Mechanical grabbing hand for taking parts

Abstract

The utility model belongs to the field of machinery, and relates to a mechanical gripper for picking up parts, which comprises a mounting column. The clamping jaw mechanism is mounted on the mounting column and comprises a driving device and at least two clamping jaws, and the at least two clamping jaws can get away from each other or get close to each other under the action of the driving device; the magnetic attraction mechanism is mounted on the mounting column and at least comprises a power device, a magnetism generating device and a positioning device, and the power device is connected with the magnetism generating device and used for enabling the magnetism generating device to be far away from or close to the positioning device. The clamping jaw mechanism and the magnetic attraction mechanism are arranged at the same time, the clamping jaw mechanism can meet the grabbing requirements of workpieces of different sizes, the magnetic attraction mechanism and the clamping jaw mechanism are matched to meet the grabbing requirements of the workpieces of different materials, and the workpieces capable of being magnetically attracted can be grabbed through the magnetic attraction mechanism, such as iron workpieces. And the workpieces which cannot be magnetically attracted can be grabbed by utilizing the clamping jaw mechanism.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical field, especially relate to a get part mechanical gripper. BACKGROUND

[0002] Mechanical gripper is the mechanical structure that automation, intelligent equipment commonly used, is used to grab workpiece and carries out the assembly of workpiece. However, the shape size of workpiece is different, the material is different, leads to one manipulator to be unable to satisfy the grabbing of multiple parts, the commonality is poor, in order to solve this problem, usually need to be equipped with multiple and workpiece matching mechanical gripper, leading to cost increase. CONTENT OF UTILITY MODEL

[0003] To solve the technical problem of poor commonality of mechanical gripper in prior art, the utility model provides a get part mechanical gripper.

[0004] To solve the above technical problem, the utility model adopts the technical scheme of a kind of get part mechanical gripper, including

[0005] Mounting column;

[0006] Claw mechanism, installation with the mounting column, it includes driving device and at least two clamps, at least two the clamp can be away from each other or close to each other under the action of the driving device;

[0007] Magnetic attraction mechanism, the magnetic attraction mechanism is installed on the mounting column, it at least includes power device, magnetic generating device and positioning device, the power device is connected with the magnetic generating device, for making the magnetic generating device away from or close to the positioning device.

[0008] In some embodiments, the claw mechanism further includes a mounting bracket, the mounting bracket is installed on the mounting column, the driving device is installed on the mounting bracket, and the driving device is connected with the clamp through a connecting rod mechanism.

[0009] In some embodiments, the connecting rod mechanism includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the output end of the driving device, the output end of the driving device can drive the first connecting rod to swing, the other end is hinged with the second connecting rod, the middle part of the second connecting rod is hinged with the mounting bracket, and one end of the second connecting rod away from the first connecting rod is provided with the clamp.

[0010] In some embodiments, the driving device is a pneumatic cylinder, and the first connecting rod is hinged with the output end of the pneumatic cylinder.

[0011] In some embodiments, the number of clamps is two, and the two clamps are oppositely arranged, and each clamp corresponds to one connecting rod mechanism.

[0012] The clamping jaw mechanism further comprises a fixed jaw fixed on the mounting frame; and the surfaces of the clamping jaw and the fixed jaw are provided with anti-skid protrusions.

[0013] In some embodiments, the magnetic attraction mechanism further comprises a housing mounted on the mounting column, the power device is arranged in the housing, and the positioning device is arranged at one end of the housing.

[0014] In some embodiments, the housing is slidingly mounted on the mounting column through a guide column, a gap is formed between the housing and the guide column, and a spring is further arranged between the housing and the mounting column.

[0015] In some embodiments, one end of the housing is provided with a threaded interface, one end of the positioning device is provided with a threaded segment, and the positioning device is threadedly connected to the housing through the threaded interface via the threaded segment.

[0016] In some embodiments, the positioning device is a hollow positioning sleeve, the inner wall of the opening of the positioning sleeve is provided with a flared conical surface, and the inner wall of the positioning sleeve is further provided with a separation ring.

[0017] In some embodiments, the threaded segment is threadedly connected with a lock nut.

