals along the height direction of the second adjustment rod, and a limit member for limiting the sliding of the second adjustment rod is arranged on the first adjustment rod.

[0017] By adopting the above technical solution, for thicker parts, or more irregular parts but with a certain height, in order to improve the stability of the clamp in transporting them, a second adjusting rod is provided. Since the second adjusting rod slides along the length direction of the first adjusting rod, that is, slides along the width direction of the mounting frame, and the sliding seat is spaced and slides along the height direction of the second adjusting rod, the suction cup spacing in the height direction can be adjusted to improve the application range of the clamp.

[0018] Preferably, the mounting frame is provided with a driving member for driving the suction cup to move toward a direction approaching the part.

[0019] By adopting the above technical solution, as the air pump draws away the air in the negative pressure chamber, the suction cup is affected by the external atmospheric pressure, and the overall thickness of the suction cup will be reduced, and the fit between the suction cup and the part may be poor. Therefore, a driving part is provided to improve the fit between the suction cup and the part and reduce the possibility of a gap between the suction cup and the surface of the part during the air extraction process.

[0020] Preferably, an abutment portion is disposed around the inner peripheral wall of the suction cup close to its own edge, and the abutment portion abuts against the outer surface of the part.

[0021] By adopting the above technical solution, the edge of the suction cup may curl after long-term use. Therefore, an abutment portion is provided to tightly abut against the outer surface of the part when under pressure to achieve a sealing effect.

[0022] In summary, the utility model has the following beneficial effects:

[0023] 1. By providing a suction cup and a pressure control member, the adsorption effect between the suction cup and the parts is improved, thereby increasing the stability of clamping while reducing the damage to the parts caused by clamping.

[0024] 2. By providing an adjustment mechanism, the clamping jaws with different numbers and different suction cup spacings can be replaced according to different injection molded parts, and the adaptability is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present application;

[0026] Figure 2 This is a schematic diagram of the structure in which the adjustment component is arranged downward in Example 1 of the present application;

[0027] Figure 3 is a schematic diagram of the structure of the adjustment component in Example 1 of the present application;

[0028] Figure 4 is a schematic diagram of the structure of the limiter in Example 1 of the present application;

[0029] Figure 5 It is a structural diagram of Example 2 of the present application.

[0030] Explanation of the reference numerals in the accompanying drawings: 1. Robotic arm; 2. Chuck; 3. Mounting frame; 31. Rotating plate; 32. Mounting rod; 321. First slide groove; 4. Suction cup; 41. Negative pressure chamber; 42. Adsorption port; 43. Universal shaping hose; 44. Driving member; 45. Abutment portion; 5. Pressure control member; 51. Air pipe; 52. Air pump; 6. Adjustment assembly; 61. First adjustment rod; 611. Second slide groove; 62. Limiting member; 621. Limiting bolt; 622. Limiting plate; 63. Second adjustment rod; 631. Third slide groove; 64. Sliding seat; 7. First slide plate; 8. Second slide plate. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-5 , further details of this application are given.

[0032] The embodiment of the present application discloses a mechanical gripper.

[0033] Embodiment 1:

[0034] A mechanical gripper, referring to Figure 1 , Figure 2 , including a robot arm 1 and a chuck 2 arranged on the robot arm 1, wherein the chuck 2 includes a mounting frame 3 arranged on the robot arm 1, a suction cup 4 arranged on the mounting frame 3, a pressure control member 5 arranged on the mounting frame 3, and an adjustment component 6 arranged on the mounting frame 3 for adjusting the position of adjacent suction cups 4.

[0035] Reference Figure 2 , Figure 3 In this embodiment, the mounting frame 3 specifically includes a rotating plate 31 rotatably connected to the robot arm 1 and a mounting rod 32 arranged on the rotating plate 31. The length direction of the mounting rod 32 is parallel to the width direction of the rotating plate 31. Two mounting rods 32 are arranged at intervals along the length direction of the rotating plate 31 and are fixedly connected to the surface of the rotating plate 31 away from the robot arm 1.

