Connecting rod multi-station paw

Abstract

The utility model relates to the technical field of clamps, and provides a connecting rod multi-station gripper which comprises a flange installation frame, a flange used for being connected with a robot is arranged on the side face of the flange installation frame, and a plurality of gripper structure units are installed on the upper end face and the lower end face of the flange installation frame respectively. The gripper structure unit comprises a floating mechanism and a plurality of pneumatic grippers, the floating mechanism comprises a floating bottom plate, a floating limiting plate, a floating pneumatic gripper mounting plate and a floating guide device, the pneumatic grippers are detachably fixed to the floating pneumatic gripper mounting plate, and each pneumatic gripper comprises a pneumatic gripper body and fingers oppositely arranged at the two ends of the top of the pneumatic gripper body. And the side wall of the upper part of at least one pneumatic claw is connected with a vertical positioning mechanism. According to the scheme, the grabbing efficiency of the robot can be improved, the application range of the gripper is expanded, the split connecting rod can be grabbed, the positioning precision of the gripper is improved, and the rejection rate is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamp, specifically relates to a connecting rod multi-station hand claw. BACKGROUND

[0002] With the development of industrial automation technology, robots are increasingly widely used in mechanical processing, especially in the production and assembly process of connecting rods. However, the existing robot hand claw has many problems when grabbing connecting rods, which not only affects production efficiency, but also may cause product quality to decline.

[0003] These problems mainly reflect as follows:

[0004] Firstly, the grabbing efficiency is low. The existing robot hand claw is designed to grab only one connecting rod at a time, which leads to slow production rhythm. In the high-efficiency production line, this inefficient grabbing method becomes a bottleneck, affecting the overall production efficiency. Secondly, the scope of application is limited. The current robot hand claw usually has only one pair of fingers for grabbing the rod part of the connecting rod. This design is only suitable for small connecting rods. For heavy large connecting rods, the grabbing force of a single pair of fingers is insufficient, which can easily cause finger deformation or connecting rod sliding, thereby affecting production safety and product quality. Thirdly, the positioning accuracy is insufficient. The existing robot hand claw cannot automatically adjust the position, which can easily cause the connecting rod surface to be knocked, causing connecting rod waste and seriously affecting the quality of the connecting rod. In addition, the existing robot hand claw cannot effectively grab split connecting rods, which requires additional manual intervention in the production process, increasing production cost and complexity.

[0005] These problems affect production efficiency and product quality. Therefore, it is of great practical significance to develop a new type of hand claw that can improve grabbing efficiency, expand the scope of application, improve positioning accuracy and grab split connecting rods. SUMMARY

[0006] To solve the problems in the background art, the utility model provides a connecting rod multi-station hand claw, which comprises a flange mounting frame, the side surface of the flange mounting frame is provided with a flange for connecting with a robot, and a plurality of hand claw structure units are respectively installed on the upper and lower end surfaces of the flange mounting frame.

[0007] The gripper structure unit includes a floating mechanism and multiple air grippers, the floating mechanism includes a floating base plate, a floating limit plate, a floating air gripper mounting plate and a floating guide device, the floating base plate is fixed on the flange mounting frame, and two floating limit plates are provided, and the two floating limit plates are respectively fixed above the opposite two ends of the floating base plate, and the two ends of the floating air gripper mounting plate are floating or fixedly arranged between the floating base plate and the floating limit plate through the floating guide device; multiple air grippers are detachably fixed on the floating air gripper mounting plate, the air gripper includes an air gripper body and fingers located at the two ends of the top of the air gripper body that slide relatively, the two fingers can move toward or away from each other in the horizontal direction, and a vertical positioning mechanism is connected to the side wall of the upper part of at least one air gripper, the vertical positioning mechanism is located between the two fingers and can move in the horizontal direction away from or close to the air gripper, and a space for grabbing the split part of the connecting rod is formed between the vertical positioning mechanism and the two fingers.

[0008] Furthermore, the floating guide device includes a floating cylinder, and there are two floating cylinders. The two floating cylinders are relatively arranged on the top of the two free ends of the floating claw mounting plate, and the floating bottom plate is provided with a conical hole. The bottom output ends of the two floating cylinders are connected with conical pins, and the conical pins pass through the floating claw mounting plate and cooperate with the conical holes; the floating claw mounting plate is provided with at least one floating connecting block near at least each end, and the upper surface of the floating bottom plate is provided with movable grooves corresponding to the number and position of the floating connecting blocks, one end of the floating connecting block is fixed to the inner wall of the movable groove by a bolt, and the other end of the floating connecting block is connected to a tension spring, and the end of the tension spring away from the floating connecting block is fixed to the floating claw mounting plate.

