Mechanical arm clamping jaw finger quick-changing device

Abstract

The utility model belongs to the technical field of manipulator clamping jaws, and particularly relates to a manipulator clamping jaw finger quick-changing device. A manipulator clamping jaw finger quick-changing device comprises a finger air cylinder and two fixing blocks fixedly installed on a finger air cylinder sliding block, two fixing block through holes are formed in the lower portions of the fixing blocks, and two fasteners are detachably arranged in the two fixing block through holes in a penetrating mode respectively. The fastener comprises a limiting part and a rod part which is fixedly connected to one side of the limiting part and penetrates through the through hole of the fixed block; a transverse spring sleeves the rod part on the inner side of the fixed block, and a clamping block is detachably and fixedly connected to the rod part on the inner side of the transverse spring; when the two clamping blocks clamp a workpiece, the clamping blocks can compress the transverse spring, and the fastening piece can move relative to the through hole of the fixing block. The clamping part of the clamping jaw of the mechanical arm can be quickly replaced, and flexible clamping of a workpiece can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulator grippers, and in particular relates to a quick-change mechanism for gripper fingers of a manipulator. Background Art

[0002] In existing automated assembly lines, the loading and unloading locations and routes are generally fixed. Therefore, using mechanical equipment to automatically complete this process can significantly improve work efficiency and reduce costs. A common method used in the prior art is a robotic gripper, which installs a finger cylinder at the end of the robot and clamps the parts through the clamping portion of the finger cylinder to complete the loading and unloading operations. Because the robot handles different batches of workpieces of varying sizes during the loading and unloading process, the finger cylinders on the robot need to be frequently replaced as a whole, which takes a long time to replace, has poor accuracy, and is time-consuming and labor-intensive to adjust after replacement.

[0003] In the prior art, Chinese utility model patent application number 201822259896.1 discloses a finger cylinder quick fixture change structure, comprising a finger cylinder, wherein the upper end of the finger cylinder is provided with two adjustment mechanisms, and the two adjustment mechanisms are fixed with a fixture bracket, and the two fixture brackets are provided with a mounting slot, and the side walls of the two fixture brackets are provided with an opening, and the opening and the mounting slot are provided through-through, and a mounting block is installed in the mounting slot, and a connecting block is fixed to the side wall of one end of the mounting block, and the connecting block is located in the opening, and a clamping block is fixed to the side wall of one end of the connecting block, and the two clamping blocks correspond to each other, and the fixture bracket and the mounting block are jointly provided with a knob plunger. This utility model not only solves the problem of being unable to quickly install and remove the fixture, but also solves the problem of poor stability, and realizes the function of quickly removing the fixture without using tools, thereby improving the efficiency of changing tooling, while also improving production efficiency and ensuring work safety.

[0004] Although the above-mentioned existing patent technology can realize the replacement of the clamping block, thereby facilitating the adjustment of the structure of the clamping block according to different workpiece sizes, it still has the following technical problems: Since in the above-mentioned patent technology, the clamping block is locked and fixed by a knob plunger, when the clamping block clamps the workpiece, there is a fixed contact between the clamping block and the workpiece. When the workpiece placement position deviates, there will be phenomena such as unstable clamping or inability to clamp the clamping block. Or, when the workpiece needs to be clamped and placed in a placement groove, positioning groove or other structure, due to the non-flexible clamping between the clamping block and the workpiece, when the robot has limited accuracy in transporting the workpiece, resulting in a deviation between the workpiece and the placement groove or positioning groove, the workpiece cannot be placed in the specified position. Utility Model Content

[0005] In order to solve the technical problems existing in the prior art, the present application provides a quick-change device for the gripping part of a manipulator gripper, which can realize rapid replacement of the gripping part of the manipulator gripper and flexible gripping of the workpiece.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A quick change of fingers of a robot gripper, comprising a finger cylinder and two fixed blocks fixedly mounted on a slider of the finger cylinder, two fixed block through holes being opened at the lower portion of the fixed block, two fasteners being detachably inserted into the two fixed block through holes, the fasteners comprising a limiting portion and a rod portion fixedly connected to one side of the limiting portion and inserted into the fixed block through hole; a transverse spring is sleeved on the rod portion on the inner side of the fixed block, and a clamping block is detachably and fixedly connected to the rod portion on the inner side of the transverse spring; when the two clamping blocks clamp a workpiece, the clamping block can compress the transverse spring and the fastener can move relative to the fixed block through hole.

