Automatic clamping jaw for cylindrical material

Abstract

The utility model relates to an automatic clamping jaw for cylindrical materials, and relates to the field of automatic clamping jaws, the automatic clamping jaw comprises a mounting base, the mounting base is detachably connected with a mechanical arm, a plurality of clamping arms which are rotationally and symmetrically arranged are slidably mounted at the bottom of the mounting base, and clamping jaws are fixedly mounted on the side walls of the clamping arms correspondingly; a driving mechanism is mounted on the mounting seat, is in transmission connection with the plurality of clamping arms, and drives the plurality of clamping arms to slide towards the centripetal or centrifugal direction. The stability of the clamping jaw for clamping the cylindrical material can be improved.

Description

Technical Field

[0001] The present application relates to the field of automatic grippers, and in particular to an automatic gripper for cylindrical materials. Background Art

[0002] Automated high-bay warehouse is a new concept in logistics warehousing. The use of high-bay warehouse equipment can realize the rationalization of warehouse high-rise, automatic access and simplified operation; automated high-bay warehouse is a form with a higher technical level at present.

[0003] Lane stackers are often installed in automated warehouses to stack materials. Lane stackers mainly include a robotic arm, which is installed in the warehouse, and an automatic gripper is installed at the end of the robotic arm. During the stacking process, the transport trolley transports the materials to be stacked to the starting position of the robotic arm, and the gripper at the end of the robotic arm grips the materials and stacks them at the desired stacking position.

[0004] At present, there are various structural forms for grabbing barrel-like materials in the market due to different stacking methods. Common stacking robots, whether motor-driven or hydraulically driven (or pneumatic), mainly use two clamps fixedly installed on the driving end to clamp and transport the materials. The contact area between the clamps and the cylindrical materials is small, the stability is low, and it is difficult to automatically stack the goods in the aisle. The grippers need to be redesigned according to the geometric characteristics of the cylindrical materials. Utility Model Content

[0005] In order to improve the stability of the clamping jaws in clamping cylindrical materials, the present application provides an automatic clamping jaw for cylindrical materials.

[0006] The present application provides an automatic clamp for cylindrical materials using the following technical solution:

[0007] An automatic clamp for cylindrical materials, comprising a mounting seat, the mounting seat being detachably connected to a mechanical arm, a plurality of rotationally symmetrically arranged clamping arms being slidably mounted on the bottom of the mounting seat, and clamping claws being fixedly mounted on the side walls of the plurality of clamping arms;

[0008] A driving mechanism is installed on the mounting seat, and the driving mechanism is transmission-connected with the plurality of clamping arms, and the driving mechanism drives the plurality of clamping arms to slide toward the centrifugal or centrifugal direction.

[0009] By adopting the above technical solution, when clamping a cylindrical material, the robotic arm drives the gripper to move above the cylindrical material to be clamped, and then the driving mechanism drives the clamping arm to slide centripetally until the clamping claws on the clamping arm clamp on the side wall of the cylindrical material; after the robotic arm drives the gripper and the cylindrical material to move to a preset position, the driving mechanism drives the clamping arm to slide centrifugally, so that the clamping claws on the clamping arm release the cylindrical material, and the picking and placing actions of the cylindrical material can be realized. Since the clamping arms are rotationally symmetrically arranged, and the driving mechanism drives the clamping arms to slide in the centripetal direction, the clamping arms can be evenly distributed around the circumference of the cylindrical material, ensuring that the cylindrical material clamped by the clamping claws is in balanced force, reducing the occurrence of sliding, dropping, and offset of the cylindrical material during the transfer process, effectively improving the stability of the gripper, and reducing the occurrence of damage, stacking misalignment, etc. of the cylindrical material due to sliding, dropping, and offset during the picking and placing process.

[0010] Preferably, a plurality of sliding grooves are formed at the bottom of the mounting seat, a connecting plate is fixedly connected to the top of the clamping arm, a transmission rod is fixedly installed on the top of the connecting plate, and the plurality of transmission rods respectively penetrate through the plurality of sliding grooves and extend to the top of the mounting seat;

[0011] The driving mechanism includes a rotating turntable and a servo motor. The rotating turntable is rotatably installed on the top of the mounting seat, and a plurality of arc-shaped guide grooves are formed on the rotating turntable. The end portions of the plurality of transmission rods extending out of the sliding grooves respectively extend into the plurality of arc-shaped guide grooves;

[0012] The cylinder block of the servo motor is fixedly installed on the top of the mounting seat, and the driving shaft of the servo motor is fixedly connected to the rotating turntable through a coupling.

