Flexible mechanical gripper with tip jacking column

Abstract

The utility model discloses a flexible mechanical gripper with a tip jacking column. The flexible mechanical gripper comprises two clamping bodies which can be used for clamping. Each clamping main body comprises a box body with a mounting cavity with an opening in the front end and a plurality of clamping assemblies which are uniformly distributed in the mounting cavity in rows from top to bottom; each clamping assembly comprises a jacking column with the first end forwards extending out of the mounting cavity and a first elastic piece connected to the second end of the jacking column, and the first elastic piece can be used for providing telescopic elastic force for the jacking column to enter and exit from the mounting cavity so that the jacking column can achieve the clamping effect; and the end part of the first end of each support pillar is a sharp tip part. Compared with the prior art, the top column with the sharp tip part is arranged, in the process of clamping a workpiece by using the top column, the workpiece is very stable, and the position is relatively accurate when the workpiece is dismounted and placed, so that the top column is particularly suitable for the workpiece which has low requirements on the appearance surface but is high in machining precision, and the machining quality can be ensured.

Description

Technical Field

[0001] The utility model relates to the field of mechanical grippers, in particular to a flexible mechanical gripper with a pointed top column. Background Art

[0002] Robotic grippers are often used to cooperate with industrial robots to grasp, clamp, transfer and carry workpieces, and are widely used. With the continuous development of robotic grippers, there are many types of robotic grippers with different structures or functions, such as robotic grippers that can clamp workpieces of various shapes and sizes.

[0003] For the manipulator gripper, the authorization announcement number CN221455970U discloses a flexible manipulator gripper, which specifically discloses a clamping body; the clamping body includes a box body with a mounting cavity with an opening on one side and multiple rows of clamping mechanisms evenly distributed up and down and installed in the mounting 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, and the first end of the top column extends out of the mounting 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 mounting cavity. The flexible manipulator 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 opposite or opposite directions, and when the two clamping bodies move relative to each other, a clamping structure can be formed. The end surface of the first end of each of the top columns is an outwardly convex arc surface.

[0004] However, the above-mentioned flexible mechanical gripper still has some disadvantages. For example, since the end surface of the first end of each top column in the above-mentioned flexible mechanical gripper is an outwardly convex arc surface, although such a top column can play the effect of not easily scratching the workpiece. However, in actual use, since it will disperse the applied pressure over a large area of ​​the workpiece surface, it will reduce its clamping stability on the workpiece to a certain extent, so that the workpiece may be offset relative to the top column during the transfer process, and further may cause the position of the workpiece to deviate during the subsequent unloading process, that is, the accuracy is not high enough, which ultimately affects the subsequent processing quality.

[0005] Therefore, for some workpieces that do not have high requirements on surface appearance but high processing accuracy (such as internal workpieces of some equipment), the stability of the workpiece during movement and placement is crucial. If the placement of the workpiece is not accurate enough (that is, deviation occurs), it will easily cause subsequent processing errors, which will reduce the processing quality. 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 flexible robotic gripper with a pointed top column, which has a top column with a sharp tip. When using this top column to clamp a workpiece, the workpiece is very stable and the position is relatively accurate when it is removed and placed, making it particularly suitable for workpieces that do not require high surface appearance but have high processing accuracy, and can ensure the processing quality.

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

[0008] A flexible mechanical gripper with a pointed top column, comprising two clamping bodies that can be used for clamping; each of the clamping bodies comprises a box body with a mounting cavity with a front end opening and a plurality of clamping components evenly distributed in the mounting cavity in rows from top to bottom; each of the clamping components comprises a top column with a first end extending forward from the mounting cavity and a first elastic member connected to the second end of the top column, the first elastic member can be used to provide the top column with a telescopic elastic force to enter and exit the mounting cavity, so that the top column can achieve a clamping effect; the end of the first end of each top column is a sharp tip, so that the tip can be used to improve the stability of the top column when clamping a workpiece, and prevent the workpiece from sliding or falling off. The above arrangement can stably clamp the workpiece.

[0009] The following technical solutions are also included:

[0010] Furthermore, each of the clamping bodies also includes two guide plates and two second elastic members; the two guide plates are respectively located above and below the plurality of clamping assemblies; the first end of each guide plate extends forward from the box body, and the second end is slidably mounted on the box body; each second elastic member is correspondingly mounted on the box body and one end is pressed against the end of the second end of the guide plate, so that the second elastic member can be used to provide telescopic elastic force for the guide plate; V-shaped guide grooves extending in the vertical direction are respectively provided on the end faces of the first ends of the two guide plates. The guide plate with the guide groove can play the role of "guide" the workpiece.

