Four-finger large-stroke valve body gripper with force feedback

Abstract

The utility model discloses a four-finger large-stroke valve body gripper with force feedback. The four-finger large-stroke valve body gripper comprises a supporting disc, an adjusting disc, gripper arms, a clamping assembly and a servo motor. The adjusting disc is located below the supporting disc. The multiple claw arms are evenly arranged at the bottom of the supporting disc and are in sliding connection with the supporting disc. A guide groove is formed in the surface of the adjusting disc, a follow-up cam is arranged at the position, corresponding to the guide groove, of the claw arm, and the follow-up cam is arranged in the guide groove. The clamping assembly comprises a clamping piece, an elastic piece and a distance measuring sensor. The elastic piece and the distance measuring sensor are arranged at the bottom of the claw arm, the other end of the elastic piece is connected with the clamping piece, and the distance measuring sensor detects the distance between the distance measuring sensor and the clamping piece. The servo motor is arranged on the top of the supporting disc and drives the adjusting disc to rotate. The gripper can detect the clamping force, and parts are prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of valve body clamping, and more specifically, to a four-finger large-stroke valve body gripper with force feedback. Background Art

[0002] During the casting of valve bodies, due to the different varieties of valve bodies, the diameters of the flange surfaces on the valve bodies are also different. The risers of the valve bodies are located around the flange surfaces of the valve bodies. When using a three-finger gripper to clamp the outer circle, interference will occur, and only a four-finger gripper can be used to clamp the valve body.

[0003] At present, the four-finger grippers on the market are divided into pneumatic and electric types. Generally, the pneumatic ones have a relatively small stroke and are not suitable for grasping heavy weights, so the electric ones are mostly used. The internal structures of the electric four-finger grippers mainly include the form of gear racks, hinges, and wedge blocks; the form of gear racks has many parts to be processed, high processing accuracy requirements, and high costs; when using the hinge form for grasping, there is displacement not only in the grasping direction but also axial movement is required, which does not meet the requirements; the wedge block form is complex to process, has a high processing cost, and at the same time, the stroke of the wedge block structure form is too small to meet the requirements of grasping the outer circles with multiple strokes and multiple diameters. At the same time, the above several forms do not have force feedback, and the clamping force on valve bodies of different sizes is the same. When clamping valve bodies of multiple varieties, it is easy to damage the parts during the clamping process.

[0004] Therefore, it is an urgent problem for those skilled in the art to develop a four-finger large-stroke valve body gripper with force feedback that can detect the clamping force and avoid part damage. Content of the Utility Model

[0005] In view of this, the utility model provides a four-finger large-stroke valve body gripper with force feedback that can detect the clamping force and avoid part damage.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A four-finger large-stroke valve body gripper with force feedback, comprising:

[0008] A support disk,

[0009] An adjustment disk, the adjustment disk is located below the support disk;

[0010] Claw arms, a plurality of the claw arms are evenly arranged at the bottom of the support disk and are slidably connected to the support disk; guide grooves are formed on the surface of the adjustment disk, and follower cams are formed at positions corresponding to the guide grooves on the claw arms, and the follower cams are placed in the guide grooves;

[0011] Clamping assembly, the clamping assembly includes: a clamping piece, an elastic member, and a distance measuring sensor; the elastic member and the distance measuring sensor are arranged at the bottom of the claw arm, the other end of the elastic member is connected to the clamping piece, and the distance measuring sensor detects the distance from the clamping piece;

[0012] Servo motor, the servo motor is arranged at the top of the support disk and drives the adjustment disk to rotate.

[0013] The beneficial effects of adopting the above technical solutions are that when the clamping piece clamps the valve body in the present utility model, the elastic member will be compressed, and at the same time, the distance between the clamping piece and the distance measuring sensor is adjusted. According to the displacement of the clamping piece, it is converted into the magnitude of the clamping force. When the clamping force reaches the threshold value, the information is transmitted to the servo motor, and the servo motor stops rotating to complete the clamping. It can clamp products of various specifications, and has high clamping accuracy and will not damage the products.

[0014] Preferably, a guide rail is arranged along the radial direction of the bottom of the support disk, a slider is arranged at the top of the claw arm, and the slider is slidably connected to the guide rail. The guide rail can play a role in limiting and guiding the movement of the claw arm.

