Automatic stepless pitch changing and locking mechanism for clamping jaw

Abstract

The utility model discloses a clamping jaw automatic stepless pitch changing and locking mechanism which comprises a mechanical arm, a clamping jaw assembly is connected to the mechanical arm, the clamping jaw assembly comprises a framework support, a pitch changing clamping jaw connected to the framework support in a sliding mode and a fixed clamping jaw fixedly connected to the framework support, and a guide protruding block is further arranged on the pitch changing clamping jaw. A variable-pitch adjusting column is arranged within the operating path range of the mechanical arm, a guide groove is formed in the top end of the variable-pitch adjusting column, the mechanical arm drives a guide protruding block to be clamped in the guide groove, and the variable-pitch clamping jaw is driven by the robot to move in the length direction of the framework support and get close to or away from the fixed clamping jaw, so that the effective clamping length of the clamping jaw assembly is adjusted; therefore, products with different lengths and sizes can be clamped. Under the condition that a driving device is not additionally arranged, the clamping jaw assembly can be quickly changed through movement of the mechanical arm, and the clamping jaw assembly is simple in structure, easy and convenient to operate and convenient to maintain.

Description

Technical Field

[0001] The utility model relates to the field of mechanical grasping devices, in particular to a clamping jaw automatic stepless variable pitch and locking mechanism. Background Art

[0002] Clamping jaws are generally used in transfer equipment to clamp different products and are often used in conjunction with a robotic arm to achieve product transfer. In actual production, due to differences in product specifications, sizes, etc., currently, one way is to replace the clamping jaw model on the robot to meet the clamping and transfer of products of different sizes, but this increases production costs and reduces production efficiency; the other way is to use different driving devices to drive and adjust the distance between the clamping jaws. For example, multiple cylinders are used to control multiple groups of clamping jaws to achieve the adjustment of the distance between multiple groups of clamping jaws, but this makes the clamping jaw device complex in assembly and the equipment structure large. Summary of the Utility Model

[0003] To solve the above technical problems, the utility model provides a clamping jaw automatic stepless variable pitch and locking mechanism. By using the movement of the robotic arm, the rapid change of the clamping jaw assembly can be realized, with a simple structure and convenient operation.

[0004] The technical solution of the utility model is as follows:

[0005] A clamping jaw automatic stepless variable pitch and locking mechanism includes a robotic arm, and a clamping jaw assembly is connected to the driving end of the robotic arm; the clamping jaw assembly includes a skeleton bracket, and at least one group of clamping jaws is provided on the skeleton bracket. Each group of clamping jaws includes a row of first clamping jaws and a row of second clamping jaws that are oppositely arranged along the length direction of the product. One row of the second clamping jaws can move relative to one row of the first clamping jaws through a linear module; and each row of the first and second clamping jaws includes a plurality of fixed clamping jaws fixedly connected to the skeleton bracket at intervals and a plurality of variable pitch clamping jaws slidably connected to the skeleton bracket.

[0006] A guiding convex block is fixedly provided on each variable pitch clamping jaw; a variable pitch adjustment column is fixedly provided within the running path range of the robotic arm, and a guiding groove for positioning the guiding convex block therein is provided at the top end of the variable pitch adjustment column.

[0007] Further, the guiding convex block is a cam follower, and the rolling direction of the cam follower is consistent with the length direction of the product.

[0008] Further, the variable pitch clamping jaws are slidably connected to the skeleton bracket and are located at one top end of a row of first clamping jaws and a row of second clamping jaws.

[0009] Further, the two variable pitch clamping jaws are respectively slidably connected to the skeleton bracket and are located at the two top ends of a row of first clamping jaws and a row of second clamping jaws, and the fixed clamping jaws are located between the two variable pitch clamping jaws.

[0010] Further, each of the variable-distance jaw and the skeleton bracket is slidably connected through a variable-distance component. Each variable-distance component includes a guide rail A, a locking slider, and a receiving slide plate. The guide rail A is arranged on the skeleton bracket along the length direction of the product. The receiving slide plate is slidably connected to the guide rail A through the locking slider, and each variable-distance jaw is fixedly arranged on the receiving slide plate.

[0011] Further, the locking slider is a pneumatic clamp slider.