[0011] Furthermore, three evenly distributed center guide grooves are respectively provided on the end surface of the first end of each center guide plate, so that clamping can be performed at the corresponding center guide groove according to the position or shape of the workpiece during clamping.

[0012] Furthermore, the depths of the two core guide grooves on both sides are smaller than the depth of the core guide groove in the middle, thereby forming two core guide grooves with different structures for the staff to freely choose to use.

[0013] Furthermore, the end face of the first end of each of the guide plates is closer to the front than each of the tip portions, so that the guide plate can be brought into contact with the workpiece first during clamping, i.e., the tip portion can be clamped after the inclination of the workpiece is corrected, so as to prevent the workpiece from tilting when placed.

[0014] Furthermore, each of the clamping bodies also includes two limit plates; the two limit plates are respectively mounted on the upper end surface and the lower end surface of the box body; a limit hole extending forward is provided at the rear end of each limit plate; a limit column is respectively provided on the outer end surface of the two core guide plates of each clamping body; each limit column is correspondingly inserted into one of the limit holes. The above arrangement can be used to prevent the core guide plate from falling out of the box body.

[0015] Furthermore, a strip hole extending forward and backward is respectively provided on both sides of each of the limit plates; an adjusting bolt is respectively provided in each of the strip holes, and the rod of the adjusting bolt passes through the strip hole and is connected to the box body; the limit plate is detachably mounted on the box body through the adjusting bolt. The above arrangement can be used to conveniently adjust the position of the limit plate, and then adjust the position of the limit hole.

[0016] Furthermore, a mounting bayonet is respectively provided on both sides of the second end of each of the core guide plates, and a second elastic member is respectively provided in the two mounting bayonet, so as to ensure the elastic force of the core guide plate.

[0017] Furthermore, a slide groove is respectively provided on the upper and lower sides of each box body; the second end of each core guide plate is slidably mounted on a slide groove, thereby being able to well limit the core guide plate in the upper and lower directions to prevent it from falling out of the box body.

[0018] Furthermore, the flexible robotic gripper with a pointed top column also includes a dual-axis cylinder with two output ends; the two output ends of the dual-axis cylinder are respectively connected to the box bodies of the two clamping bodies, so that the dual-axis cylinder 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.

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

[0020] The utility model provides a sharp tip portion on the first end of each push column, so that the tip portion can provide greater contact pressure on the workpiece, thereby clamping the object more tightly. Specifically, when the push column uses the tip portion to clamp the workpiece, the sharp portion will concentrate the pressure on the surface of the workpiece and form a smaller contact area. Since the applied pressure is concentrated on a small area, the pressure per unit area is greater, so the friction or gripping force between the workpiece and the push column can be more effectively increased, which also helps to prevent the workpiece from sliding or falling off when clamping. Since the workpiece is very stable when clamped, the position of the workpiece will be more accurate when it is removed and placed, thereby ensuring the processing quality.

[0021] In addition, the tip may scratch the workpiece due to its sharp part during use. Therefore, the above-mentioned top column can be used for workpieces that do not require high surface appearance but have high processing accuracy during use, so as to avoid scratching the workpiece and affecting the processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 This is a schematic diagram of the overall structure of the clamping body of the utility model. Figure 1 ;

[0024] Figure 3 This is a schematic diagram of the overall structure of the clamping body of the utility model. Figure 2 ;

[0025] Figure 4 It is a front view of the clamping body of the utility model;

[0026] Figure 5 This is a schematic diagram of the internal structure of the clamping body of the utility model. Figure 1 ;

[0027] Figure 6 It is a structural schematic diagram of the clamping assembly of the utility model;

[0028] Figure 7 It is a cross-sectional view of the clamping assembly of the utility model.

[0029] Reference numerals:

[0030] 1. Clamping body; 11. Installation cavity; 12. Box body; 121. Slide groove; 122. Through hole; 13. Clamping assembly; 131. Top column; 1311. Tip; 1312. Insertion cavity; 132. First spring; 133. Abutment rod; 14. Guide plate; 141. Guide groove; 142. Limiting column; 15. Limiting plate; 151. Limiting hole; 152. Strip hole; 153. Adjusting bolt; 154. Mounting bayonet; 16. Second spring; 2. Double-axis cylinder. DETAILED DESCRIPTION

[0031] 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.