[0018] Beneficial effects: the mechanical gripper scheme of the utility model simultaneously provides a clamping jaw mechanism and a magnetic attraction mechanism, the clamping jaw mechanism can meet the requirements of grabbing workpieces of different sizes, the magnetic attraction mechanism and the clamping jaw mechanism can meet the requirements of grabbing workpieces of different materials, workpieces that can be magnetically attracted can be grabbed by the magnetic attraction mechanism, such as iron workpieces, and workpieces that cannot be magnetically attracted can be grabbed by the clamping jaw mechanism. One mechanical gripper can realize multiple functions and meet the requirements of grabbing different workpieces, thereby improving the versatility of the mechanical gripper. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the content of the utility model more easily and clearly understood, the utility model will be further described in detail below according to specific embodiments and in combination with the drawings, in which

[0020] Figure 1 It is a three-dimensional structure schematic diagram of the mechanical gripper for taking parts;

[0021] Figure 2 It is another angle structure schematic diagram of the mechanical gripper for taking parts;

[0022] Figure 3 It is a structure schematic diagram of the clamping jaw mechanism;

[0023] Figure 4 It is a cross-sectional structure schematic diagram of the magnetic attraction mechanism.

[0024] Figure 1. mounting column, 2. drive device, 21. connecting block, 3. clamping jaw, 31. anti-skid convex, 4. fixing jaw, 5. mounting frame, 6. connecting rod mechanism, 61. first connecting rod, 62. second connecting rod, 7. mounting plate, 8. shell, 9. positioning sleeve, 10. isolation ring, 11. lock nut, 12. guide column, 13. spring, 14. power device, 15. magnetic generating device. DETAILED DESCRIPTION

[0025] The mechanical gripper is usually used with a robot capable of two-dimensional or three-dimensional movement. The mechanical gripper is installed on the robot, and the robot can drive the mechanical gripper to move to a picking position or a target release position. The robot capable of two-dimensional or three-dimensional movement is well known to those skilled in the art, and will not be described in detail in this application. The following will focus on the innovative part.

[0026] As shown in Figures 1-4 The utility model adopts the technical scheme that a kind of picking mechanical gripper, including mounting column 1;

[0027] Clamping jaw mechanism is installed on the mounting column 1, which includes drive device 2 and at least two clamping jaws 3, and the at least two clamping jaws 3 can move away from or close to each other under the action of the drive device 2.

[0028] Magnetic attraction mechanism is installed on the mounting column 1, which includes at least power device 14, magnetic generating device 15 and positioning device, the power device 14 is connected with the magnetic generating device 15, for making the magnetic generating device 15 away from or close to the positioning device.

[0029] When in use, the picking mechanical gripper can be installed on the execution end of a two-dimensional or three-dimensional motion robot. The picking mechanical gripper moves under the drive of the robot between a picking position and a release position. One end of the mounting column 1 is used for mounting connection with the execution end of the robot, and the other end of the mounting column 1 is installed with the clamping jaw mechanism and the magnetic attraction mechanism. The clamping jaws 3 of the clamping jaw mechanism can move away from or close to each other to realize the clamping and release of workpieces, and can match workpieces of different sizes. For workpieces that can be magnetically attracted, such as ferrous parts, the magnetic attraction mechanism can be used for picking. When the power device 14 drives the magnetic generating device 15, such as a permanent magnet or an electromagnet, to approach the positioning device, a magnetic attraction force is generated near the positioning device, and the workpiece can be attracted to the positioning device. When the power device 14 drives the magnetic generating device 15 to move away from the positioning device, the magnetic force near the positioning device decreases or disappears, and the workpiece can be separated from the positioning device. The clamping jaw mechanism and the magnetic attraction mechanism can also be used together. For example, the mechanical gripper can be used to clamp and release aluminum workpieces to a target position, and the magnetic attraction mechanism can be used to attract and release ferrous parts to a target position. One mechanical gripper realizes two picking methods, and only one two-dimensional or three-dimensional motion robot is needed, which is beneficial to cost saving.

[0030] As shown in Figures 1-3 order to facilitate the installation of the clamping jaw mechanism, in some embodiments, the clamping jaw mechanism further comprises a mounting frame 5 mounted on the mounting column 1, the driving device 2 is mounted on the mounting frame 5, and the driving device 2 is connected with the clamping jaw 3 through a connecting rod mechanism 6.

