High-retentivity light-weight structure gripper

Abstract

The utility model relates to the technical field of automatic carrying and gripping devices in automatic production, in particular to a high-retention light-weight structure gripper which comprises a mounting seat, a clamp retaining unit and two groups of clamping jaw components, the clamp retaining unit and the two groups of clamping jaw components are mounted on the mounting seat, each clamping jaw component comprises an air cylinder, a sliding rail and a sliding block mounted on the sliding rail, a clamping arm is arranged on each sliding block, and the clamping arm is connected with the air cylinder. The clamping arm is connected with the clamp holding unit; a zero-point mechanism mounting seat is further arranged on the mounting seat, and a zero-point mechanism is mounted on the zero-point mechanism mounting seat; the air cylinder is installed on the inner side of the installation base through an air cylinder flange and is adjacent to the clamp holding unit. According to the high-holding-force light-weight structure gripper, the small-cylinder-diameter air cylinder is adopted to drive the clamping arms to move, the clamp elements are adopted to keep (brake) the positions of the clamping arms, so that stable workpiece carrying is achieved, it is guaranteed that the workpieces do not fall off, in addition, large self-locking force can be kept under the condition of power failure and air stopping, and it is guaranteed that the clamping arms can stably clamp the workpieces.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic handling and grasping devices in automatic production, and particularly relates to a light-structured gripper with high holding force. Background Art

[0002] When designing a gripper for automatic handling, for workpieces with relatively heavy loads, generally, the cylinder diameter of the clamping cylinder of the gripper is increased or the power of the servo is increased to increase the clamping force. When the above solutions are adopted, the occupied space is relatively large and the weight of the gripper mechanism itself is relatively heavy, which is not conducive to handling in a narrow space and will increase the load rate of the robot. Summary of the Invention

[0003] In order to overcome the above-mentioned deficiencies, the purpose of the utility model is to provide a light-structured gripper with high holding force, which uses a small-diameter cylinder to drive the clamping arm to move, and the fixture element is used to hold (brake) the position of the clamping arm to realize stable handling of the workpiece, ensure that the workpiece does not fall, and in addition, it can maintain a large self-locking force in the case of power-off and air-stop, ensuring that the clamping arm can firmly clamp the workpiece.

[0004] The technical solution of the utility model is a light-structured gripper with high holding force, which includes a mounting base, a fixture holding unit mounted on the mounting base, and two groups of jaw assemblies. The jaw assembly includes a cylinder, a slide rail, and a slider mounted on the slide rail. A clamping arm is provided on the slider, and the clamping arm is connected to the fixture holding unit; a zero-point mechanism mounting base is further provided on the mounting base, and a zero-point mechanism is mounted on the zero-point mechanism mounting base; the cylinder is mounted inside the mounting base through a cylinder flange and is adjacent to the fixture holding unit.

[0005] Further, in order to ensure the accuracy of grasping, the zero-point mechanism mounting base is located between the two groups of jaw assemblies.

[0006] Further, in order to ensure the stability of clamping, the clamping arms are located outside the mounting base, and there are two groups of clamping arms in total.

[0007] Further, in order to enhance the stability of clamping, a pull plate is connected between the clamping arm and the slider.

[0008] Further, in order to achieve long-term maintenance of the clamping force, the fixture holding unit is located inside the mounting base, and one group is provided corresponding to each jaw assembly.

[0009] The beneficial effects of the present utility model are as follows: The fixture unit, the zero-point mechanism mounting seat, the linear slide rail and the slider are fixed on the mounting seat by bolts. The air cylinder and the air cylinder flange are fixed by bolts and are mounted on the mounting seat corresponding to the clamping arm. The zero-point mechanism is fixed on the zero-point mechanism mounting seat by bolts, and the zero-point mechanism mounting seat is fixed on the gripper mounting seat by bolts. The clamping arm is fixed on the slider and is connected and fixed to the air cylinder and the fixture unit. A small-diameter air cylinder is used to drive the clamping arm to move, and the fixture unit is used to hold (brake) the position of the clamping arm to achieve stable workpiece handling, ensuring that the workpiece does not fall off. It has the characteristics of small air consumption and rapid response. The small air cylinder is used to move the clamping arm, and in addition, it can maintain a large self-locking force in the case of power failure and air cut-off, ensuring that the clamping arm can firmly clamp the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] For ease of explanation, the present utility model will be described in detail by the following preferred embodiments and the accompanying drawings.

[0011] Figure 1 is a three-dimensional structural schematic diagram of a high-holding-force lightweight structure gripper of the present utility model;

[0012] Figure 2 is a top-view structural schematic diagram of a high-holding-force lightweight structure gripper of the present utility model;

[0013] Figure 3 is a front-view structural schematic diagram of a high-holding-force lightweight structure gripper of the present utility model;

[0014] Figure 4 is a perspective view of a high-holding-force lightweight structure gripper of the present utility model;

[0015] Figure 5 is a structural schematic diagram of a high-holding-force lightweight structure gripper of the present utility model assembled on a robot.