[0032] like Figure 1-Figure 7 As shown, a flexible mechanical gripper with a pointed top column includes two clamping bodies 1 that can be used for clamping; each clamping body 1 includes a box body 12 with a mounting cavity 11 with a front end opening and a plurality of clamping components 13 that are evenly distributed in the mounting cavity 11 in rows from top to bottom; each clamping component 13 includes a top column 131 with a first end extending forward from the mounting cavity 11 and a first elastic member connected to the second end of the top column 131, the first elastic member can be used to provide the top column 131 with a telescopic elastic force to enter and exit the mounting cavity 11, so that the top column 131 can achieve a clamping effect; the end of the first end of each top column 131 is a sharp tip 1311, so that the tip 1311 can be used to improve the stability of the top column 131 when clamping a workpiece, and prevent the workpiece from sliding or falling off.

[0033] Therefore, the utility model provides a sharp tip portion 1311 on the first end of each top column 131, so that the tip portion 1311 can provide a greater contact pressure on the workpiece, thereby making the object clamped more tightly. Specifically, when the top column 131 clamps the workpiece using the tip portion 1311, the sharp portion will concentrate the pressure on the surface of the workpiece and form a smaller contact area. Since the applied pressure is concentrated on a small area, the pressure per unit area is greater, so the friction or gripping force between the workpiece and the top column 131 can be more effectively increased, and it is also helpful to prevent the workpiece from sliding or falling off when clamped. Since the workpiece is very stable when clamped, the position of the workpiece will be more accurate when it is removed and placed, thereby ensuring the processing quality. In addition, the tip portion 1311 may scratch the workpiece due to its sharp portion when in use. Therefore, the top column 131 can be used for workpieces that do not require high surface appearance but high processing accuracy during use, so that the workpiece can be prevented from being scratched and affecting the processing quality.

[0034] like Figure 1-Figure 5As shown, preferably, each clamping body 1 also includes two guide plates 14 and two second elastic members; the two guide plates 14 are respectively located above and below the plurality of clamping assemblies 13; the first end of each guide plate 14 extends forward from the box body 12, and the second end is slidably mounted on the box body 12; each second elastic member is correspondingly mounted on the box body 12 and one end is pressed against the end of the second end of a guide plate 14, so that the second elastic member can be used to provide telescopic elastic force for the guide plate 14; V-shaped guide grooves 141 extending in the vertical direction are respectively arranged on the end faces of the first ends of the two guide plates 14. Therefore, by arranging the guide plate 14 and the second elastic member on each clamping body 1, and arranging the guide groove 141 on the guide plate 14, the two clamping bodies 1 can automatically embed the workpiece into the four guide grooves 141 of the four guide plates 14 and compress the second elastic member according to the position of the workpiece during the process of clamping the workpiece. Since the guide groove 141 is V-shaped, when the clamping body 1 applies pressure, the workpiece will be pushed to move along the inclined surface of the guide groove 141 toward the angle of the guide groove 141 until the two ends of the workpiece are respectively engaged in the four guide grooves 141 corresponding to the four guide plates 14, that is, the two sides of the workpiece will respectively contact the two inclined surfaces of the guide groove 141, thereby completing the inclination correction of the workpiece and guiding the workpiece to the center of the guide groove 141, that is, achieving the "guiding" effect, and then cooperating with the clamping of each tip 1311, the workpiece can be stably positioned.

[0035] like Figure 1-Figure 5 As shown, preferably, three evenly distributed center guide grooves 141 are respectively provided on the end surface of the first end of each center guide plate 14, so that clamping can be performed at the corresponding center guide groove 141 according to the position or shape of the workpiece during clamping.

[0036] like Figure 3 As shown, for the above-mentioned three core guide grooves 141, the depths of the two core guide grooves 141 located on both sides are smaller than the depth of the core guide groove 141 located in the middle, thereby forming two core guide grooves 141 with different structures for the staff to freely choose to use.

[0037] like Figure 1-Figure 5 As shown, preferably, the end face of the first end of each guide plate 14 is closer to the front than each tip portion 1311, so that when clamping, the guide plate 14 can be allowed to contact the workpiece first, that is, the inclination of the workpiece can be corrected before clamping the tip portion 1311 to prevent the workpiece from tilting when placed.