[0009] Furthermore, a plurality of floating pull rods are connected between the floating limit plate and the floating bottom plate, an upper floating pressure plate is provided between the floating limit plate and the floating air gripper mounting plate, a lower floating pressure plate is provided between the floating bottom plate and the floating air gripper mounting plate, the upper floating pressure plate is fixed to the floating limit plate, the lower floating pressure plate is fixed to the floating bottom plate, a plurality of hollow slots are provided at intervals between the upper floating pressure plate and the lower floating pressure plate, and balls are movable in the slots.

[0010] Furthermore, the vertical positioning mechanism includes a positioning block and a positioning cylinder. The positioning cylinder is fixed on the side wall of the upper part of the air claw, and the output end of the positioning cylinder is connected to the positioning block.

[0011] Furthermore, the fingers are slidably arranged on the top of the air gripper body through a fixed block, and the surfaces of the fixed block and the opposite sides of the fingers are provided with evenly distributed sharp teeth.

[0012] The beneficial effects of the present invention are as follows: the present solution adopts multiple groups of gripper structural units, which can grasp multiple connecting rods at the same time; each gripper structural unit includes two air grippers, which can cooperate with each other to improve the grasping force, and is not only suitable for small connecting rods, but also for large connecting rods with heavier weight, thereby expanding the scope of application; and at least one air gripper adopts a combination of a vertical positioning mechanism and a pair of fingers to form a space for grasping the split parts of the split connecting rod, which can effectively grasp the split connecting rod. In addition, all grippers are equipped with a floating mechanism with floating or adaptive capabilities, which reduces the collision of the air grippers on the surface of the connecting rod, can realize the precise placement of parts by the robot, improve positioning accuracy, and reduce the scrap rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the gripper structure unit according to an embodiment of the present utility model;

[0015] Figure 3 This is a schematic diagram of the gripper structure of an embodiment of the utility model;

[0016] Figure 4 This is a schematic diagram of the floating mechanism structure without the floating limit plate according to an embodiment of the present invention.

[0017] Numbers in the figure: 1. Flange mounting frame; 2. Flange; 3. Gripper structure unit; 301. Floating base plate; 302. Floating limit plate; 303. Floating air gripper mounting plate; 304. Air gripper body; 305. Finger; 306. Positioning block; 307. Positioning cylinder; 308. Fixed block; 309. Floating cylinder; 310. Floating connecting block; 311. Moving groove; 312. Tension spring; 313. Upper floating pressure plate; 314. Lower floating pressure plate; 315. Floating pull rod; 316. Slot hole. DETAILED DESCRIPTION

[0018] In order to make the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the given embodiment is only one implementation method and does not represent all embodiments.

[0019] Combine Figure 1-Figure 4This embodiment provides a multi-position connecting rod gripper, comprising a flange mounting frame 1, a flange 2 for connecting to a robot being provided on the side of the flange mounting frame 1, and multiple sets of gripper structural units 3 mounted on the upper and lower end surfaces of the flange mounting frame 1. This embodiment includes four sets of gripper structural units 3: two sets are mounted on the upper end surface of the flange mounting frame 1, and the other two sets are mounted on the lower end surface of the flange mounting frame 1. Using four sets of gripper structural units 3, the robot can grasp and release two pieces of paper at a time, saving time and improving efficiency.