[0015] Preferably, the clamping assembly further includes a guide shaft, one end of the guide shaft is connected to the clamping piece, the other end passes through the claw arm and is slidably connected to the claw arm; the elastic member is sleeved outside the guide shaft. The arrangement of the guide shaft can play a guiding role in the movement of the clamping piece, making the movement process of the clamping piece more accurate and stable.

[0016] Preferably, one group or more groups of the guide shaft and the elastic member are provided.

[0017] Preferably, the side of the clamping piece in contact with the valve body is arc-shaped. Such a setting method can clamp the valve body more stably and firmly.

[0018] Preferably, the distance measuring sensor is located on the side of the claw arm away from the clamping piece, and a detection port is opened at the position of the claw arm corresponding to the detection end of the distance measuring sensor. The detection port facilitates the detection end of the distance measuring sensor to pass through to detect the position of the clamping piece.

[0019] Preferably, the output end of the servo motor is connected with a right-angle reduction gear, and the output end of the right-angle reduction gear passes through the support disk and is connected to the adjustment disk. The servo motor drives the support disk to rotate through the right-angle reduction gear, thereby driving the claw arm to move along the guide rail to realize the clamping of the valve body.

[0020] It can be seen from the above technical solutions that compared with the prior art, the present utility model discloses a four-finger large-stroke valve body gripper with force feedback, and its beneficial effects are:

[0021] (1) In this utility model, the follower cam moves in the guide groove, thereby realizing the clamping operation of the clamping piece on the valve body. The moving stroke is large, which can meet the clamping of valve bodies of different specifications.

[0022] (2) The claw arm moves along the guide rail, making the moving process more accurate and the clamping accuracy higher.

[0023] (3) The distance measuring sensor can convert the displacement of the clamping piece into the magnitude of the clamping force, thereby adjusting the clamping force. It can accurately clamp valve bodies of different specifications without damaging the valve body. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0025] Figure 1 The drawings are the structural schematic diagrams of the hand claw clamping the valve body provided by the present utility model;

[0026] Figure 2 The drawings are the structural schematic diagrams of the hand claw provided by the present utility model;

[0027] Figure 3 The drawings are provided by the present utility model Figure 2 The enlarged structural view of part A;

[0028] Figure 4 The drawings are the structural schematic diagrams of the bottom of the hand claw provided by the present utility model;

[0029] Figure 5 The drawings are provided by the present utility model Figure 2 The bottom view of the hand claw;

[0030] Figure 6 The drawings are provided by the present utility model Figure 5 The cross-sectional view taken along line B-B;

[0031] Among them, in the drawings,

[0032] 1 - Support disk;

[0033] 11 - Guide rail;

[0034] 2 - Adjusting disk;

[0035] 21 - Guide groove;

[0036] 3 - Claw arm;

[0037] 31 - Follow - up cam; 32 - Slide block; 33 - Detection port;

[0038] 4 - Clamping assembly;

[0039] 41 - Clamping piece; 42 - Elastic member; 43 - Distance measuring sensor; 44 - Guide shaft;

[0040] 5 - Servo motor; 6 - Valve body; 7 - Right - angle speed reducer. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present utility model.

[0042] The embodiments of the present utility model disclose a four - finger large - stroke valve - body gripper with force feedback, including:

[0043] Support disk 1,

[0044] Adjusting disk 2, the adjusting disk 2 is located below the support disk 1;

[0045] Claw arms 3, a plurality of claw arms 3 are evenly arranged at the bottom of the support disk 1 and are slidably connected to the support disk 1; a guide groove 21 is formed on the surface of the adjusting disk 2, and a follow - up cam 31 is provided at the position of the claw arm 3 corresponding to the guide groove 21, and the follow - up cam 31 is placed in the guide groove 21;

[0046] Clamping assembly 4, the clamping assembly 4 includes: a clamping piece 41, an elastic member 42, and a distance measuring sensor 43; the elastic member 42 and the distance measuring sensor 43 are arranged at the bottom of the claw arm 3, the other end of the elastic member 42 is connected to the clamping piece 41, and the distance measuring sensor 43 detects the distance from the clamping piece 41;

[0047] Servo motor 5, the servo motor 5 is arranged on the top of the support disk 1 and drives the adjusting disk 2 to rotate. When the servo motor 5 drives the adjusting disk 2 to rotate, the guide groove 21 will drive the follow - up cam 31 to move along with the guide groove 21. Due to the existence of the guide rail 11, the claw arm 3 cannot rotate and can only move along the guide rail 11, so as to realize the clamping or loosening of the valve body by the clamping piece 41.

