Rotatable buffer gripper

Abstract

The utility model provides a rotatable buffer gripper. The rotatable buffer gripper is structurally characterized in that the gripper can be opened and closed around a Z-direction central axis, is guided by a guide mechanism with a buffer component and can perform reciprocating linear displacement along the Z direction, the linear displacement along the Z direction is buffered by the buffer component, and the gripper and the guide mechanism are driven by a rotating mechanism to rotate around the Z-direction central axis; in the Z direction, the guide mechanism is detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper, and can linearly displace along with the movement of the gripper in the Z direction under the guidance of a linear guide rail arranged in the Z direction through a plurality of buffer stand columns coaxially sleeved with buffer springs, so that the gripper is guided, and is buffered through the buffer springs. The grabbing mechanism can adapt to the grabbing action of the grabbing hand to provide a buffering function, enables the grabbing hand to be rotatable, and can adapt to different grabbing angle requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of equipment tool, more specifically, a rotatable buffer gripper. BACKGROUND

[0002] In order to protect workpiece in factory production process, gripper is required to have buffering function. In order to adapt to different angles, it is possible that gripper also needs to be adjusted in plane at the same time, so a gripper with both functions needs to be designed. SUMMARY

[0003] To solve the above technical problems, the utility model provides a rotatable buffer gripper, which can provide buffering function for the gripping action of the gripper and make the gripper rotatable, so as to adapt to different gripping angle requirements.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A rotatable buffer gripper has the following structural features:

[0006] The gripper can be opened and closed around the Z-axis, and can be guided by the guide mechanism with a buffering assembly to move linearly along the Z-axis. The linear movement along the Z-axis is buffered by the buffering assembly, and the guide mechanism and the gripper are driven by the rotating mechanism to rotate around the Z-axis.

[0007] Along the Z-axis, the guide mechanism is detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper. Through the linear guide rail arranged along the Z-axis, the buffering column with a buffering spring coaxially sleeved can move linearly along the Z-axis with the movement of the gripper, form a guide for the gripper, and be buffered by the buffering spring.

[0008] The utility model also has the following structural features:

[0009] The rotating mechanism drives the guide mechanism and the gripper to rotate around the Z-axis through the rotating cylinder.

[0010] The rotating cylinder is a gear and rack type rotating swing table cylinder, which is detachably mounted on the back plate. The rotating table faces down and serves as the output end to hoist the guide mechanism. The back plate is also used for assembling the rotatable buffer gripper and external equipment.

[0011] The guiding mechanism comprises a guiding plate, a transition block, a linear guide rail, buffer columns, buffer springs, a movable block, a bottom plate, the top end of the transition block is detachably connected with the output end of the rotating mechanism, the guiding plate is detachably connected with the bottom end of the transition block and is formed with an overhanging plate section overhanging outside, the linear guide rail is detachably installed on the overhanging plate section, the bottom end of the bottom plate is detachably connected with the mounting end of the gripper below, the movable block is detachably connected with the slider of the linear guide rail, a plurality of buffer columns are arranged in parallel to the Z direction, the buffer springs are coaxially sleeved, are evenly and equidistantly distributed around the Z direction central axis, the lower end is detachably connected with the top end of the bottom plate, the transition block and the guiding plate jointly form a plurality of guiding holes according to the position distribution and the outer dimensions of the buffer columns, the upper end of the buffer column penetrates the guiding hole, the buffer spring is tensioned between the guiding plate and the bottom plate, and the gripper, the movable block, the slider and the buffer column constitute a synchronous displacement component through the bottom plate.

[0012] The overhanging plate section is in inverted L shape.

[0013] The gripper comprises pneumatic clamps and a clamp, and the clamp is driven to be opened and closed by the pneumatic clamps.

[0014] The pneumatic clamps are three-finger clamps, and the clamps are detachably connected with the clamps.