[0013] By adopting the above technical solution, when the servo motor drives the rotating turntable to rotate, the rotating turntable can apply force to the transmission rod, so that the connecting plate, the clamping arm and the clamping claws move centripetally or centrifugally along the direction of the sliding groove at the same time, and the technical effect of automatically picking and placing the cylindrical material can be achieved.

[0014] Preferably, rollers are respectively installed at the end portions of the plurality of transmission rods, and both sides of the plurality of rollers are respectively attached to the two inner groove walls of the plurality of arc-shaped guide grooves.

[0015] By adopting the above technical solution, the rollers can convert the sliding friction between the transmission rod and the groove wall of the arc-shaped guide groove into rolling friction, effectively improving the stability of the actions of driving the transmission rod, the connecting plate, the clamping arm and the clamping claws to slide centripetally or centrifugally.

[0016] Preferably, guide rails are respectively fixedly connected to the bottom of the mounting seat. The directions of the plurality of guide rails are arranged along the direction of the sliding grooves, and limiting grooves are respectively formed on both sides of the plurality of guide rails;

[0017] Sliders are respectively fixedly connected to the tops of several of the connecting plates. The sliders are penetrated with connecting grooves adapted to the guide rails. On two opposite groove walls of the connecting grooves, limiting bumps are integrally formed respectively, and the two limiting bumps are respectively slidably arranged in the two limiting grooves.

[0018] By adopting the above technical solution, during the sliding process of the connecting plate, the limiting bumps on the inner wall of the connecting groove of the slider are slidably arranged in the limiting sliding grooves on both sides of the guide rail. The limiting grooves limit the positions of the limiting bumps and the sliders, reducing the occurrence of the situation where the connecting plate deviates, and further improving the sliding stability of the connecting plate, the clamping arm and the clamping claw.

[0019] Preferably, two support plates are fixedly connected to the top of the mounting seat, and the two support plates are respectively located on both sides of the rotating turntable;

[0020] Two mounting plates are fixedly connected to the tops of the two support plates. The mounting plates are erected above the rotating turntable, and the cylinder body of the servo motor is fixedly installed on the top of the mounting plate.

[0021] By adopting the above technical solution, the servo motor can be installed through the mounting plate.

[0022] Preferably, a protective cover is fixedly installed on the top of the mounting seat, and the servo motor and the rotating turntable are both covered in the protective cover.

[0023] By adopting the above technical solution, the protective cover can form a good protection effect for structures such as the servo motor and the rotating turntable.

[0024] Preferably, two connecting seats are fixedly connected to the top of the mounting seat. The two connecting seats are located on both sides of the protective cover, and the two connecting seats are detachably connected to the robotic arm.

[0025] By adopting the above technical solution, the connection between the robotic arm and the mounting seat can be realized through the connecting seats.

[0026] In summary, an automatic clamping jaw for cylindrical materials of the present application includes at least one of the following beneficial technical effects:

[0027] 1. When clamping a cylindrical material, the robotic arm drives the gripper to move above the cylindrical material to be clamped, and then the driving mechanism drives the clamping arm to slide centripetally until the clamping claws on the clamping arm clamp on the side wall of the cylindrical material. After the robotic arm drives the gripper and the cylindrical material to move to a preset position, the driving mechanism drives the clamping arm to slide centrifugally, so that the clamping claws on the clamping arm release the cylindrical material, and the picking and placing actions of the cylindrical material can be realized. Since the clamping arms are rotationally symmetrically arranged, when the driving mechanism drives the clamping arms to slide in the centripetal direction, the clamping arms can be evenly distributed around the circumference of the cylindrical material, ensuring that the cylindrical material clamped by the clamping claws is balanced in force, reducing the occurrence of sliding, falling, and offset of the cylindrical material during the transfer process, effectively improving the stability of the gripper, and reducing the damage, stacking misalignment, etc. of the cylindrical material due to sliding, falling, and offset during the picking and placing process, facilitating the stacking of the cylindrical material by the stacker in the roadway space;

[0028] 2. The roller can convert the sliding friction between the transmission rod and the groove wall of the arc-shaped guide groove into rolling friction, effectively improving the stability of the driving transmission rod, connecting plate, clamping arm, and clamping claw to slide centripetally or centrifugally. Description of the Drawings

[0029] Figure 1 is a schematic diagram for showing the installation position of the gripper on the robotic arm in the embodiment of the present application.