[0008] Preferably, a fixing block notch is provided on the inner end face of the fixing block where the fixing block through hole is provided, a clamping block notch matching the fixing block notch is provided on the outer end face of the upper part of the clamping block, and a clamping block connecting hole is provided on the vertical end face of the clamping block notch, the rod portion is detachably fixedly connected in the clamping block connecting hole, the fixing block notch and the clamping block notch can be clamped to each other and the transverse spring is provided between the fixing block notch and the clamping block notch.

[0009] Preferably, a clamping block mounting hole is provided on the horizontal end surface of the clamping block notch, a longitudinal spring is vertically embedded in the clamping block mounting hole, and the upper portion of the longitudinal spring abuts against the lower end surface of the fixing block.

[0010] Preferably, a limiting hole coaxial with the fixing block through hole is opened on the vertical end face of the fixing block notch, the inner diameter of the limiting hole is larger than the inner diameter of the fixing block through hole, the transverse spring is embedded in the limiting hole and one end of the transverse spring abuts the vertical end face of the clamping block notch.

[0011] Preferably, the vertical end surface of the notch of the fixing block is a concave arc surface structure, and the vertical end surface of the notch of the clamping block is a convex arc surface structure.

[0012] Preferably, the rod is threadedly connected to the connecting hole of the clamping block.

[0013] Preferably, a slot is provided on the rod portion on the inner side of the vertical end face of the notch of the fixing block, and a fixing hole is provided on the end face of the clamping block perpendicular to the axis of the connecting hole of the clamping block. An elastic limiting member is fixedly connected in the fixing hole, and the movable portion of the elastic limiting member can be clamped in the slot and when the clamping block moves away from the fixed block, the movable portion of the elastic limiting member can be disengaged from the slot.

[0014] Preferably, the elastic limiting member includes a limiting cylinder with an open structure at one end, a limiting spring arranged in the limiting cylinder, and a limiting ball arranged at the opening of the limiting cylinder. The outer diameter of the limiting ball is larger than the inner diameter of the opening of the limiting cylinder. Under the elastic action of the limiting spring, the limiting ball abuts against the inner wall of the opening of the limiting cylinder, and the limiting cylinder is fixedly embedded in the fixing hole.

[0015] Preferably, an external thread is provided on the outer circumference of the limiting cylinder, and the limiting cylinder is threadedly connected to the fixing hole.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model provides fasteners, transverse springs and clamping blocks, which facilitate the disassembly and assembly of the clamping block from the fixed block. Due to the elastic action of the transverse springs, the clamping block can flexibly clamp the workpiece. When clamping the fixed workpiece, the clamping block can automatically adjust the material picking direction under the action of the transverse spring. After the manipulator is lifted, the clamping block automatically adjusts to a normal angle.

[0018] By setting the fixing block notch and the clamping block notch, it is convenient to position the clamping block and install it on the fixing block and improve the connection stability between the two; by setting the longitudinal spring, the clamping block can be moved in the longitudinal direction, thereby further improving the flexible clamping of the clamping block on the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of Example 1 of the present utility model.

[0020] Figure 2 This is a front view structural diagram of Example 1 of the present utility model.

[0021] Figure 3 This is a schematic diagram of the explosion structure of Example 1 of the present utility model.

[0022] Figure 4 This is a structural diagram of the fixing block of Example 1 of the utility model.

[0023] Figure 5 This is a schematic structural diagram of the clamping block of Example 1 of the utility model.

[0024] Figure 6 This is a schematic diagram of the three-dimensional structure of Example 2 of the present utility model.

[0025] Figure 7 This is a front view structural diagram of Example 2 of the present utility model.

[0026] Figure 8 This is a schematic diagram of the exploded structure of some components of Example 2 of the present utility model.

[0027] Figure 9 This is a schematic structural diagram of the elastic limiting component of Example 2 of the present utility model.