[0012] Further, an elastic buffer is further included. One end of the elastic buffer is fixedly connected to the variable-distance jaw, and the other end is fixedly connected to the skeleton bracket.

[0013] Further, a plurality of groups of jaws are connected to the skeleton bracket in parallel at intervals.

[0014] Further, the variable-distance adjustment column is a floor-standing column, and the guiding groove is arranged at the top of the floor-standing column with its opening upward.

[0015] The beneficial technical effects of the present utility model are:

[0016] The present utility model discloses a jaw automatic stepless variable-distance and locking mechanism, which includes a robotic arm, and a jaw assembly is connected to the robotic arm.

[0017] Firstly, since a variable-distance jaw slidably connected to the skeleton bracket and a fixed jaw fixedly connected to the skeleton bracket are provided on the jaw assembly, and a variable-distance adjustment column is arranged within the operating path range of the robotic arm. By using the robotic arm to drive the guiding protrusion on the variable-distance jaw to engage with the guiding groove on the variable-distance adjustment column, under the drive of the robot, the variable-distance jaw moves along the length direction of the skeleton bracket, approaching or moving away from the fixed jaw, thereby adjusting the length of the jaw assembly to meet the requirements of gripping products of different length dimensions. Without adding a driving device, only by moving the robotic arm, the rapid type change of the jaw assembly can be realized, with a simple structure, convenient operation, and easy maintenance.

[0018] Secondly, since a locking slider is further provided on the variable-distance jaw, it is opened when ventilated, making the variable-distance jaw in a freely slidable state; it is locked when the air is cut off, fixing the variable-distance jaw to the skeleton bracket, ensuring the stable operation of the jaw assembly. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of two groups of jaws connected to the robotic arm of the present utility model;

[0020] Figure 2 It is a schematic diagram of two groups of jaws connected to the skeleton bracket in parallel at intervals in the present utility model;

[0021] Figure 3 It is Figure 2 Another perspective schematic diagram;

[0022] Figure 4 is Figure 3 a partial enlarged view of;

[0023] Figure 5 is a schematic diagram of the variable pitch component of the present utility model;

[0024] Figure 6 is a schematic diagram of the variable pitch adjustment column of the present utility model.

[0025] Wherein:

[0026] 100 - robotic arm, 200 - jaw assembly, 201 - frame bracket, 2011 - fixed frame bar, 2012 - variable pitch frame bar, 2013 - bracket guide rail, 202 - fixed jaw, 203 - variable pitch jaw, 204 - Y-axis drive motor 300 - guide projection, 301 - variable pitch adjustment column, 3011 - guide groove, 303 - connecting bar, 400 - variable pitch component, 401 - guide rail A, 402 - locking slider, 403 - receiving slide plate, 500 - elastic buffer, 600 - product. Specific embodiments

[0027] In order to be able to more clearly understand the technical means of the present utility model and implement it in accordance with the content of the specification, the following combines the drawings and embodiments to further describe in detail the specific embodiments of the present utility model. The following embodiments are used to illustrate the present utility model but not to limit the scope of the present utility model.

[0028] As Figures 1-6 shown, the present utility model provides a jaw automatic stepless variable pitch and locking mechanism, which includes a robotic arm 100. The robotic arm 100 of the present utility model is a six-axis robotic arm; the end of the robotic arm 100 is driven to be connected to a jaw assembly 200, and the jaw assembly 200 is driven by the robotic arm 100 to move. Definition: The length direction of the product is the X-axis direction, and the Y-axis direction is horizontally perpendicular to the X-axis direction.

[0029] The jaw assembly 200 includes a frame bracket 201, a linear module, a plurality of fixed jaws 202 and a plurality of variable pitch jaws 203. The linear module of the present utility model includes a Y-axis drive motor 204 and a bracket guide rail 2013.

[0030] The frame bracket 201 includes a set of jaws arranged oppositely along the X-axis direction. Each set of jaws is used to grip the product 600 to be transported. This set of jaws includes a fixed frame bar 2011 and a variable pitch frame bar 2012. A plurality of fixed jaws 202 and a plurality of variable pitch jaws 203 are arranged along the X-axis direction on both the fixed frame bar 2011 and the variable pitch frame bar 2012.