[0016] Reference numerals: mounting seat 1, fixture holding unit 2, jaw assembly 3, air cylinder 4, slide rail 5, slider 6, clamping arm 7, zero-point mechanism mounting seat 11, zero-point mechanism 12, air cylinder flange 41, pull plate 8, air cylinder rod 9. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0018] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0019] The following further describes a light - structure gripper with high holding force according to the present utility model with reference to the accompanying drawings:

[0020] As Figures 1-5 shown, a light - structure gripper with high holding force includes a mounting base 1, a fixture holding unit 2 mounted on the mounting base 1, and two sets of jaw assemblies 3. The jaw assembly 3 includes a cylinder 4, a slide rail 5, and a slider 6 mounted on the slide rail 5. A jaw arm 7 is provided on the slider 6, and a pull plate 8 is connected between the jaw arm 7 and the slider 6. Through the pull plate, a stable triangular structure is formed between the jaw arm 7 and the slider to ensure the stability of the jaw arm. The jaw arm 7 is connected to the fixture holding unit 2 through a jaw unit connecting rod 10. The jaw arm 7 is located outside the mounting base 1, and there are two sets of jaw arms 7 in total. A zero - point mechanism mounting base 11 is further provided on the mounting base 1, and a zero - point mechanism 12 is mounted on the zero - point mechanism mounting base 11. The zero - point mechanism mounting base 11 is located between the two sets of jaw assemblies 3.

[0021] In this embodiment, the cylinder 4 is mounted on the inner side of the mounting base 1 through a cylinder flange 41 and is adjacent to the fixture holding unit 2. Among them, the fixture holding unit 2 is located on the inner side of the mounting base 1, and one set is provided corresponding to each jaw assembly 3.

[0022] During operation, the cylinder pushes the jaw arm forward. The jaw arm moves under the guidance of the linear slide rail and the slider, and the gripper opens. The cylinder pulls the jaw arm backward. The jaw arm moves under the guidance of the linear slide rail and the slider, and the gripper closes. When the cylinder pushes or pulls the jaw arm in place, the fixture holding unit loses air or power, so that the state of the jaw arm is maintained.

[0023] Working steps:

[0024] 1. After manually fixing the workpiece on the workpiece positioning fixture, a gripper is installed on the six - axis robot. The gripper is positioned with the workpiece positioning fixture through the zero - point mechanism. After positioning, the cylinder pulls the jaw arm backward. The jaw arm moves under the guidance of the linear slide rail and the slider, and the gripper closes to complete the workpiece grasping. At this time, the fixture unit cuts off the air supply to brake the jaw arm and makes it remain stationary.

[0025] 2. When reaching the workpiece placement location, the air cylinder pushes the clamping arm forward. The clamping arm moves under the guidance of the linear slide rail and the slider. The gripper opens, and the six-axis robot takes the gripper away from the workpiece placement location.

[0026] In the present utility model, the fixture unit, the zero-point mechanism mounting seat, the linear slide rail, and the slider are fixed on the mounting seat by bolts. The air cylinder and the air cylinder flange are fixed by bolts and are mounted on the mounting seat corresponding to the clamping arm. The zero-point mechanism is fixed on the zero-point mechanism mounting seat by bolts, and the zero-point mechanism mounting seat is fixed on the gripper mounting seat by bolts. The clamping arm is fixed on the slider and is connected and fixed to the air cylinder and the fixture unit. A small-bore air cylinder is used to drive the movement of the clamping arm, and the fixture unit is used to maintain (brake) the position of the clamping arm to achieve stable handling of the workpiece and ensure that the workpiece does not fall. It has the characteristics of small air consumption and rapid response. A small air cylinder is used to move the clamping arm. Additionally, in the case of power failure and air cut-off, a large self-locking force can be maintained to ensure that the clamping arm can firmly clamp the workpiece.

[0027] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A light - weight structural gripper with high holding force, characterized in that, It includes a mounting base, a fixture holding unit mounted on the mounting base, and two sets of jaw assemblies. The jaw assembly includes a cylinder, a slide rail, and a slider mounted on the slide rail. A jaw arm is provided on the slider, and the jaw arm is connected to the fixture holding unit. A zero point mechanism mounting base is also provided on the mounting base, and a zero point mechanism is mounted on the zero point mechanism mounting base. The cylinder is mounted on the inner side of the mounting base through a cylinder flange and is adjacent to the fixture holding unit.

2. The light-structured gripper with high holding force according to claim 1, characterized in that: The zero point mechanism mounting base is located between the two sets of jaw assemblies.

3. The light-structured gripper with high holding force according to claim 1, characterized in that: The jaw arms are located on the outer side of the mounting base, and there are two sets of jaw arms in total.

4. The light-structured gripper with high holding force according to claim 1, characterized in that: A pull plate is connected between the jaw arm and the slider.

5. The light-structured gripper with high holding force according to claim 1, characterized in that: The fixture holding unit is located on the inner side of the mounting base, and one set is provided corresponding to each jaw assembly.

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