[0028] In the figure: 1. finger cylinder, 2. fixing block, 21. horizontal part, 22. vertical part, 23. fixing block through hole, 24. fixing block notch, 241. arc surface structure one, 25. limiting hole, 3. fastener, 31. limiting part, 32. rod, 321. slot, 4. transverse spring, 5. clamping block, 51. clamping block notch, 511. arc surface structure two, 52. clamping block connecting hole, 53. transverse gap, 54. clamping block mounting hole, 55. longitudinal gap, 56. fixing hole, 6. longitudinal spring, 7. elastic limiting member, 71. limiting cylinder, 72. limiting spring, 73. limiting ball. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0031] Example 1

[0032] See attached Figure 1 、 2 Figures 3, 4, and 5 illustrate a quick-change mechanism for a manipulator gripper finger. The mechanism comprises a finger cylinder 1, which can utilize a conventional finger cylinder structure with two sliders. The sliders of finger cylinder 1 can move toward and away from each other. Two fixing blocks 2 are bolted to the sliders of finger cylinder 1. These fixing blocks 2 are L-shaped and comprise a horizontal portion 21 fixedly mounted to the sliders of finger cylinder 1 and a vertical portion 22 integrally formed on the outside of the horizontal portion 21.

[0033] Two fixing block through holes 23 are defined at the lower portion of the vertical portion 22 of the fixing block 2. Two fasteners 3 are removably inserted into each of the two fixing block through holes 23. The fasteners 3 include a stopper 31 and a rod 32 fixedly connected to one side of the stopper 31 and inserted into the fixing block through hole 23. The outer diameter of the stopper 31 is larger than the inner diameter of the fixing block through hole 23 and is located outside the vertical portion 22. In this embodiment, the fasteners 3 may be bolt structures, i.e., the stopper 31 is a nut of the bolt structure, and the rod 32 is a screw of the bolt structure.

[0034] A transverse spring 4 is sleeved on the rod portion 32 inside the vertical portion 22 of the fixed block 2. A clamping block 5 is detachably fixedly connected to the rod portion 32 inside the transverse spring 4. Specifically, to facilitate the clamping of the clamping block 5 on the fixed block 2 and further improve the stability of the connection between the clamping block 5 and the fixed block 2, in this embodiment, a fixed block notch 24 is defined on the inner end face of the fixed block 2 where the fixed block through hole 23 is defined. A clamping block notch 51 is defined on the upper outer end face of the clamping block 5 to match the fixed block notch 24. A clamping block connecting hole 52 is defined on the vertical end face of the clamping block notch 51. The rod portion 32 is detachably fixedly connected to the clamping block connecting hole 52. The fixed block notch 24 and the clamping block notch 52 can be mutually locked, and the transverse spring 4 is disposed between the fixed block notch 24 and the clamping block notch 51.

[0035] In order to allow the clamping blocks 5 to compress the transverse springs 4 when the two clamping blocks 5 clamp a workpiece (not shown), thereby allowing the fasteners 3 to move relative to the fixed block through-holes 23, in this embodiment, when the clamping blocks 5 are not clamping a workpiece, a transverse gap 53 is provided between the vertical end faces of the clamping block notches 51 and the vertical end faces of the fixed block notches 24 under the elastic action of the transverse springs 4. The rods 32 are threadedly connected to the clamping block connection holes 52, which can be through-holes. By adjusting the depth of the rods 32 screwed into the clamping block connection holes 52, the degree of compression of the transverse springs 4, and thus the degree of flexibility of the clamping blocks 5 when clamping the workpiece, can be adjusted. Alternatively, the clamping block connection holes 52 can be blind holes. By tightening the fasteners 3, the degree of compression of the transverse springs 4 can be maintained uniform, thereby stabilizing the degree of flexibility of each clamping block 5 when clamping the workpiece.

[0036] Furthermore, in order to reduce the transverse gap 53 and prevent the clamping block 5 from excessively shaking when clamping the workpiece, in this embodiment, a limiting hole 25 coaxial with the fixing block through hole 23 is opened on the vertical end face of the fixing block notch 24, and the inner diameter of the limiting hole 25 is larger than the inner diameter of the fixing block through hole 23. One end of the transverse spring 4 is embedded in the limiting hole 25 and the other end of the transverse spring 4 abuts against the vertical end face of the clamping block notch 51.

[0037] Furthermore, to further enhance the flexibility of the clamping block 5, a clamping block mounting hole 54 is defined in the horizontal end surface of the clamping block notch 51. A longitudinal spring 6 is vertically embedded within the clamping block mounting hole 54, with the upper portion of the longitudinal spring 6 abutting the lower end surface of the vertical portion 22 of the fixing block 2. When the clamping block 5 is not clamping a workpiece, longitudinal gaps 55 are defined between the horizontal end surface of the clamping block notch 51 and the lower end surface of the vertical portion 22 of the fixing block 2, and between the upper end surface of the clamping block 5 and the horizontal end surface of the fixing block notch 24.