[0031] On the skeleton bracket 201 located between the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012, there is a bracket guide rail 2013 along the Y-axis. Both sides of the variable pitch skeleton bar 2012 in its X-axis direction are slidably connected to the bracket guide rail 2013 through sliders. The fixed part of the Y-axis drive motor 204 is connected to the fixed skeleton bar 2011, and its drive end is connected to the variable pitch skeleton bar 2012. The variable pitch skeleton bar 2012 is driven by the Y-axis drive motor 204 to move along the Y-axis direction, approaching or moving away from the fixed skeleton bar 2011, so as to clamp or release the product 600.

[0032] To enable the jaw assembly 200 to be compatible with clamping products 600 of different lengths and sizes without adding a driving device, there is at least one variable pitch jaw 203 on both the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012.

[0033] Preferably, each variable pitch jaw 302 is respectively arranged at the end faces of the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012 along the X-axis direction. In the present utility model, there is a variable pitch jaw 203 at both ends of the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012 along the X-axis direction, and several fixed jaws 202 are fixedly arranged between the two variable pitch jaws 203 on the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012.

[0034] The variable pitch jaw 203 is slidably connected to the fixed skeleton bar 2011 or the variable pitch skeleton bar 2012 through a variable pitch assembly 400. Each variable pitch assembly 400 includes a guide rail A401, a locking slider 402, and a receiving slide plate 403. The connection methods of the variable pitch jaw 203 and the variable pitch assembly 400 on the fixed skeleton bar 2011 and the variable pitch skeleton bar 2012 are the same. The following takes the connection method of the variable pitch jaw 203 and the variable pitch assembly 400 on the fixed skeleton bar 2011 as an example for illustration.

[0035] Each of the above-mentioned guide rails A401 is arranged on the fixed skeleton bar 2011 along the X-axis direction, and the length of each guide rail A is not greater than the length between one top end of the fixed skeleton bar 2011 and the adjacent fixed jaw 202. In the present utility model, the length of the guide rail A is equal to the length between one top end of the fixed skeleton bar 2011 and the adjacent fixed jaw 202. The locking slider 402 is slidably connected to the guide rail A401, the receiving slide plate 403 is fixedly connected to the locking slider 402, and the variable pitch jaw 203 is fixedly arranged on the receiving slide plate 403. In the present utility model, the locking slider 402 is a pneumatic clamp slider. When it is ventilated, it is opened, and the locking slider 402 is in a freely slidable state; when it is de-energized, it is locked, so that the variable pitch jaw 402 is fixedly connected to the guide rail A401. In addition, the locking slider 402 can also be a combination of a pneumatic clamp slider and a slider without a stopping function, so that the locking slider 402 can slide under force and stop.

[0036] In addition, a guiding convex block 300 is fixedly arranged on each variable pitch jaw 203. The guiding convex block 300 in the present utility model is a cam follower. Preferably, a connecting bar 303 is further arranged on the receiving slide plate 403. One end of the connecting bar 303 is fixedly connected to the top end of the receiving slide plate 403 away from the fixed jaw 202, and the cam follower is clamped inside the other end of the connecting bar 303, so as to facilitate the cam follower to be engaged in the guiding groove 3011.

[0037] To buffer and damp the movement of the locking slider 402 and the variable pitch jaw 203, the present utility model further provides an elastic buffer 500. One end of each elastic buffer 500 is fixedly connected to the receiving slide plate 403, and the other end is fixedly connected to the fixed skeleton bar 2011. The elastic buffer 500 of the present utility model is a nitrogen spring, and it can also be a buffer cylinder.

[0038] Furthermore, a variable pitch adjusting column 301 is fixedly arranged within the operating path range of the robotic arm 100. An upward-opening guiding groove 3011 is provided at the top end of the variable pitch adjusting column 301, and the size of the guiding groove 3011 is adapted to the cam portion of the cam follower. The variable pitch adjusting column 301 of the present utility model is a floor-standing column.

