Anti-shifting high-precision self-adaptive mechanical claw

Abstract

The utility model relates to an anti-play high-precision self-adaptive mechanical gripper which comprises at least two clamping jaws circumferentially distributed on the periphery of a clamping central axis and a main driving mechanism for driving the clamping jaws to get close to each other or get away from each other, a large number of ejector rods are limited in a containing groove, the adjacent ejector rods are arranged in an attached mode, the radial displacement of the ejector rods is limited, and therefore the clamping jaws can be driven to be close to each other or away from each other. And then the pressing plate is used for pressing or loosening the ejector rod in the radial direction, so that the clamping jaw is switched between the elastic clamping state and the rigid clamping state, self-adaptive clamping can be conducted on workpieces of different shapes, high-precision clamping can be conducted on the same batch of workpieces with errors, and it is ensured that when the workpieces with the errors are clamped, the clamping efficiency is improved. And the center lines of different workpieces are kept constant. When the mechanical claw clamps a workpiece for machining, the movement of the workpiece between the two clamping jaws of the mechanical claw is eliminated, and the machining precision is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of fixtures, and particularly relates to a high-precision adaptive mechanical claw for preventing crosstalk. Background Art

[0002] Mechanical claws are widely used in the current field of mechanical automation, thus effectively improving the production efficiency of the manufacturing industry and reducing production costs. However, mechanical claws have some deficiencies in some usage scenarios. For example, when clamping and processing workpieces with high requirements for coaxiality, due to the errors existing in the workpieces themselves, after the mechanical claws clamp the workpieces, the central axes of the workpieces shift. If processing is directly carried out without rectifying the deviation, it will lead to a deviation between the processing position and the designed position, resulting in product scrapping.

[0003] Although there is also a technology that uses elastic fixtures to clamp workpieces to increase the clamping area and improve the clamping effect, elastic clamping has the problem that the workpieces crosstalk due to the force during the processing, resulting in a decrease in the processing accuracy of the workpieces or abnormal processing. Therefore, conventional mechanical claws or elastic fixtures cannot meet the requirements of clamping workpieces for processing. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a high-precision adaptive mechanical claw for preventing crosstalk, and solve the technical problem that when using a traditional elastic fixture to clamp a workpiece for processing, the workpiece is prone to crosstalk due to force, thereby reducing the processing accuracy.

[0005] To solve the above technical problems, the technical solution adopted by the present utility model is as follows: A high-precision adaptive mechanical claw that prevents crosstalk, including at least two jaws circumferentially distributed around the periphery of the clamping central axis and a main driving mechanism for driving the jaws to approach or separate from each other. On the surfaces of each jaw facing the clamping central axis, at least one receiving groove is respectively provided. The opening of any one receiving groove faces the clamping central axis. A large number of ejector rods are arranged in any one receiving groove. One ends of all the ejector rods in the same receiving groove extend out of the receiving groove from the mouth of the receiving groove, and the other ends are elastically connected to the bottom surface of the receiving groove. The end faces of one ends of all the ejector rods extending out of the receiving groove in the same receiving groove are flush to form a clamping surface. The side walls of all adjacent ejector rods in the same receiving groove are in contact with each other. A locking mechanism for locking all the ejector rods on the jaw is further connected to any one jaw. The locking mechanism includes at least one pressing plate arranged on the side of the ejector rod and a secondary driver for driving the pressing plate to radially press the ejector rod; The main driving mechanism includes a main driver, which is a cylinder or an oil cylinder. A support seat is fixedly connected to the front end of the main driver. The push rod of the main driver vertically passes through the support seat. The push rod of the main driver is coaxial with the clamping central axis. Each jaw is respectively hinged on the support seat, and each jaw is respectively connected to the push rod of the main driver through a connecting rod. The push rod of the main driver drives each jaw to clamp or separate synchronously through the connecting rod. All the ejector rods are arranged in multiple rows and multiple columns, and each row of ejector rods is arranged in sequence along the pressing direction of the pressing plate.