[0048] In order to further optimize the above - mentioned technical solution, a guide rail 11 is arranged along the radial direction of the bottom of the support disk 1, and a slide block 32 is arranged at the top of the claw arm 3, and the slide block 32 is slidably connected to the guide rail 11.

[0049] To further optimize the above technical solution, the clamping assembly 4 further includes a guide shaft 44. One end of the guide shaft 44 is connected to the clamping piece 41, the other end penetrates through the claw arm 3, and is slidably connected to the claw arm 3; the elastic member 42 is sleeved outside the guide shaft 44.

[0050] To further optimize the above technical solution, one or more groups of the guide shaft 44 and the elastic member 42 are provided. As Figure 3 shown, two groups of the guide shaft 44 and the elastic member are provided, making the structure more stable when the clamping piece clamps the valve body 6 and the clamping effect better.

[0051] To further optimize the above technical solution, the side of the clamping piece 41 in contact with the valve body 6 is arc-shaped.

[0052] To further optimize the above technical solution, the distance measuring sensor 43 is located on the side of the claw arm 3 away from the clamping piece 41, and a detection port 33 is opened at the position of the claw arm 3 corresponding to the detection end of the distance measuring sensor 43. The distance measuring sensor 43 and the clamping piece 41 are located on both sides of the claw arm 3. While ensuring that the distance measuring sensor 43 can detect the displacement of the clamping piece 41, it will not interfere with the movement of the clamping piece 41.

[0053] To further optimize the above technical solution, the output end of the servo motor 5 is connected to a right-angle speed reducer 7, and the output end of the right-angle speed reducer 7 passes through the support disk 1 and is connected to the adjustment disk 2. The right-angle speed reducer 7 can reduce the output speed of the servo motor 5 and better drive the adjustment disk 2 to rotate.

[0054] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0055] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Four-finger long-stroke valve body gripper with force feedback, characterized in that: include: Support plate (1), An adjustment plate (2), the adjustment plate (2) being located below the support plate (1); A claw arm (3), wherein a plurality of the claw arms (3) are evenly arranged at the bottom of the support plate (1) and are slidably connected to the support plate (1); a guide groove (21) is provided on the surface of the adjustment plate (2); a follower cam (31) is provided at a position of the claw arm (3) corresponding to the guide groove (21), and the follower cam (31) is placed in the guide groove (21); A clamping assembly (4), the clamping assembly (4) comprising: a clamping sheet (41), an elastic member (42) and a distance sensor (43); the elastic member (42) and the distance sensor (43) are arranged at the bottom of the claw arm (3), the other end of the elastic member (42) is connected to the clamping sheet (41), and the distance sensor (43) detects the distance to the clamping sheet (41); A servo motor (5), wherein the servo motor (5) is arranged on the top of the supporting plate (1) and drives the adjusting plate (2) to rotate.

2. The four-finger long-stroke valve body gripper with force feedback according to claim 1 is characterized in that: A guide rail (11) is arranged at the bottom of the support plate (1) along its radial direction, and a slider (32) is arranged at the top of the claw arm (3), wherein the slider (32) is slidably connected to the guide rail (11).

3. The four-finger long-stroke valve body gripper with force feedback according to claim 1, characterized in that: The clamping assembly (4) also includes a guide shaft (44), one end of which is connected to the clamping plate (41), and the other end of which passes through the claw arm (3) and is slidably connected to the claw arm (3); the elastic member (42) is sleeved on the outside of the guide shaft (44).

4. The four-finger long-stroke valve body gripper with force feedback according to claim 3 is characterized in that: The guide shaft (44) and the elastic member (42) are both provided in one or more groups.

5. The four-finger long-stroke valve body gripper with force feedback according to claim 1, characterized in that: The side of the clamping piece (41) that contacts the valve body (6) is in an arc shape.

6. The four-finger long-stroke valve body gripper with force feedback according to claim 5, characterized in that: The distance measuring sensor (43) is located on a side of the claw arm (3) away from the clamping piece (41), and a detection port (33) is provided at a position of the claw arm (3) corresponding to the detection end of the distance measuring sensor (43).

7. The four-finger long-stroke valve body gripper with force feedback according to claim 1, characterized in that: The output end of the servo motor (5) is connected to a right-angle reducer (7), and the output end of the right-angle reducer (7) passes through the support plate (1) and is connected to the adjustment plate (2).

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