[0036] Among them, a number of suction cups 4 are arranged at intervals along the length direction of the mounting rod 32, the suction cup 4 has a negative pressure chamber 41, and the suction cup 4 is provided with a suction port 42 connected to the negative pressure chamber 41 for adsorbing on the surface of the part. In this embodiment, the end face of the suction cup 4 away from the suction port 42 is fixedly connected with a universal shaping hose 43 to change the direction of the suction cup 4.

[0037] Among them, the pressure control component 5 is used to control the negative pressure state in the negative pressure chamber 41. The pressure control component 5 includes an air pipe fixedly penetrated through the outer peripheral wall of the suction cup 4 away from the suction port 42 and an air pump 52 connected to the air pipe. The air pump 52 is arranged on the mounting frame 3 and is specifically fixedly connected to the mounting rod 32.

[0038] Among them, the adjustment component 6 is arranged on a surface of the mounting rod 32 away from the rotating plate 31, and the adjustment component 6 includes a first adjustment rod 61, a limit member 62, a second adjustment rod 63 and a sliding seat 64. It should be noted that there are several limit members 62 to respectively limit the sliding of the first adjustment rod 61, the second adjustment rod 63 and the sliding seat 64.

[0039] Reference Figure 2 At this time, the length direction of the first adjusting rod 61 is parallel to the width direction of the mounting rod 32. The first adjusting rod 61 is arranged with a plurality of intervals along the length direction of the mounting rod 32, specifically, two are arranged. The first adjusting rod 61 slides along the length direction of the mounting frame 3. Specifically, the outer surface of the mounting rod 32 is provided with a first slide groove 321 along its length direction. In this embodiment, the first slide groove 321 is arranged in a convex shape and extends to the opposite end surfaces of the mounting rod 32. The outer surface of the first adjusting rod 61 is provided with a second slide groove 611 along its length direction. The second slide groove 611 extends to the opposite end surfaces of the first adjusting rod 61. The second slide groove 611 is arranged with the first slide groove 321. The first adjusting rod 61 is provided with a first slide plate 7 which is slidably connected to the first slide groove 321. In this embodiment, the first slide plate 7 is arranged in an L-shaped plate. One end of the first slide plate 7 is slidably connected to the first slide groove, and the other end of the first slide plate is slidably connected to the second slide groove.

[0040] Reference Figure 3 , Figure 4 At this time, the limiting member 62 is arranged on the first slide plate 7 to limit the sliding of the first slide plate 7 . The limiting member 62 specifically includes a limiting bolt 621 and a limiting plate 622 threadedly connected to the limiting bolt 621. For the limiting member 62 in the first slide 7, the limiting bolt 621 is threadedly penetrated into the first slide 7, and the limiting plate 622 is located below the first slide 7. In this embodiment, the length of the limiting plate 622 is longer than the width of the first slide slot 321. By rotating the limiting bolt 621, when a gap is left between the limiting plate 622 and the inner walls of the first slide slot 321 and the second slide slot 611, the limiting plate 622 can be slidably connected to the first slide slot 321 and the second slide slot 611, and the first slide 7 is pushed to slide to the corresponding position along the first support rod. When in place, the limiting bolt 621 is rotated, and when the limiting plate 622 is tightly abutted against the bottom inner side wall and bottom wall of the first slide slot 321 and the second slide slot 611, the first slide 7 is pressed tightly against the first support rod and the mounting rod 32.