[0038] like Figure 1-Figure 5As shown, preferably, in order to limit the guide plate 14, each clamping body 1 also includes two limit plates 15; the two limit plates 15 are respectively installed on the upper end surface and the lower end surface of the box body 12; a limit hole 151 extending forward is provided at the rear end of each limit plate 15; a limit column 142 is respectively provided on the outer end surface of the two guide plates 14 of each clamping body 1; each limit column 142 is correspondingly inserted into a limit hole 151. Therefore, by using the setting of two limit plates 15, and correspondingly setting the limit holes 151 and the limit columns 142, when the guide plate 14 moves forward by utilizing the stretching force of the second elastic member until it abuts against the front side of the limit hole 151, the limit column 142 will be blocked at this time, that is, the limit hole 14 can be used to prevent the guide plate 14 from escaping from the box body 12.

[0039] like Figure 1-Figure 5 As shown, preferably, a strip hole 152 extending forward and backward is respectively provided on both sides of each limit plate 15; an adjusting bolt 153 is respectively provided in each strip hole 152, and the rod of the adjusting bolt 153 is connected to the box body 12 after passing through the strip hole 152; the limit plate 15 is detachably mounted on the box body 12 through the adjusting bolt 153. Therefore, by removing the adjusting bolt 153, the position of the limit plate 15 can be moved forward and backward accordingly, that is, the position of the limit hole 151 can be adjusted. In this way, after the position of the limit hole 151 is adjusted, the limiting position of the limit column 142 will also be adjusted, and finally the terminal position of the forward movement of the heart guide plate 14 will also be changed. For example, if the limit hole 151 is adjusted forward, the heart guide plate 14 can extend further forward, and if the limit hole 151 is adjusted backward, the heart guide plate 14 cannot extend further forward. Therefore, the above arrangement enables the staff to modify the position of the limiting plate 15 or the limiting hole 151 according to different work requirements.

[0040] like Figure 5 As shown, preferably, a mounting socket 154 is respectively provided on both sides of the second end of each core guide plate 14, and a second elastic member is respectively provided in the two mounting sockets 154, that is, four second elastic members are provided in each clamping body 1, thereby being able to greatly ensure the elastic force of the core guide plate 14, and thereby enabling the core guide plate 14 to stably achieve the "core guiding" effect.

[0041] like Figure 1-Figure 5 As shown, preferably, a slide groove 121 is provided on the upper and lower sides of each box body 12; the second end of each guide plate 14 is slidably installed in a slide groove 121, so that the guide plate 14 can be well limited in the upper and lower directions to prevent it from falling out of the box body 12.

[0042] like Figure 3As shown, specifically, on the two slide grooves 121 of each box body 12, there is a through hole 122 extending to the outside that is connected upward and downward respectively. Each limiting column 142 can be movably arranged in a through hole 122 forward and backward. In this way, the limiting column 142 can be easily passed out and can be conveniently used in conjunction with the limiting hole 151.

[0043] like Figure 1 As shown, preferably, the flexible robotic gripper with a pointed top column 131 also includes a dual-axis cylinder 2 with two output ends; the two output ends of the dual-axis cylinder 2 are respectively connected to the box bodies 12 of the two clamping bodies 1, so that the dual-axis cylinder 2 can drive the two clamping bodies 1 to move in relative or opposite directions, and when the two clamping bodies 1 move relative to each other, a clamping structure can be formed.

[0044] like Figure 6 and Figure 7 As shown, in this embodiment, the first elastic member includes a first spring 132 and a first abutment rod 133; the first spring 132 is installed in an insertion cavity 1312 at the second end of the top column 131; the first end of the first abutment rod 133 is clamped in the insertion cavity 1312 and connected to the first spring 132, and the second end of the abutment rod 133 is fixed on a fixed plate (not shown in the figure) installed on the box body 12.

[0045] like Figure 5 As shown, in this embodiment, the second elastic member includes a second spring 16. Two ends of the second spring 16 are respectively connected to the core guide plate 14 and the fixing plate.