[0015] The central axis of the pneumatic clamps is the Z direction central axis.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] The utility model discloses a kind of guiding mechanisms, which is suitable for the use of the gripper, the guiding mechanism comprises guiding plate, transition block, linear guide rail, buffer column, buffer spring, movable block, bottom plate, and the top end of transition block is detachably connected with the output end of rotating mechanism, guiding plate is detachably connected with the bottom end of transition block, and is formed with overhanging plate section overhanging outside, linear guide rail is detachably installed on the overhanging plate section, the bottom end of bottom plate is detachably connected with the mounting end of gripper below, movable block is detachably connected with the slider of linear guide rail, buffer column is arranged in parallel to Z direction, buffer spring is coaxially sleeved, is evenly and equidistantly distributed around Z direction central axis, lower end is detachably connected with the top end of bottom plate, transition block and guiding plate jointly form a plurality of guiding holes according to the position distribution and the outer dimensions of buffer column, the upper end of buffer column penetrates guiding hole, buffer spring is tensioned between guiding plate and bottom plate, and gripper, movable block, slider and buffer column constitute synchronous displacement component through bottom plate. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is the structural schematic diagram of the utility model;

[0019] Fig. 2 It is the position relation schematic diagram of buffer spring and guiding hole.

[0020] In the drawing:

[0021] 11 rotating cylinder; 111 rotating table; 12 back plate;

[0022] 21 guide plate; 211 overhanging plate segment; 22 transition block; 23 linear guide rail; 24 buffer column; 25 buffer spring; 251 adjusting nut; 252 adjusting sleeve; 26 movable block; 27 base plate; 28 guide channel;

[0023] 31 pneumatic clamping jaw; 32 clamp. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0025] Please refer to Figs. 1-2 The structure of the rotatable buffer-equipped gripper in the embodiments comprises:

[0026] The gripper can be opened and closed around the Z-direction central axis, guided by the guide mechanism with the buffer assembly to reciprocate linearly along the Z-direction, and driven by the rotation mechanism to rotate around the Z-direction central axis together with the guide mechanism.

[0027] Along the Z-direction, the guide mechanism is detachably clamped between the output end of the rotation mechanism and the mounting end of the gripper, and can linearly displace along the Z-direction movement of the gripper together with the guide mechanism under the guidance of the linear guide rail 23 arranged along the Z-direction through the buffer column 24 with the buffer spring 25 coaxially sleeved, forming the guide of the gripper and buffering through the buffer spring 25.

[0028] In the specific implementation, the corresponding structure of the rotatable buffer-equipped gripper further comprises:

[0029] The rotation mechanism drives the guide mechanism and the gripper to rotate around the Z-direction central axis through the rotary air cylinder 11, so that the gripper can rotate in the XY plane to better adapt to different angle requirements.

[0030] The rotary air cylinder 11 is a gear rack type rotary turntable cylinder, which is detachably mounted on the back plate 12. The rotary table 111 faces downward as the output end to hoist the guide mechanism. The back plate 12 is also used for the assembly between the rotatable buffer-equipped gripper and external equipment.

[0031] The guide mechanism comprises a guide plate 21, a transition block 22, a linear guide rail 23, a buffer column 24, a buffer spring 25, a movable block 26, and a bottom plate 27. The top end of the transition block 22 is detachably connected with the output end of the rotating mechanism. The guide plate 21 is detachably connected with the bottom end of the transition block 22 and is formed with an overhanging plate segment 211 overhanging outside. The linear guide rail 23 is detachably installed on the overhanging plate segment 211. The bottom end of the bottom plate 27 is detachably connected with the mounting end of the lower gripper. The movable block 26 is detachably connected with the sliding block of the linear guide rail 23. A plurality of buffer columns 24 are arranged in parallel to the Z direction and coaxially sleeved with the buffer spring 25. The buffer columns 24 are equidistantly and uniformly distributed around the Z direction central axis. The lower end of the buffer column 24 is detachably connected with the top end of the bottom plate 27. The transition block 22 and the guide plate 21 jointly form a plurality of guide holes 28 according to the position distribution and the outer shape and size of each buffer column 24. The upper end of the buffer column 24 penetrates the guide hole 28. The buffer spring 25 is tensioned between the guide plate 21 and the bottom plate 27. The gripper, the movable block 26, the sliding block, and the buffer column 24 constitute a synchronous displacement member.

[0032] Further, a pre-tightening force adjusting assembly is arranged for the buffer spring 25, comprising an adjusting nut 251 and an adjusting sleeve 252. The adjusting sleeve 252 is coaxially and penetratively arranged in the guide hole 28. The lower end of the adjusting sleeve 252 is connected with the buffer spring 25. The top end of the adjusting sleeve 252 exposed above the guide hole 28 is threadedly sleeved with the adjusting nut 251. By rotating the adjusting nut 251, the adjusting sleeve 252 is driven to move along the axial direction of the buffer column 24, so as to adjust the pre-tightening force of the buffer spring 25. The buffer column 24 penetrates the adjusting sleeve 252 in the guide hole 28 and can move upwardly to be exposed above the guide hole 28 along with the action of the gripper.