[0006] As a preferred solution, two receiving grooves are provided on any one jaw. The two receiving grooves are isolated by a separating block. A communication groove is provided at one end of the separating block. The communication groove connects the two receiving grooves. One pressing plate of the locking mechanism is inserted into the communication groove, and both ends of the pressing plate respectively extend into the two receiving grooves. The pressing plate is located on the same side of all the ejector rods in the two receiving grooves. The pressing plate faces all the ejector rods in the two receiving grooves. The secondary driver of the locking mechanism is a cylinder or an oil cylinder. The secondary driver is fixedly connected to the outer wall of the jaw. The push rod of the secondary driver passes through the side wall of the jaw and is inserted into the communication groove and is vertically connected to the pressing plate. The width of the communication groove is greater than the thickness of the pressing plate, and the difference between the width of the communication groove and the thickness of the pressing plate is not greater than the radius of the ejector rod. The ejector rods adjacent to the inner wall of the receiving groove are lightly in contact with the inner wall of the receiving groove. The ejector rods adjacent to the pressing plate are tightly in contact with the pressing plate in the locked state and are lightly in contact with or separated from the pressing plate in the unlocked state.

[0007] As a preferred solution, the secondary driver is connected to the side of the jaw away from the pressing plate. The push rod of the secondary driver passes through the side wall of the jaw and the separating block and is connected to the pressing plate. The push rod is slidably matched with the separating block.

[0008] As a preferred solution, a receiving groove is formed in the jaw. The pressing plate of the locking mechanism is arranged along an inner side wall of the receiving groove and faces the sides of all the ejector rods in the receiving groove. The auxiliary driver of the locking mechanism is a cylinder or an oil cylinder, and the auxiliary driver is fixedly connected to the outer wall of the jaw. The push rod of the auxiliary driver passes through the side wall of the jaw and inserts into the receiving groove and is perpendicularly connected to the pressing plate. When the auxiliary driver does not apply pressure to the pressing plate, the pressing plate lightly abuts against an adjacent row of ejector rods.

[0009] As a preferred solution, the ejector rods are cylindrical or prismatic, and the ejector rods are arranged parallel to each other.

[0010] As a preferred solution, any one of the ejector rods is elastically connected to the corresponding jaw through an independent coil spring.

[0011] The beneficial effects of the present utility model are as follows: By restricting a large number of ejector rods in the receiving groove, arranging adjacent ejector rods in contact with each other to limit the radial displacement of the ejector rods, and then using the pressing plate to radially press or loosen the ejector rods, the jaw can be switched between two states of elastic clamping and rigid clamping. It can not only realize the adaptive clamping of workpieces with different shapes, but also perform high-precision clamping on batches of workpieces with errors, ensuring that the center lines of different workpieces remain constant when clamping workpieces with errors. When the mechanical jaw holds the workpiece for processing, the workpiece is prevented from moving between the two jaws of the mechanical jaw, ensuring the processing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The following further describes in detail the specific embodiments of the present utility model with reference to the accompanying drawings, where:

[0013] Figure 1 is a three-dimensional structural schematic diagram of the mechanical jaw described in the present utility model;

[0014] Figure 2 is a three-dimensional structural schematic diagram of a single jaw;

[0015] Figure 3 is Figure 2 the view from direction A in

[0016] Figure 4 is another specific structural schematic diagram of the jaw;

[0017] Figures 1 to 4 In it: 1. Jaw, 101. Main body part, 102. Connecting part, 2. Main driving mechanism, 201. Main driver, 202. Support seat, 203. Link rod, 3. Receiving groove, 4. Ejector rod, 5. Clamping surface, 6. Pressing plate, 7. Auxiliary driver, 8. Isolation block, 9. Communication groove, 10. Coil spring, 11. Hinge seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following will describe in detail the specific implementation of the present utility model in conjunction with the accompanying drawings.

[0019] As Figures 1 to 3 shown, the high-precision adaptive mechanical claw for preventing crosstalk includes two clamping claws 1 circumferentially distributed around the periphery of the clamping central axis X and a main driving mechanism 2 for driving the clamping claws 1 to approach or move away from each other. At least one accommodating groove 3 is respectively formed on the surface of each clamping claw 1 facing the clamping central axis X. The opening of any accommodating groove 3 faces the clamping central axis X. A large number of ejector rods 4 are arranged in any accommodating groove 3. One ends of all the ejector rods 4 in the same accommodating groove 3 extend out of the accommodating groove 3 from the mouth of the accommodating groove 3, and the other ends are elastically connected to the bottom surface of the accommodating groove 3. The end faces of one ends of all the ejector rods 4 extending out of the accommodating groove 3 in the same accommodating groove 3 are flush to form a clamping surface 5. The side walls of all adjacent ejector rods 4 in the same accommodating groove 3 are in contact with each other. A locking mechanism for locking all the ejector rods 4 on the clamping claw 1 is further connected to any clamping claw 1. The locking mechanism includes at least one pressing plate 6 arranged on the side of the ejector rod 4 and a sub-driver 7 for driving the pressing plate 6 to radially press the ejector rod 4.