[0039] The operation process and principle of the present utility model:

[0040] When the jaw assembly 200 needs to grip products 600 of different lengths, the robotic arm 100 drives the jaw assembly 200 to run to the variable pitch adjusting column 301. Under the drive of the robotic arm 100, the rolling direction of the cam follower on the variable pitch jaw 203 is made consistent with the product length direction;

[0041] The robotic arm 100 first drives the cam follower on a variable pitch jaw 203 to be engaged in the guiding groove 3011. At this time, the locking slider 402 is opened by ventilation. Under the drive of the robotic arm 100, this variable pitch jaw 203 moves along the X-axis direction to approach or move away from the adjacent fixed jaw 202, so that the distance between the variable pitch jaw 203 and its adjacent fixed jaw 202 on the fixed skeleton bar 2011 or the sliding skeleton bar 2012 is shortened or increased, thereby shortening or increasing the effective length that the fixed skeleton bar 2011 and the sliding skeleton bar 2012 can grip. When the variable pitch jaw 203 is adjusted to the position specified by the PLC, the locking slider 402 cuts off the air supply and locks, clamping this variable pitch jaw 203 onto the fixed skeleton bar 2011 or the sliding skeleton bar 2012;

[0042] For the other variable pitch jaws 203 on the fixed skeleton bar 2011 or the sliding skeleton bar 2012 that need to adjust the distance, the position is adjusted in the same way as above, so that the overall length of the jaw assembly 200 is shortened or increased, thereby meeting the requirement of gripping products 600 of different lengths.

[0043] In addition, multiple groups of clamping jaws can also be connected to the framework support 201 of the present utility model in a side-by-side and spaced manner. Their operation modes and principles are the same as above and will not be elaborated here.

[0044] The above description is only the preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A clamping jaw automatic infinitely variable pitch and locking mechanism, comprising a mechanical arm (100), wherein a driving end of the mechanical arm (100) is connected to a clamping jaw assembly (200); characterized in that: The clamping jaw assembly (200) comprises a frame support (201), the frame support (201) is provided with at least one group of clamping jaws, each group of clamping jaws comprises a row of first clamping jaws and a row of second clamping jaws arranged opposite to each other along the length direction of the product, the row of second clamping jaws can move relative to the row of first clamping jaws through a linear module; and each row of first and second clamping jaws comprises a plurality of fixed clamping jaws (202) fixedly connected to the frame support (201) at intervals and a plurality of variable-distance clamping jaws (203) slidably connected to the frame support (201); A guide protrusion (300) is fixedly provided on each of the variable-distance clamping jaws (203); a variable-distance adjustment column (301) is fixedly provided within the operating path of the mechanical arm (100); and a guide groove (3011) is provided at the top end of the variable-distance adjustment column (301) for positioning the guide protrusion (300) therein.

2. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1 is characterized in that: The guide protrusion (300) is a cam bearing follower, and the rolling direction of the cam bearing follower is consistent with the length direction of the product.

3. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1 is characterized in that: The variable-pitch clamping jaw (203) is slidably connected to the skeleton support (201) and is located at a top end of a row of first clamping jaws and a row of second clamping jaws.

4. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1, characterized in that: The two variable-pitch clamping jaws (203) are respectively slidably connected to the two top ends of a row of first clamping jaws and a row of second clamping jaws on the skeleton support (201), and the fixed clamping jaw (202) is located between the two variable-pitch clamping jaws (203).

5. The automatic infinitely variable distance and locking mechanism for the clamping jaws according to any one of claims 1 to 4, characterized in that: Each of the variable pitch clamping jaws (203) and the skeleton support (201) is slidably connected via a variable pitch assembly (400), and each of the variable pitch assembly (400) comprises a guide rail A (401), a locking slider (402) and a receiving slider (403); the guide rail A (401) is arranged on the skeleton support (201) along the length direction of the product, the receiving slider (403) is slidably connected to the guide rail A (401) via the locking slider (402), and each variable pitch clamping jaw (203) is fixedly arranged on the receiving slider (403).

6. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 5, characterized in that: The locking slide block (402) is a pneumatic clamping slide block.

7. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1, characterized in that: It also includes an elastic buffer (500), one end of which is fixedly connected to the variable-pitch clamping jaw (203), and the other end of which is fixedly connected to the skeleton support (201).

8. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1, characterized in that: The skeleton support (201) is provided with a plurality of groups of clamping claws connected side by side and at intervals.

9. The automatic infinitely variable distance and locking mechanism of the clamping jaws according to claim 1, characterized in that: The variable distance adjustment column (301) is a floor-standing column, and the guide groove (3011) is arranged at the top of the floor-standing column, and its opening faces upward.

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