[0020] The gripper structure unit 3 includes a floating mechanism and multiple air grippers, the floating mechanism includes a floating base plate 301, a floating limit plate 302, a floating air gripper mounting plate 303 and a floating guide device, the floating base plate 301 is fixed on the flange mounting frame 1, and two floating limit plates 302 are provided, and the two floating limit plates 302 are respectively fixed above the opposite two ends of the floating base plate 301, and the two ends of the floating air gripper mounting plate 303 are floating or fixedly arranged between the floating base plate 301 and the floating limit plate 302 through the floating guide device; Each of the air grippers is removably fixed to the floating gripper mounting plate 303. The gripper comprises a gripper body 304 and fingers 305 located at opposite ends of the gripper body 304, each of which slides relative to the other. The two fingers 305 can move horizontally toward or away from each other. A vertical positioning mechanism is connected to the sidewall of at least one of the grippers' upper portions. The vertical positioning mechanism is located between the two fingers 305 and can move horizontally away from or toward the gripper. A space is formed between the vertical positioning mechanism and the two fingers 305 for grasping the separate parts of the connecting rod. Multiple gripper structural units 3 are each equipped with a floating mechanism. This floating mechanism imparts floating or adaptive capabilities to the robotic gripper used to grasp and move objects, improving gripping flexibility and accuracy. This is particularly true for machine tool parts with mandrel-based positioning, where a floating mechanism is required to guide the gripper into position. Specifically, the vertical positioning mechanism includes a positioning block 306 and a positioning cylinder 307. The positioning cylinder 307 is fixed to the side wall of the upper portion of the air gripper, and the output end of the positioning cylinder 307 is connected to the positioning block 306. It should be understood that although two air grippers are mounted on the floating air gripper mounting plate 303 in this embodiment, this is not limited to two air grippers. Multiple air grippers can also cooperate to grasp the connecting rod. The air gripper with both the vertical positioning mechanism and the fingers 305 has multiple fixed points to form a space for grasping the split connecting rod's separate parts, which can effectively grasp the split connecting rod.

[0021] As preferred, two fixing blocks 308 are fixed on the top of the two ends of the air claw body 304, and two fingers 305 are movably arranged on the top of the two fixing blocks 308 respectively. The surfaces of the fixing blocks 308 and the fingers 305 on the opposite sides are provided with uniformly distributed sharp teeth. The bottom of the finger 305 is provided with a bolt hole, and the position of the finger 305 is manually moved and then fixed by a bolt with the fixing block 308. The sharp teeth improve the firmness of the connection between the fixing block 308 and the finger 305.

[0022] In the embodiment, a pneumatic floating mechanism is adopted, and the floating of the hand claw is mainly realized by the pressure of gas. The floating guide device comprises two floating air cylinders 309. The two floating air cylinders 309 are oppositely arranged on the top of the two free ends of the floating air claw mounting plate 303. The floating bottom plate 301 is provided with a conical hole, and the bottom output end of each of the two floating air cylinders 309 is connected with a conical pin. The conical pin penetrates through the floating air claw mounting plate 303 and matches with the conical hole. The floating air claw mounting plate 303 is provided with at least one floating connecting block 310 near each end. The upper surface of the floating bottom plate 301 is provided with a moving groove 311 corresponding to the number and position of the floating connecting blocks 310. One end of the floating connecting block 310 is fixed with the inner wall of the moving groove 311 by a bolt. The other end of the floating connecting block 310 is connected with a tension spring 312. The end of the tension spring 312 away from the floating connecting block 310 is fixed with the floating air claw mounting plate 303. The floating air claw mounting plate 303 can float between the floating bottom plate 301 and the floating limiting plate 302 through the cooperation of the floating air cylinder 309 and the tension spring 312. As preferred, in the embodiment, one floating connecting block 310 is arranged near each of the four corners of the floating air claw mounting plate 303. Four floating connecting blocks 310 are respectively connected with one tension spring 312. Each tension spring 312 is fixed with the bottom of the floating air claw mounting plate 303, thereby increasing the stability of the floating of the floating air claw mounting plate 303.

[0023] Specifically, a plurality of floating pull rods 315 are connected between the floating limiting plate 302 and the floating bottom plate 301. The floating pull rod 315 plays a role of supporting the floating limiting plate 302. As a preferred solution, an upper floating pressing plate 313 is arranged between the floating limiting plate 302 and the floating air claw mounting plate 303, and a lower floating pressing plate 314 is arranged between the floating bottom plate 301 and the floating air claw mounting plate 303. The upper floating pressing plate 313 is fixed with the floating limiting plate 302, and the lower floating pressing plate 314 is fixed with the floating bottom plate 301. A plurality of through air slot holes 316 are arranged on the upper floating pressing plate 313 and the lower floating pressing plate 314 at intervals, and a plurality of rolling balls are movably arranged in the slot holes 316. The upper floating pressing plate 313 and the lower floating pressing plate 314 with the rolling balls increase the degree of freedom of the floating mechanism.