[0020] In practical applications, the number of the clamping claws 1 can be three or four or more as required.

[0021] As Figure 2 and Figure 3As shown in the figure, in this embodiment, the jaw 1 includes a main body portion 101 and a connecting portion 102. The connecting portion 102 is fixedly connected to the top end of the main body portion 101 and extends obliquely upward. Two receiving grooves 3 are formed on the main body portion 101 of any jaw 1. The two receiving grooves 3 are separated by a separating block 8. A communication groove 9 is formed at one end of the separating block 8. The communication groove 9 connects the two receiving grooves 3. A pressing plate 6 of the locking mechanism is inserted into the communication groove 9, and both ends of the pressing plate 6 extend into the two receiving grooves 3 respectively. The pressing plate 6 is located on the same side of all the ejector rods 4 in the two receiving grooves 3. The pressing plate 6 faces all the ejector rods 4 in the two receiving grooves 3. The auxiliary driver 7 of the locking mechanism is a cylinder or an oil cylinder. In this embodiment, a cylinder is preferably used, which has a faster reaction speed. The auxiliary driver 7 is fixedly connected to the outer wall of the jaw 1. The push rod of the auxiliary driver 7 passes through the side wall of the jaw 1 and inserts into the communication groove 9 and is vertically connected to the pressing plate 6. The width of the communication groove 9 is greater than the thickness of the pressing plate 6, and the difference between the width of the communication groove 9 and the thickness of the pressing plate 6 is not greater than the radius of the ejector rod 4, so as to ensure that the pressing plate 6 has a moving space to press the ejector rod 4 and the ejector rod 4 will not break away from the limitation of the inner wall of the receiving groove 3. The ejector rod 4 adjacent to the inner wall of the receiving groove 3 lightly abuts against the inner wall of the receiving groove 3. The ejector rod 4 adjacent to the pressing plate 6 tightly abuts against the pressing plate 6 in the locked state and lightly abuts against or separates from the pressing plate 6 in the unlocked state. All the ejector rods 4 are arranged in multiple rows and columns, and each row of ejector rods 4 is arranged in sequence along the pressing direction of the pressing plate 6. Adopting this arrangement makes the actual pressure concentrated between two adjacent ejector rods 4 in the same row along the pressing direction of the pressing plate 6 when the ejector rod 4 is under the pressure of the pressing plate 6. The function of this is to reduce the stress area of the ejector rod 4 and increase the pressure per unit area of the ejector rod 4, so as to improve the friction between adjacent ejector rods 4 and improve the locking effect.

[0022] As a preferred solution, the auxiliary driver 7 described in this embodiment is connected to the side of the jaw 1 away from the pressing plate 1. The push rod of the auxiliary driver 7 passes through the side wall of the jaw 1 and the separating block 8 and is connected to the pressing plate 1. The push rod is slidably matched with the separating block 8. The separating block 8 is integrally formed with the jaw 1, so that the movement direction of the push rod of the auxiliary driver 7 can be restricted by the separating block 8, avoiding the inclination of the pressing plate 6 and ensuring that both ends of the pressing plate can tightly press the ejector rods 4 in the two receiving grooves 3.

[0023] Figure 4 is an alternative solution to the specific structure of the jaw 1 described in this embodiment. As Figure 4 shown in the figure, a receiving groove 3 is formed on the jaw 1. The pressing plate 6 of the locking mechanism is arranged along an inner side wall of the receiving groove 3 and faces the sides of all the ejector rods 4 in the receiving groove 3. The auxiliary driver 7 of the locking mechanism is a cylinder or an oil cylinder. The auxiliary driver 7 is fixedly connected to the outer wall of the jaw 1. The push rod of the auxiliary driver 7 passes through the side wall of the jaw 1 and inserts into the receiving groove 3 and is vertically connected to the pressing plate 6. When the auxiliary driver 7 does not apply pressure to the pressing plate 7, the pressing plate 6 lightly abuts against a row of adjacent ejector rods 4.

[0024] By Figure 4It can be seen that the number of the accommodating grooves 3 on the clamping jaws can be set according to user needs.