[0041] Reference Figure 2At this time, the length direction of the second adjusting rod 63 is parallel to the height direction of the mounting frame 3, and the second adjusting rod 63 is arranged at intervals along the length direction of the first adjusting rod 61. The second adjusting rod 63 slides along the length direction of the first adjusting rod 61, and the upper surface of the second support rod is provided with a third slide groove 631 along its own length direction. The third slide groove 631 is arranged together with the second slide groove 611, and the third slide groove 631 extends to the two end surfaces of the second adjusting rod 63. The side wall of the first adjusting rod 61 is provided with a second slide plate 8, and the second slide plate 8 is arranged in an L-shaped plate, and the opposite side walls of the first adjusting rod 61 are also provided with second slide grooves 611, one end of the second slide plate 8 is slidably connected to the second slide groove 611, and the other end of the second slide plate 8 is slidably connected to the third slide groove 631, and the limiting member 62 is arranged at both ends of the second slide plate 8, through the limiting bolt 621 and the limiting plate 622, so as to limit the sliding of the second slide plate 8 in the second slide groove 611 and the third slide groove 631.

[0042] The sliding seat 64 slides along the length direction of the second adjusting rod 63, and a plurality of sliding seats 64 are arranged at intervals along the length direction of the second adjusting rod 63. At this time, the limiting member 62 is arranged on the sliding seat 64, wherein the limiting bolt 621 is passed through the sliding seat 64 to extend into the third slide groove 631, and the limiting plate 622 is located in the third slide groove 631. At this time, the suction cup 4 is fixedly connected to the sliding seat 64, and the axis of the suction cup 4 is parallel to the length direction of the second adjusting rod 63.

[0043] It should be noted that the sliding seat 64 can be arranged on the first adjustment rod 61 and the mounting rod 32, and can be arranged specifically according to the requirements, and can adjust the orientation of the suction cup 4 according to the outer surface of the part, and the second adjustment rod 63 can also be slidably connected to the mounting rod 32. Among them, the first slide groove 321 arranged on the mounting rod 32, the second slide groove 611 arranged on the first adjustment rod 61, and the third slide groove 631 on the second adjustment rod 63 are all provided in four, and are respectively arranged on four sides, so that the corresponding suction cup 4 can be arranged according to the requirements to correspond to the outer surface of the part.

[0044] The implementation principle of a mechanical gripper in an embodiment of the present application is as follows: first, the outer surface of the part to be transported is adjusted according to the need, and the suction nozzle required at the corresponding position of the part is adjusted by the adjustment component 6, and then the chuck 2 is driven to the corresponding position of the injection-molded part by the mechanical arm 1, and then it is adsorbed on the surface of the part through the adsorption port 42, and then the air pump 52 is started to extract the air in the negative pressure chamber 41 between the suction cup 4 and the part at this time, and after it is in a negative pressure state, the part is driven to rise by starting the mechanical arm 1. Compared with transporting parts by clamping, the damage to the outer tube of the part is relatively less, and the negative pressure state in the negative pressure chamber 41 can be controlled to improve the adsorption effect between the suction cup 4 and the part, thereby increasing the stability of clamping while reducing the damage to the part by clamping.

[0045] Embodiment 2:

[0046] Reference Figure 5 , which is different from Example 1, is that, further, a driving member 44 is provided on the mounting frame 3 to drive the suction cup 4 to move toward the direction approaching the part. The driving member 44 can be a cylinder or an electric push rod, and is specifically configured according to needs. In this embodiment, the driving member 44 is a cylinder, which is fixedly connected to the surface of the sliding seat 64 away from the second adjusting rod 63, and the axis of the piston rod of the cylinder is parallel to the axis of the suction cup 4, and the piston rod of the cylinder is fixedly connected to the end surface of the suction cup 4 away from the adsorption port 42.

[0047] After long-term use, the edge of the suction cup 4 may curl. Therefore, in the present embodiment, an abutment portion 45 is provided around the inner peripheral wall of the suction cup 4 close to its own edge. The abutment portion 45 abuts against the outer surface of the part. The abutment portion 45 is specifically an elastic sealing ring. By providing the abutment portion 45, it can tightly abut against the outer surface of the part when under pressure to achieve a sealing effect.