[0030] Figure 2 is a schematic diagram for showing the overall structure of the automatic gripper in the embodiment of the present application.

[0031] Figure 3 is a schematic diagram for showing the overall structure of the automatic gripper in the clamped state in the embodiment of the present application.

[0032] Figure 4 is Figure 2 the enlarged schematic diagram at position A in , mainly used to show the connection structure between the guide rail and the slider.

[0033] Description of the Reference Numerals: 1, robotic arm; 11, cross beam; 2, mounting seat; 21, chute; 22, guide rail; 221, limiting groove; 23, support plate; 24, mounting plate; 25, protective cover; 26, connecting seat; 3, clamping arm; 31, connecting plate; 32, transmission rod; 33, roller; 34, slider; 341, connecting groove; 342, limiting protrusion; 4, clamping claw; 5, driving mechanism; 51, rotating turntable; 511, arc-shaped guide groove; 52, servo motor. Detailed Embodiment

[0034] The following will Figures 1-4 further describe the present application in detail with reference to the attached

[0035] Embodiment

[0036] An embodiment of the present application discloses an automatic gripper for cylindrical materials. Refer to Figure 1 , Figure 2 and Figure 3 , which mainly includes a mounting base 2. The mounting base 2 is detachably connected to the robotic arm 1. A plurality of rotationally symmetrically arranged clamping arms 3 are slidably mounted at the bottom of the mounting base 2, and clamping claws 4 are respectively and fixedly mounted on the side walls of the plurality of clamping arms 3. A driving mechanism 5 is mounted on the mounting base 2. The driving mechanism 5 is in transmission connection with the plurality of clamping arms 3, and the driving mechanism 5 drives the plurality of clamping arms 3 to slide in a centripetal or centrifugal direction.

[0037] When clamping a cylindrical material, the robotic arm 1 drives the gripper to move above the cylindrical material to be clamped. Subsequently, the driving mechanism 5 drives the clamping arms 3 to slide centripetally until the clamping claws 4 on the clamping arms 3 clamp on the side wall of the cylindrical material. After the robotic arm 1 drives the gripper and the cylindrical material to move to a preset position, the driving mechanism 5 drives the clamping arms 3 to slide centrifugally, so that the clamping claws 4 on the clamping arms 3 release the cylindrical material, and the picking and placing actions of the cylindrical material can be realized.

[0038] Since the clamping arms 3 are rotationally symmetrically arranged and the driving mechanism 5 drives the clamping arms 3 to slide in a centripetal direction, the clamping arms 3 can be evenly distributed around the circumference of the cylindrical material, ensuring the balanced force of the cylindrical material clamped by the clamping claws, reducing the occurrence of sliding, dropping, and offset of the cylindrical material during the transfer process, effectively improving the stability of the gripper, and reducing the occurrence of damage, stacking misalignment, etc. of the cylindrical material due to sliding, dropping, and offset during the picking and placing process, facilitating the stacking of cylindrical materials by the stacker in the roadway space.

[0039] It should be noted that in some other embodiments, an elastic rubber material can be fixedly mounted on the clamping claw 4, and the elastic rubber material abuts between the side wall of the clamping arm 3 and the side wall of the cylindrical material. The elastic rubber material can increase the friction with the cylindrical material and further improve the stability of the clamping action on the cylindrical material.

[0040] Refer to Figure 2 and Figure 3 , a plurality of chutes 21 are opened at the bottom of the mounting base 2. A connecting plate 31 is fixedly connected to the top of the clamping arm 3. A transmission rod 32 is fixedly mounted on the top of the connecting plate 31. The plurality of transmission rods 32 respectively penetrate through the plurality of chutes 21 and extend to the top of the mounting base 2.