[0038] Furthermore, in order to facilitate guiding the clamping block 5 when the clamping block 5 is flexibly deflected, the vertical end face of the fixing block notch 24 is a concave arc surface structure 1 241 and the vertical end face of the clamping block notch 51 is a convex arc surface structure 2 511.

[0039] It should be noted that the various orientations described can be Figure 2 The directions in the figure are explained, i.e., the "outer side" refers to the side away from the center of the figure, the "inner side" refers to the side closer to the center of the figure, the "vertical" refers to the longitudinal direction in the figure, and the "horizontal" refers to the horizontal direction in the figure. The above-mentioned transverse gap 53 and longitudinal gap 55 can be adaptively set according to the specific workpiece being clamped, for example, to between 0.5-1 mm.

[0040] The working principle and process of this embodiment are as follows:

[0041] When the clamping block 5 needs to be disassembled, the limiting portion 31 of the fastener 3 is loosened to allow the rod 32 to detach from the clamping block 5, and the clamping block 5 can be removed; when the clamping block 5 needs to be installed, the transverse spring 4 is embedded in the limiting hole 25, the longitudinal spring 6 is embedded in the clamping block installation hole 54, the rod 32 is passed through the fixing block through hole 23 from the outside of the fixing block 2 and is threadedly connected to the clamping block connecting hole 52; when using the utility model to clamp the fixed workpiece, when the workpiece has an irregular structure or deviates from the predetermined clamping position, and the existing hard clamping cannot be stably clamped, the clamping block 5 in this embodiment can flexibly and stably clamp the workpiece under the elastic action of the transverse spring 4 and the longitudinal spring 6 respectively.

[0042] Example 2

[0043] See also Figure 6 、 7 As shown in , 8 and 9, this embodiment is further optimized based on the embodiment 1. The difference between this embodiment and the embodiment 1 is that the connection method between the fastener 3 and the clamping block 5 is different.

[0044] In this embodiment, a slot 321 is defined within the rod portion 32 on the inner side of the vertical end surface of the fixing block notch 24. The slot 321 may be an annular groove with a smooth transition between the slot 321 and the outer circumference of the rod portion 32. A fixing hole 56 is defined within the end surface of the clamping block 5, perpendicular to the axis of the clamping block connection hole 52. The fixing hole 56 communicates with the clamping block connection hole 52. An elastic stopper 7 is fixedly connected within the fixing hole 56. The movable portion of the elastic stopper 7 can be retained within the slot 321 and can be disengaged from the slot 321 when the clamping block 5 moves away from the fixing block 2.

[0045] Specifically, the elastic limiting member 7 includes a limiting cylinder 71 with an open structure at one end, a limiting spring 72 inserted into the limiting cylinder 71, and a limiting ball 73 disposed at the opening of the limiting cylinder 71 on one side of the limiting spring 72. The outer diameter of the limiting ball 73 is larger than the inner diameter of the opening of the limiting cylinder 71. Under the elastic action of the limiting spring 72, the limiting ball 73 abuts against the inner wall of the opening of the limiting cylinder 71, and the limiting cylinder 71 is fixedly embedded in the fixing hole 56. Furthermore, in order to facilitate adjustment of the depth of the limiting cylinder 71 in the fixing hole 56, in this embodiment, an external thread is provided on the outer circumference of the limiting cylinder 71, and the limiting cylinder 71 is threadedly connected to the fixing hole 56. An internal hexagonal groove is provided at the end of the limiting cylinder 71 away from its opening to facilitate its disassembly using an internal hexagonal wrench.

[0046] It should be noted that in this embodiment, the movable portion of the elastic stopper 7 is a stopper ball 73. After the clamping block 5 is installed, the stopper ball 73 is locked in the slot 321. When the clamping block 5 is removed, the clamping block 5 moves away from the fixed block 2, and the stopper ball 73 can be disengaged from the slot 321. To facilitate the stopper ball 73 to enter the slot 321 from the end of the rod 32 of the fastener 3, the end of the rod 32 is provided with a chamfered structure or a tapered structure.