[0048] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mechanical gripper, characterized in that: The invention comprises a robot arm (1) and a chuck (2) arranged on the robot arm (1), wherein the chuck (2) comprises a mounting frame (3) arranged on the robot arm (1), a suction cup (4) arranged on the mounting frame (3), and a pressure control member (5) arranged on the mounting frame (3), wherein the suction cup (4) has a negative pressure chamber (41), and the suction cup (4) is provided with a suction port (42) connected to the negative pressure chamber (41) for adsorbing on the surface of a part, and the pressure control member (5) is used to control the negative pressure state in the negative pressure chamber (41), and the pressure control member (5) comprises an air pipe fixedly arranged through the suction cup (4) and an air pump (52) connected to the air pipe, and the air pump (52) is arranged on the mounting frame (3).

2. A mechanical gripper according to claim 1, characterized in that: A plurality of suction cups (4) are arranged at intervals along the length direction of the mounting frame (3); the chuck (2) further comprises an adjustment component (6) arranged on the mounting frame (3) for adjusting the position of adjacent suction cups (4); the adjustment component (6) comprises a sliding seat (64) that slides along the length direction of the mounting frame (3) and a limiting member (62) arranged on the mounting frame (3) to limit the sliding of the sliding seat (64); a plurality of sliding seats (64) are arranged at intervals along the length direction of the mounting frame (3), and the suction cups (4) are arranged on the sliding seats (64).

3. A mechanical gripper according to claim 2, characterized in that: The outer surface of the mounting frame (3) is provided with a first slide groove (321) along its length direction, the first slide groove (321) extends to both ends of the mounting frame (3), and the sliding seat (64) is slidably connected to the first slide groove (321).

4. A mechanical gripper according to claim 2, characterized in that: The adjustment assembly (6) further comprises a first adjustment rod (61) arranged below the mounting frame (3); the length direction of the first adjustment rod (61) is parallel to the width direction of the mounting frame (3); a plurality of first adjustment rods (61) are arranged at intervals along the length direction of the mounting frame (3); the first adjustment rod (61) slides along the length direction of the mounting frame (3); a plurality of sliding seats (64) are arranged at intervals along the length direction of the first adjustment rod (61); the sliding seats (64) slide along the length direction of the first adjustment rod (61); a limiting member (62) for limiting the sliding of the first adjustment rod (61) is arranged on the mounting frame (3); and the limiting member (62) for limiting the sliding seat (64) is arranged on the first adjustment rod (61).

5. A mechanical gripper according to claim 4, characterized in that: A first slide groove (321) is provided on the lower surface of the mounting frame (3) along its length direction, and the first slide groove (321) extends to both end surfaces of the mounting frame (3); the first adjusting rod (61) is provided with a first slide plate (7) slidably connected to the first slide groove (321); the limiting member (62) comprises a limiting bolt (621) and a limiting plate (622) fixedly connected to the limiting bolt (621); the limiting bolt (621) is threadedly penetrated through the first slide plate (7); the limiting plate (622) is slidably connected to the first slide groove (321); and the length of the limiting plate (622) is greater than the width of the first slide groove (321).

6. A mechanical gripper according to claim 4, characterized in that: The adjustment assembly (6) further comprises a second adjustment rod (63), the length direction of the second adjustment rod (63) being parallel to the length direction of the first adjustment rod (61), a plurality of second adjustment rods (63) being arranged at intervals along the length direction of the first adjustment rod (61), the second adjustment rod (63) sliding along the length direction of the first adjustment rod (61), the sliding seat (64) sliding along the height direction of the second adjustment rod (63), a plurality of sliding seats (64) being arranged at intervals along the height direction of the second adjustment rod (63), and a limiting member (62) for limiting the sliding of the second adjustment rod (63) being arranged on the first adjustment rod (61).

7. A mechanical gripper according to claim 1, characterized in that: The mounting frame (3) is provided with a driving member (44) for driving the suction cup (4) to move in a direction approaching the part.

8. The mechanical gripper according to claim 1, characterized in that: An abutment portion (45) is disposed around the inner peripheral wall of the suction cup (4) close to its own edge, and the abutment portion (45) abuts against the outer surface of the part.

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