[0024] When the position precision of the workpiece grabbed by the gas claw is not accurate, and the workpiece hole is deviated from the positioning mandrel in the machine tool, the floating gas claw mounting plate 303 will produce lateral deviation, pull the extension spring 312 to stretch and retract, and the robot realizes the workpiece placement in the machine tool. After the robot completes the workpiece placement, the floating cylinder 309 is opened, the tapered pin is pushed into the tapered hole of the floating bottom plate 301, and the force of the floating cylinder 309 downwardly presses, so that the floating bottom plate 301, the upper floating pressing plate 313, the lower floating pressing plate 314 and the floating gas claw mounting plate 303 are extruded together, and the lateral deviation of the floating gas claw mounting plate 303 disappears.

[0025] The specific embodiments of the utility model are described in detail in combination with the drawings above, but the utility model is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principles and spirits of the utility model, and still fall within the protection scope of the utility model.

Claims

1. A connecting rod multi-position gripper, comprising a flange mounting frame (1), wherein a flange (2) for connecting to a robot is provided on a side of the flange mounting frame (1), characterized in that: Multiple groups of hand claw structural units (3) are respectively installed on the upper and lower end surfaces of the flange mounting frame (1); The gripper structure unit (3) includes a floating mechanism and a plurality of air grippers, wherein the floating mechanism includes a floating base plate (301), a floating limit plate (302), a floating air gripper mounting plate (303) and a floating guide device, wherein the floating base plate (301) is fixed on the flange mounting frame (1), two floating limit plates (302) are provided, and the two floating limit plates (302) are respectively fixed above the opposite two ends of the floating base plate (301), and the two ends of the floating air gripper mounting plate (303) are arranged on the floating base plate (301) in a floating or fixed manner through the floating guide device. 01) and the floating limit plate (302); a plurality of the air grippers are detachably fixed on the floating air gripper mounting plate (303), the air gripper comprising an air gripper body (304) and fingers (305) located at both ends of the top of the air gripper body (304) that slide relatively to each other, at least one of the upper side walls of the air gripper is connected to a vertical positioning mechanism, the vertical positioning mechanism is located between the two fingers (305) and can be moved in a horizontal direction away from or close to the air gripper, and a space for grasping the split part of the connecting rod is formed between the vertical positioning mechanism and the two fingers (305).

2. The connecting rod multi-position gripper according to claim 1, characterized in that: The floating guide device includes a floating cylinder (309), two floating cylinders (309) are provided, and the two floating cylinders (309) are relatively arranged on the top of the two free ends of the floating claw mounting plate (303), and the floating bottom plate (301) is provided with a tapered hole. The bottom output ends of the two floating cylinders (309) are connected with a tapered pin, and the tapered pin passes through the floating claw mounting plate (303) and matches with the tapered hole; the floating claw mounting plate (303) is at least At least one floating connection block (310) is provided near each end, and the upper surface of the floating base plate (301) is provided with movable grooves (311) corresponding to the number and position of the floating connection blocks (310). One end of the floating connection block (310) is fixed to the inner wall of the movable groove (311) by a bolt, and the other end of the floating connection block (310) is connected to a tension spring (312), and the end of the tension spring (312) away from the floating connection block (310) is fixed to the floating air claw mounting plate (303).

3. The connecting rod multi-position gripper according to claim 2, characterized in that: A plurality of floating pull rods (315) are connected between the floating limit plate (302) and the floating base plate (301); an upper floating pressure plate (313) is provided between the floating limit plate (302) and the floating air claw mounting plate (303); a lower floating pressure plate (314) is provided between the floating base plate (301) and the floating air claw mounting plate (303); the upper floating pressure plate (313) is fixed to the floating limit plate (302); the lower floating pressure plate (314) is fixed to the floating base plate (301); a plurality of hollow slots (316) are provided at intervals on the upper floating pressure plate (313) and the lower floating pressure plate (314); balls are movable in the slots (316).

4. The connecting rod multi-position gripper according to claim 1, characterized in that: The vertical positioning mechanism comprises a positioning block (306) and a positioning cylinder (307). The positioning cylinder (307) is fixed on the side wall of the upper part of the air claw, and the output end of the positioning cylinder (307) is connected to the positioning block (306).

5. The connecting rod multi-position gripper according to claim 1, characterized in that: The finger (305) is slidably arranged on the top of the air gripper body (304) through a fixed block (308), and the surfaces on the opposite sides of the fixed block (308) and the finger (305) are provided with evenly distributed sharp teeth.

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