[0025] In this embodiment, the ejector rod 4 is a cylinder. In practical applications, the ejector rod 4 can also be selected as a prism such as a triangular prism or a hexagonal prism, and the ejector rods 4 are preferably arranged in parallel. The advantage of selecting a cylinder is that the adjacent ejector rods 4 form a line contact. When the pressing plate 6 applies pressure to the ejector rods 4, a strong pressure will be formed on the abutting line between the ejector rods 4, so that the ejector rods 4 are locked to each other and cannot slide relative to each other.

[0026] In this embodiment, any one of the ejector rods 4 is elastically connected to the corresponding clamping jaw 1 through an independent coil spring 10. In practical applications, the ejector rod 4 can also be connected to the clamping jaw 1 by other elastic members such as rubber pads, silicone pads, and elastic sheets.

[0027] As Figure 1 shown, in this embodiment, the main driving mechanism 2 includes a main driver 201, the main driver 201 is a cylinder or an oil cylinder, a support seat 202 is fixedly connected to the front end of the main driver 201, the push rod of the main driver 201 vertically passes through the support seat 202, the push rod of the main driver 201 is coaxial with the clamping central axis X, the top parts of the connecting parts 102 of the clamping jaws 1 are respectively hinged on the support seat 202 and can swing towards each other, each clamping jaw 1 is respectively connected to the push rod of the main driver 201 through a connecting rod 203, and the push rod of the main driver 201 drives the clamping jaws 1 to clamp or separate synchronously through the connecting rod 203. Both ends of the connecting rod 203 are respectively hinged to the connecting part 102 of the clamping jaw 1 and the push rod of the main driver 201. For the convenience of connection, the connecting rod 203 can be hinged to the hinge seat 11 fixedly connected to the front end of the push rod of the main driver 201.

[0028] The working process of the present utility model is as follows: As Figure 1 shown, the robotic claw of the present utility model is driven by a robotic arm to move to the grasping station along the path set by the program. When the workpiece is at the grasping station, the central line thereof coincides with the clamping central axis X. Then, the main driver 201 is controlled by a controller (not shown in the figure) to start. The push rod of the main driver 201 is pushed downward, driving the two connecting rods 203 to close, and the two connecting rods 203 pull the two clamping jaws 1 to move towards each other to clamp the workpiece. When the clamping surfaces 5 on the two clamping jaws 1 contact the workpiece, since the ejector rod 4 can elastically expand and contract, part of the ejector rods 4 are compressed, so that grooves matching the outer surface of the workpiece are formed on the clamping surface 5, increasing the contact area between the clamping jaw 1 and the workpiece. After the push rod of the main driver 201 is pushed out by a preset distance, the main driver 201 stops working and keeps the push rod stationary. Subsequently, the controller controls the sub-driver 7 to act, as Figure 3As shown, the push rod of the sub-driver 7 retracts, driving the pressure plate 6 to press all the ejector rods 4 in the two accommodating grooves 3. Since the ejector rods 4 originally lightly abutted against each other, there is almost no gap for radial movement. Under the extrusion of the pressure plate 6, the abutting force between all adjacent ejector rods 4 instantaneously increases, causing all adjacent ejector rods 4 to lock against each other, making it impossible for the ejector rods 4 to slide axially any more. At this time, the elasticity of the jaw 1 disappears, forming a rigid clamping of the workpiece. Finally, the control can control the main driver 201 to increase the thrust again to increase the clamping force of the two jaws 1 on the workpiece, ensuring the reliability of the clamping.

[0029] After the clamping of the workpiece is completed, the robotic arm can drive the robotic claw to transfer the workpiece to the processing station. The workpiece can be processed in the state of being clamped by the robotic claw. Since the ejector rod 4 is radially locked and a mechanical clamping and locking method is adopted, it is equivalent to forming a rigid clamping of the workpiece. During the processing of the workpiece, it will not move between the two jaws due to the force, thus effectively improving the processing accuracy.

[0030] The above embodiments only illustratively explain the principle and efficacy of the present invention and some applied embodiments, rather than limiting the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can be made, and these all belong to the protection scope of the present invention.