[0047] The working principle and process of this embodiment are as follows:

[0048] When the clamping block 5 needs to be disassembled, the clamping block 5 is pulled inwardly so that the limiting ball 73 retracts into the limiting cylinder 71, thereby disengaging the limiting ball 73 from the slot 321, and then the clamping block 5 can be removed; when the clamping block 5 needs to be installed, the transverse spring 4 is embedded in the limiting hole 25, the longitudinal spring 6 is embedded in the clamping block installation hole 54, the rod portion 32 is passed through the fixing block through hole 23 from the outside of the fixing block 2, the clamping block connecting hole 52 is sleeved on the rod portion 32 and the clamping block 5 is pressed toward the limiting portion 31, and the limiting The ball 73 is first retracted into the limiting cylinder 71 under the action of the end of the rod 32, and then under the action of the limiting spring 72, the limiting ball 73 is clamped in the clamping groove 321, thereby installing the clamping block 5 on the fastener 3; when using the utility model to clamp the fixed workpiece, when the workpiece has an irregular structure or deviates from the predetermined clamping position, and the existing hard clamping cannot be stably clamped, the clamping block 5 in this embodiment can flexibly and stably clamp the workpiece under the elastic action of the transverse spring 4 and the longitudinal spring 6 respectively.

[0049] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A quick changer for gripper fingers of a manipulator, comprising a finger cylinder and two fixed blocks fixedly mounted on a slider of the finger cylinder, characterized in that: Two fixing block through holes are opened at the lower part of the fixing block, and two fasteners are detachably inserted into the two fixing block through holes, and the fasteners include a limiting portion and a rod portion fixedly connected to one side of the limiting portion and inserted into the fixing block through hole; a transverse spring is sleeved on the rod portion on the inner side of the fixing block, and a clamping block is detachably fixedly connected to the rod portion inside the transverse spring; when the two clamping blocks clamp the workpiece, the clamping block can compress the transverse spring and the fastener can move relative to the fixing block through hole.

2. The quick changer for gripper fingers of a manipulator according to claim 1, characterized in that: A fixing block notch is provided on the inner end face of the fixing block where the fixing block through hole is provided, a clamping block notch matching the fixing block notch is provided on the outer end face of the upper part of the clamping block, a clamping block connecting hole is provided on the vertical end face of the clamping block notch, the rod portion is detachably fixedly connected in the clamping block connecting hole, the fixing block notch and the clamping block notch can be clamped to each other and the transverse spring is provided between the fixing block notch and the clamping block notch.

3. The quick changer for gripper fingers of a manipulator according to claim 2, characterized in that: A clamping block mounting hole is provided on the horizontal end surface of the clamping block notch, a longitudinal spring is vertically embedded in the clamping block mounting hole, and the upper portion of the longitudinal spring abuts against the lower end surface of the fixing block.

4. The quick changer for gripper fingers of a manipulator according to claim 2, characterized in that: A limiting hole coaxial with the fixing block through hole is provided on the vertical end face of the fixing block notch, the inner diameter of the limiting hole is larger than the inner diameter of the fixing block through hole, the transverse spring is embedded in the limiting hole and one end of the transverse spring abuts against the vertical end face of the clamping block notch.

5. The quick changer for gripper fingers of a manipulator according to claim 2, characterized in that: The vertical end surface of the notch of the fixing block is an inwardly concave arc surface structure, and the vertical end surface of the notch of the clamping block is an outwardly convex arc surface structure.

6. The quick changer for gripper fingers of a manipulator according to claim 2, characterized in that: The rod portion is threadedly connected in the connecting hole of the clamping block.

7. The quick changer for gripper fingers of a manipulator according to claim 2, characterized in that: A card slot is provided on the rod portion on the inner side of the vertical end face of the notch of the fixing block, and a fixing hole is provided on the end face of the clamping block perpendicular to the axis of the connecting hole of the clamping block. An elastic limiting member is fixedly connected in the fixing hole, and the movable portion of the elastic limiting member can be clamped in the card slot and when the clamping block moves away from the fixed block, the movable portion of the elastic limiting member can be separated from the card slot.

8. The quick changer for gripper fingers of a manipulator according to claim 7, characterized in that: The elastic limiting component includes a limiting cylinder with an open structure at one end, a limiting spring arranged in the limiting cylinder, and a limiting ball arranged at the opening of the limiting cylinder. The outer diameter of the limiting ball is larger than the inner diameter of the opening of the limiting cylinder. Under the elastic action of the limiting spring, the limiting ball abuts the inner wall of the opening of the limiting cylinder, and the limiting cylinder is fixedly embedded in the fixing hole.

9. A quick changer for gripper fingers of a manipulator according to claim 8, characterized in that: An external thread is provided on the outer circumference of the limiting cylinder, and the limiting cylinder is threadedly connected in the fixing hole.

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