[0031] As shown in Figure 3 As a way to drive the clamping jaw 3 to move, the connecting rod mechanism 6 comprises a first connecting rod 61 and a second connecting rod 62. One end of the first connecting rod 61 is connected with the output end of the driving device 2, and the other end is hinged with the second connecting rod 62. The middle part of the second connecting rod 62 is hinged with the mounting frame 5, and the end of the second connecting rod 62 away from the first connecting rod 61 is provided with the clamping jaw 3. The driving device 2 drives the first connecting rod 61 to swing, and the first connecting rod 61 swings to drive the second connecting rod 62 to swing, and the second connecting rod 62 swings to drive the clamping jaw 3 to move away from or close to each other.

[0032] Specifically, in some embodiments, the driving device 2 is a gas cylinder, and the first connecting rod 61 is hinged with the output end of the gas cylinder. In order to facilitate the hinging of the first connecting rod 61 with the output end of the gas cylinder, a connecting block 21 perpendicular to the output end of the gas cylinder can be arranged on the output end of the gas cylinder, and the hinging point of the first connecting rod 61 with the output end of the gas cylinder is arranged on the connecting block 21, which is convenient for installation.

[0033] Of course, the hinging of the connecting rod with the output end of the gas cylinder is only one way for the gas cylinder to drive the first connecting rod 61 to swing. It can also be realized by using the structure of gear and rack. For example, one end of the first connecting rod 61 is fixed with a gear, and a rack is arranged on the output end of the gas cylinder. The rack is engaged with the gear, and the rack can drive the gear to rotate when the output end of the gas cylinder is stretched or retracted. The rotation of the gear can drive the first connecting rod 61 to swing. Other implementation manners can also be used as long as they can realize the driving of the first connecting rod 61 by the driving device 2.

[0034] As shown in Figures 1-3 Specifically, in some embodiments, the number of clamping jaws 3 is two, and the two clamping jaws 3 are oppositely arranged, and each clamping jaw 3 corresponds to one connecting rod mechanism 6. The clamping jaw mechanism further comprises a fixed jaw 4 fixed on the mounting frame 5. The surfaces of the clamping jaw 3 and the fixed jaw 4 are provided with anti-skid protrusions 31.

[0035] Under the action of the connecting rod mechanism 6, the two clamping jaws 3 can move close to or away from each other, that is, the clamping function of the workpiece can be realized. At the same time, cooperating with the fixed jaw 4, the workpiece can be better clamped. The anti-skid protrusions 31 on the surfaces of the clamping jaw 3 and the fixed jaw 4 can prevent the workpiece from slipping off after being clamped.

[0036] As Figure 1 , 2 and 4, in order to facilitate the installation of the magnetic attraction mechanism, in some embodiments, the magnetic attraction mechanism further comprises a housing 8, the housing 8 is installed on the mounting column 1, the power device 14 is arranged in the housing 8, and the positioning device is arranged at one end of the housing 8. In order to install and connect the housing 8 and the mounting column 1, a mounting plate 7 can be arranged on the mounting column 1, and then the housing 8 is installed on the mounting plate 7. The power device 14 can be a gas cylinder or an electric push rod.

[0037] In order to effectively attract the workpiece, in some embodiments, the housing 8 is slidingly installed on the mounting column 1 through a guide column 12, the housing 8 and the guide column 12 have a gap therebetween, and the housing 8 and the mounting column 1 are further provided with a spring 13. With this structure, when there is a misalignment between the positioning device of the magnetic attraction mechanism and the workpiece, the spring 13 and the guide column 12 can be used for self-adaptive adjustment and alignment. When the positioning device contacts the workpiece, the housing 8 is retreated backward along the guide column 12 under the action of the workpiece due to the misalignment. Since there is a gap between the guide column 12 and the housing 8, the housing 8 can be tilted during the retreat. After the positioning device is aligned with the workpiece, the spring 13 pushes the housing 8 towards the workpiece, so that self-adaptive adjustment and alignment with the workpiece can be achieved.

[0038] As Figure 4 shown, in order to facilitate the installation of the positioning device, in some embodiments, one end of the housing 8 is provided with a threaded interface, one end of the positioning device has a threaded segment, and the positioning device is threadedly connected with the housing 8 through the threaded interface. The threaded connection facilitates the disassembly of the positioning device, so as to facilitate maintenance, replacement or replacement of different sizes of positioning devices according to different workpieces.