[0041] The driving mechanism 5 includes a rotating turntable 51 and a servo motor 52. The rotating turntable 51 is rotatably installed on the top of the mounting base 2, and a number of arc-shaped guide grooves 511 are formed on the rotating turntable 51. The end portions of a number of transmission rods 32 extending out of the sliding groove 21 respectively extend into a number of arc-shaped guide grooves 511. The cylinder body of the servo motor 52 is fixedly installed on the top of the mounting base 2, and the drive shaft of the servo motor 52 is fixedly connected to the rotating turntable 51 through a coupling.

[0042] When the servo motor 52 drives the rotating turntable 51 to rotate, the rotating turntable 51 can apply a force to the transmission rod 32, so that the connecting plate 31, the clamping arm 3 and the clamping claw 4 move centripetally or centrifugally along the direction of the sliding groove 21 at the same time, and the technical effect of automatically picking and placing cylindrical materials can be achieved.

[0043] It should be noted that in the embodiment of the present application, the number of the clamping arms 3, the clamping claws 4, the sliding grooves 21 and the arc-shaped guide grooves 511 is 4. In some other embodiments, according to actual use needs, the number of the clamping arms 3, the clamping claws 4, the sliding grooves 21 and the arc-shaped guide grooves 511 can be increased or decreased, which will not be limited and elaborated here.

[0044] Refer to Figure 2 and Figure 3 , roller 33 is respectively installed at the end portion of a number of transmission rods 32, and both sides of a number of rollers 33 are respectively attached to two inner groove walls of a number of arc-shaped guide grooves 511.

[0045] The roller 33 can convert the sliding friction between the transmission rod 32 and the groove wall of the arc-shaped guide groove 511 into rolling friction, which can effectively improve the stability of the centripetal or centrifugal sliding actions of the driving transmission rod 32, the connecting plate 31, the clamping arm 3 and the clamping claw 4.

[0046] Refer to Figure 2 and Figure 4 , guide rails 22 are respectively fixedly connected to the bottom of the mounting base 2. The directions of a number of guide rails 22 are arranged along the direction of the sliding groove 21, and limiting grooves 221 are respectively formed on both sides of a number of guide rails 22. Sliders 34 are respectively fixedly connected to the tops of a number of connecting plates 31. A connecting groove 341 adapted to the guide rail 22 is formed through the slider 34. Limiting protrusions 342 are integrally formed on two opposite groove walls of the connecting groove 341, and the two limiting protrusions 342 are respectively slidably arranged in the two limiting grooves 221.

[0047] During the sliding process of the connecting plate 31, the limiting protrusions 342 on the inner wall of the connecting groove 341 of the slider 34 are slidably arranged in the limiting sliding grooves on both sides of the guide rail 22. The limiting grooves 221 limit the positions of the limiting protrusions 342 and the slider 34, reducing the occurrence of the situation that the connecting plate 31 deviates, and further improving the sliding stability of the connecting plate 31, the clamping arm 3 and the clamping claw 4.

[0048] Reference Figure 2 With Figure 3 On the top of the mounting base 2, two support plates 23 are fixedly connected. The two support plates 23 are respectively located on both sides of the rotating turntable 51. On the top of the two support plates 23, a mounting plate 24 is fixedly connected. The mounting plate 24 is erected above the rotating turntable 51, and the cylinder block of the servo motor 52 is fixedly installed on the top of the mounting plate 24.

[0049] The servo motor 52 can be installed through the mounting plate 24.

[0050] Reference Figure 1 On the top of the mounting base 2, a protective cover 25 is fixedly installed. The servo motor 52 and the rotating turntable 51 are both covered in the protective cover 25. The protective cover 25 can provide a good protection effect for structures such as the servo motor 52 and the rotating turntable 51.

[0051] Reference Figure 1 On the top of the mounting base 2, two connecting seats 26 are fixedly connected. The two connecting seats 26 are located on both sides of the protective cover 25, and the two connecting seats 26 are detachably connected to the cross beam 11 on the robotic arm 1 by screws.