[0046] The specific use principle of the utility model is introduced below to facilitate understanding of the utility model:

[0047] First, the two adjusted clamping bodies 1 are correspondingly mounted on the two output ends of the dual-axis cylinder 2, and then the dual-axis cylinder 2 is connected to another multi-axis manipulator (not shown in the figure). When a workpiece needs to be clamped, the multi-axis manipulator moves the two clamping bodies 1 to both sides of the workpiece (not shown in the figure), and then, after the dual-axis cylinder 2 drives the two clamping bodies 1 to move relative to each other, until the two ends of the workpiece are respectively engaged with the angles of the corresponding four guide grooves 141 of the four guide plates 14 on the two clamping bodies 1, and the second spring 16 is compressed, so that the workpiece completes the correction of the inclination. As the two clamping bodies 1 continue to move relative to each other, the workpiece will squeeze the two guide plates 14 and move backward until the tip 1311 of the top column 131 of the two clamping bodies 1 contacts the workpiece and squeezes the workpiece. According to the specific shape and structure of the workpiece, the corresponding top column 131 will move toward the installation cavity 11 and compress the first spring 132. In this way, the extension force of the first spring 132 and the second spring 16 can be used to make the two clamping bodies 1 clamp the workpiece very stably. After the workpiece is moved into place, the double-axis cylinder 2 drives the two clamping bodies 1 to move in opposite directions and then remove the workpiece to the preset position. At this time, the workpiece will not tilt, and then the top column 131 and the guide plate 14 will be reset by the extension force of the first spring 142 and the second spring 16 respectively. When the limit column 142 moves to the front end of the limit hole 151, the guide plate 14 is moved into place. After the above steps, the clamping of a workpiece is completed.

[0048] 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 flexible mechanical gripper with a pointed top column, characterized in that: It includes two clamping bodies that can be used for clamping; Each of the clamping bodies comprises a box body with a mounting cavity having a front opening and a plurality of clamping components evenly distributed in the mounting cavity in rows from top to bottom; Each of the clamping assemblies comprises a top column with a first end extending forward from the mounting cavity and a first elastic member connected to the second end of the top column, wherein the first elastic member can be used to provide the top column with a telescopic elastic force to enter and exit the mounting cavity, so that the top column can achieve a clamping effect; the end of the first end of each of the top columns is a sharp tip portion, so that the tip portion can be used to improve the stability of the top column when clamping a workpiece, thereby preventing the workpiece from sliding or falling off; Each of the clamping bodies also includes two core guide plates and two second elastic members; the two core guide plates are respectively located above and below the multiple clamping assemblies; the first end of each core guide plate extends forward from the box body, and the second end is slidably mounted on the box body; each of the second elastic members is correspondingly mounted on the box body and one end is pressed against the end of the second end of a core guide plate, so that the second elastic member can be used to provide telescopic elastic force for the core guide plate; V-shaped core guide grooves extending in the vertical direction are respectively arranged on the end faces of the first ends of the two core guide plates.

2. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: The end surface of the first end of each of the core guide plates is respectively provided with three evenly distributed core guide grooves.

3. The flexible mechanical gripper with a pointed top column according to claim 2, characterized in that: The depths of the two core guide grooves on both sides are smaller than the depth of the core guide groove in the middle.

4. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: The end surface of the first end of each of the core guide plates is located further forward than each of the tip portions.

5. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: Each of the clamping bodies also includes two limit plates; the two limit plates are respectively installed on the upper end surface and the lower end surface of the box body; a limit hole extending forward is provided at the rear end of each of the limit plates; a limit column is respectively provided on the outer end surface of the two guide plates of each of the clamping bodies; each of the limit columns is correspondingly inserted into one of the limit holes.

6. The flexible mechanical gripper with a pointed top column according to claim 5, characterized in that: A strip hole extending forward and backward is respectively arranged on both sides of each of the limit plates; an adjusting bolt is respectively arranged in each of the strip holes, and the rod of the adjusting bolt passes through the strip hole and is connected to the box body; the limit plates are detachably mounted on the box body through the adjusting bolts.

7. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: A mounting bayonet is respectively arranged on both sides of the second end of each of the core guide plates, and a second elastic member is respectively arranged in the two mounting bayonet.

8. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: A slide groove is respectively arranged on the upper and lower sides of each box body; the second end of each core guide plate is slidably installed in one of the slide grooves.

9. The flexible mechanical gripper with a pointed top column according to claim 1, characterized in that: The flexible robotic gripper with a pointed top column also includes a dual-axis cylinder with two output ends; the two output ends of the dual-axis cylinder are respectively connected to the box bodies of the two clamping bodies, so that the dual-axis cylinder 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.

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