[0039] As Figure 4As shown, specifically, in some embodiments, the positioning device is a hollow positioning sleeve 9, the inner wall of the opening of the positioning sleeve 9 is a flared taper, and the inner wall of the positioning sleeve 9 is further provided with a separation ring 10. When the workpiece is sucked, the workpiece can be inserted into the hollow structure of the positioning sleeve 9, which is convenient for sucking, and the taper structure can guide the workpiece into the positioning sleeve 9 when the positioning sleeve 9 and the workpiece are misaligned. Especially when used with guide posts 12 and springs 13, the self-adaptive adjustment alignment function can be better realized. When the workpiece and the positioning sleeve 9 are misaligned, the workpiece contacts the taper of the positioning sleeve 9, and under the action of the workpiece, the taper can naturally tilt the shell 8. In addition, the separation ring 10 can prevent the workpiece from contacting the magnetic generating device 15, and prevent the magnetic generating device 15 from being damaged due to the impact of the workpiece. When the magnetic generating device 15 is driven away from the positioning sleeve 9 by the power device 14, the separation ring 10 can block the workpiece from moving with the magnetic generating device 15. When the magnetic generating device 15 is far enough away from the separation ring 10, the magnetic attraction to the workpiece disappears, and the workpiece can be released.

[0040] In order to prevent the positioning device from loosening with the shell 8, in some embodiments, a lock nut 11 is threadedly connected on the threaded section.

[0041] The above specific embodiments further illustrate the purpose, technical solutions and advantages of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A mechanical gripper for picking up parts, characterized in that, include Mounting column (1); The gripper mechanism is mounted on the mounting post (1) and includes a drive device (2) and at least two grippers (3), wherein the at least two grippers (3) are able to move away from or close to each other under the action of the drive device (2); A magnetic attraction mechanism is mounted on the mounting column (1) and includes at least a power device (14), a magnetic generator (15) and a positioning device. The power device (14) is connected to the magnetic generator (15) and is used to move the magnetic generator (15) away from or close to the positioning device. The magnetic attraction mechanism further includes a housing (8), which is mounted on the mounting post (1), the power unit (14) is disposed inside the housing (8), and the positioning device is disposed at one end of the housing (8); The housing (8) is slidably mounted on the mounting post (1) via the guide post (12), and there is a gap between the housing (8) and the guide post (12). A spring (13) is also provided between the housing (8) and the mounting post (1). The housing (8) has a threaded interface at one end, and the positioning device has a threaded section at one end. The positioning device is threadedly connected to the housing (8) through the threaded interface via the threaded section. The positioning device is a hollow positioning sleeve (9). The inner wall of the opening of the positioning sleeve (9) is a flared conical surface. The inner wall of the positioning sleeve (9) is also provided with an isolation ring (10).

2. The mechanical gripper for picking up parts according to claim 1, characterized in that, The gripper mechanism further includes a mounting frame (5), which is mounted on the mounting column (1). The drive device (2) is mounted on the mounting frame (5) and is connected to the gripper (3) via a linkage mechanism (6).

3. The mechanical gripper for picking up parts according to claim 2, characterized in that, The linkage mechanism (6) includes a first link (61) and a second link (62). One end of the first link (61) is connected to the output end of the drive device (2), and the output end of the drive device (2) can drive the first link (61) to swing. The other end is hinged to the second link (62). The middle part of the second link (62) is hinged to the mounting frame (5). The gripper (3) is installed at the end of the second link (62) away from the first link (61).

4. The mechanical gripper for picking up parts according to claim 3, characterized in that, The driving device (2) is a cylinder, and the first connecting rod (61) is hinged to the output end of the cylinder.

5. The mechanical gripper for picking up parts according to any one of claims 3 or 4, characterized in that, The number of grippers (3) is two, and the two grippers (3) are arranged opposite to each other. Each gripper (3) corresponds to one linkage mechanism (6). The gripper mechanism also includes a fixed claw (4), which is fixed on the mounting bracket (5); the gripper (3) and the fixed claw (4) are provided with anti-slip protrusions (31).

6. The mechanical gripper for picking up parts according to claim 1, characterized in that, The threaded section is threaded with a lock nut (11).

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