[0052] The implementation principle of an automatic gripper for cylindrical materials in an embodiment of the present application is as follows: When gripping a cylindrical material, the robotic arm 1 drives the gripper to move above the cylindrical material to be gripped. Subsequently, the driving mechanism 5 drives the clamping arms 3 to slide centripetally until the clamping claws 4 on the clamping arms 3 grip the side wall of the cylindrical material. After the robotic arm 1 drives the gripper and the cylindrical material to move to a preset position, the driving mechanism 5 drives the clamping arms 3 to slide centrifugally, so that the clamping claws 4 on the clamping arms 3 release the cylindrical material, and the picking and placing actions of the cylindrical material can be realized. Since the clamping arms 3 are arranged in rotational symmetry, and the driving mechanism 5 drives the clamping arms 3 to slide in the centripetal direction, the clamping arms 3 can be evenly distributed around the circumference of the cylindrical material, ensuring that the cylindrical material clamped by the gripper is balanced in force, reducing the occurrence of sliding, dropping, and offset of the cylindrical material during the transfer process, effectively improving the stability of the gripper, and reducing the occurrence of damage, stacking misalignment, etc. to the cylindrical material due to sliding, dropping, and offset during the picking and placing process, facilitating the stacking of cylindrical materials by the stacker in the roadway space.

[0053] The above are all preferred embodiments of the present application. The protection scope of the present application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automatic gripper for cylindrical materials, characterized in that, It includes a mounting base (2), the mounting base (2) is detachably connected to the robotic arm (1), several rotationally symmetrically arranged clamping arms (3) are slidably mounted at the bottom of the mounting base (2), and clamping claws (4) are respectively and fixedly mounted on the side walls of several said clamping arms (3); A driving mechanism (5) is mounted on the mounting base (2), the driving mechanism (5) is in transmission connection with several said clamping arms (3), and the driving mechanism (5) drives several said clamping arms (3) to slide in the centripetal or centrifugal direction.

2. The automatic jaw for cylindrical materials according to claim 1, wherein Several sliding grooves (21) are formed at the bottom of the mounting base (2), a connecting plate (31) is fixedly connected to the top of the clamping arm (3), a transmission rod (32) is fixedly mounted on the top of the connecting plate (31), and several said transmission rods (32) respectively penetrate through several said sliding grooves (21) and extend to the top of the mounting base (2); The driving mechanism (5) includes a rotating turntable (51) and a servo motor (52), the rotating turntable (51) is rotatably mounted on the top of the mounting base (2), and several arc-shaped guiding grooves (511) are formed on the rotating turntable (51), and the end parts of several said transmission rods (32) extending out of the sliding grooves (21) respectively extend into several said arc-shaped guiding grooves (511); The cylinder block of the servo motor (52) is fixedly mounted on the top of the mounting base (2), and the driving shaft of the servo motor (52) is fixedly connected to the rotating turntable (51) through a coupling.

3. The automatic jaw for cylindrical materials according to claim 2, wherein, Rollers (33) are respectively mounted at the end parts of several said transmission rods (32), and both sides of several said rollers (33) are respectively in contact with the two inner groove walls of several said arc-shaped guiding grooves (511).

4. The automatic jaw for cylindrical materials according to claim 2, wherein, Guide rails (22) are respectively fixedly connected to the bottom of the mounting base (2), the running directions of several said guide rails (22) are arranged along the running directions of the sliding grooves (21), and limiting grooves (221) are respectively formed on both sides of several said guide rails (22); Sliders (34) are respectively fixedly connected to the tops of several said connecting plates (31), a connecting groove (341) adapted to the guide rail (22) is formed through the slider (34), and limiting protrusions (342) are integrally formed on the two opposite groove walls of the connecting groove (341), and the two said limiting protrusions (342) are respectively slidably arranged in the two said limiting grooves (221).

5. The automatic jaw for cylindrical materials according to claim 3, wherein Two support plates (23) are fixedly connected to the top of the mounting base (2), and the two said support plates (23) are respectively located on both sides of the rotating turntable (51); An installation plate (24) is fixedly connected to the tops of the two said support plates (23), the installation plate (24) is erected above the rotating turntable (51), and the cylinder block of the servo motor (52) is fixedly mounted on the top of the installation plate (24).

6. The automatic jaw for cylindrical materials according to claim 5, characterized in that, A protective cover (25) is fixedly mounted on the top of the mounting base (2), and the servo motor (52) and the rotating turntable (51) are both covered in the protective cover (25).

7. The automatic jaw for cylindrical materials according to claim 6, wherein, Two connecting seats (26) are fixedly connected to the top of the mounting base (2). The two connecting seats (26) are located on both sides of the protective cover (25), and the two connecting seats (26) are detachably connected to the robotic arm (1).

Images