Claims

1. A high-precision adaptive mechanical gripper with anti-movement, comprising at least two grippers (1) circumferentially distributed around a clamping center axis and a main drive mechanism (2) for driving the grippers (1) to move closer to or away from each other, characterized in that: At least one receiving groove (3) is respectively provided on the surface of each clamping jaw (1) facing the clamping center axis, the opening of any receiving groove (3) faces the clamping center axis, a large number of push rods (4) are arranged in any receiving groove (3), one end of all the push rods (4) in the same receiving groove protrudes from the mouth of the receiving groove (3) outside the receiving groove (3), and the other end is elastically connected to the bottom surface of the receiving groove (3), and the end surfaces of all the push rods (4) in the same receiving groove (3) protruding from the receiving groove (3) are flush to form a clamping A surface (5), side walls of all adjacent push rods (4) in the same accommodating groove (3) are in contact with each other, any clamping jaw (1) is also connected to a locking mechanism for locking all push rods (4) on the clamping jaw (1), the locking mechanism comprising at least one pressing plate (6) arranged on the side of the push rod (4) and a sub-driver (7) for driving the pressing plate (6) to radially press the push rod (4), all the push rods (4) are arranged in a plurality of rows and columns, and the push rods (4) in each row are arranged in sequence along the pressing direction of the pressing plate (6); The main drive mechanism (2) comprises a main drive (201), the main drive (201) being a pneumatic cylinder or an oil cylinder, the front end of the main drive (201) being fixedly connected to a support seat (202), a push rod of the main drive (201) vertically passing through the support seat (202), the push rod of the main drive (201) being coaxial with the clamping center axis, each clamping jaw (1) being hinged on the support seat (202), and each clamping jaw (1) being connected to the push rod of the main drive (201) via a connecting rod (203), and the push rod of the main drive (201) driving each clamping jaw (1) to be clamped or separated synchronously via the connecting rod (203).

2. The high-precision adaptive mechanical gripper according to claim 1, characterized in that: Two receiving grooves (3) are provided on any clamping jaw (1), and the two receiving grooves (3) are separated by an isolation block (8). A connecting groove (9) is provided at one end of the isolation block (8), and the connecting groove (9) connects the two receiving grooves (3). A pressing plate (6) of the locking mechanism is inserted into the connecting groove (9), and both ends of the pressing plate (6) extend into the two receiving grooves (3) respectively. The pressing plate (6) is located on the same side of all the push rods (4) in the two receiving grooves (3), and the pressing plate (6) is opposite to all the push rods (4) in the two receiving grooves (3). The auxiliary driver (7) of the locking mechanism is a pneumatic A cylinder or oil cylinder, a sub-driver (7) is fixedly connected to the outer wall of the clamp (1), a push rod of the sub-driver (7) passes through the side wall of the clamp (1) and is inserted into the connecting groove (9) and vertically connected to the pressure plate (6), the width of the connecting groove (9) is greater than the thickness of the pressure plate (6) and the difference between the width of the connecting groove (9) and the thickness of the pressure plate (6) is not greater than the radius of the push rod (4), the push rod (4) adjacent to the inner wall of the accommodating groove (3) lightly abuts against the inner wall of the accommodating groove (3), and the push rod (4) adjacent to the pressure plate (6) is tightly abutted against the pressure plate (6) in a locked state, and lightly abutted against or separated from the pressure plate (6) in an unlocked state.

3. The high-precision adaptive mechanical gripper according to claim 2, characterized in that: The auxiliary driver (7) is connected to a side of the clamping jaw (1) away from the pressure plate (6); a push rod of the auxiliary driver (7) passes through a side wall of the clamping jaw (1) and an isolation block (8) and is connected to the pressure plate (6); the push rod and the isolation block (8) are in sliding engagement.

4. The high-precision adaptive mechanical gripper according to claim 1, characterized in that: The clamping jaw (1) is provided with a receiving groove (3), and a pressure plate (6) of the locking mechanism is arranged along an inner side wall of the receiving groove (3) and is opposite to the side surfaces of all the push rods (4) in the receiving groove (3). The auxiliary driver (7) of the locking mechanism is a cylinder or an oil cylinder. The auxiliary driver (7) is fixedly connected to the outer wall of the clamping jaw (1). A push rod of the auxiliary driver (7) passes through the side wall of the clamping jaw (1) and is inserted into the receiving groove (3) and is vertically connected to the pressure plate (6). When the auxiliary driver (7) does not apply pressure to the pressure plate (6), the pressure plate (6) lightly contacts an adjacent row of push rods (4).

5. The high-precision adaptive mechanical gripper according to any one of claims 1 to 4, characterized in that: The top rods (4) are cylindrical or prism-shaped, and the top rods (4) are arranged parallel to each other.

6. The high-precision adaptive mechanical gripper according to any one of claims 1 to 4, characterized in that: Any of the push rods (4) is elastically connected to the corresponding clamping jaw (1) via an independent coil spring (10).

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