[0033] The overhanging plate segment 211 is in an inverted "L" shape.

[0034] The gripper comprises a pneumatic clamping jaw 31 and a clamp 32. The clamp 32 is driven to be opened and closed by the pneumatic clamping jaw 31. The pneumatic clamping jaw 31 is a three-finger clamping jaw and is detachably connected with the clamp 32. The central axis of the pneumatic clamping jaw 31 is the Z direction central axis. The type of the clamp 32 can be specifically selected according to different gripping operation requirements.

[0035] The detachable connection / assembly between the above adjacent components can be through bolt thread connection.

[0036] The following is an application example of the rotatable buffer gripper with the above structure for reference:

[0037] The whole can be assembled with the back plate 12 and the driver, for example, as the end effector of the robot, and assembled with the robot.

[0038] The rotatable buffer gripper moves to the position of the workpiece along with the driver and reaches the clamping point position.

[0039] Afterwards, the grabber action of the rotatable buffer-equipped grabber, the pneumatic clamping jaw 31 drives the clamping jaw 32 to open and press against the workpiece, completing the grabbing action. In this process, if the rotatable buffer-equipped grabber has a deviation in the position relative to the workpiece along the direction facing the workpiece, then along with the grabbing action of the grabber, the bottom plate 27 and the movable block 26 will displace together with the buffer column 24 in the direction away from the workpiece under the guidance of the linear guide rail 23, and the buffer spring 25 is compressed, playing a buffering role on the grabber, so that the rotatable buffer-equipped grabber as a whole will not be impacted.

[0040] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A rotatable buffer-equipped gripper characterized in that: the gripper is openable and closable around a Z-direction central axis, guided by a guide mechanism with a buffer assembly to reciprocate linearly along the Z-direction, and driven by a rotating mechanism to rotate around the Z-direction central axis together with the guide mechanism; the guide mechanism is detachably clamped between the output end of the rotating mechanism and the mounting end of the gripper along the Z-direction, and linearly displaced along the Z-direction together with the gripper through a plurality of buffer columns with buffer springs coaxially sleeved under the guidance of linear guides arranged along the Z-direction, to form the guidance of the gripper and buffer through the buffer springs.

2. The rotatable belt cushioned gripper of claim 1, wherein: the rotating mechanism drives the guide mechanism and the gripper to rotate around the Z-direction central axis through a rotating cylinder.

3. The rotatable belt cushioned gripper of claim 2, wherein: the rotating cylinder is a gear and rack type rotating turntable cylinder, detachably mounted on a back plate, with the rotating table downward as the output end to hoist the guide mechanism, and the back plate also used for the assembly between the rotatable buffer-equipped gripper and external equipment.

4. The rotatable belt cushioned gripper of claim 1, wherein: the guide mechanism includes a guide plate, a transition block, linear guides, buffer columns, buffer springs, a movable block, and a bottom plate, detachably connected through the top end of the transition block and the output end of the rotating mechanism, detachably connected with the bottom end of the transition block and formed with an overhanging plate segment overhanging outside, with the linear guides detachably mounted on the overhanging plate segment, the bottom end of the bottom plate detachably connected with the mounting end of the gripper below, and the movable block detachably connected with the slider of the linear guides, with a plurality of buffer columns arranged parallel to the Z-direction, coaxially sleeved with buffer springs, equally and uniformly distributed around the Z-direction central axis, with the lower end detachably connected with the top end of the bottom plate, and the transition block and the guide plate jointly formed with a plurality of guide holes according to the position distribution and external dimensions of each buffer column, with the upper end of the buffer column penetrating the guide hole, and the buffer spring tensioned between the guide plate and the bottom plate, and the gripper comprising a synchronous displacement member through the bottom plate, the movable block, the slider, and the buffer column.

5. The rotatable belt cushioned gripper of claim 4, wherein: the overhanging plate segment is in an inverted "L" shape.

6. The rotatable belt cushioned gripper of claim 1, wherein: the gripper includes a pneumatic gripper claw and a clamp, and the clamp is openable and closable by the pneumatic gripper claw.

7. The rotatable belt cushioned gripper of claim 6, wherein: the pneumatic gripper claw is a three-finger gripper claw, detachably connected with the clamp through the gripper claw.

8. A rotatable belt-buffered gripper according to claim 6 or 7, characterized in that: the central axis of the pneumatic gripper claw is the Z-direction central axis.

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