Variable-pitch mechanical gripper for perforating bullet production line
By using a variable-pitch mechanism and data-driven approach, the problem of insufficient adaptability of traditional robotic arms has been solved, enabling flexible gripping and efficient grasping of mechanical grippers on perforation projectile production lines, adapting to objects of different shapes and materials.
Patent Information
- Application Number
- CN202520001874.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-02
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2035-01-02
AI Technical Summary
Traditional robotic arms have limited adaptability and cannot flexibly cope with complex and ever-changing environments according to actual usage conditions, making it difficult to efficiently grasp objects of different shapes and materials.
Employing a variable pitch mechanism, it learns and processes new tasks through a data-driven approach. Combined with components such as lifting cylinders, servo motors, and gripper cylinders, it achieves flexible clamping and adaptive adjustment of the mechanical gripper.
It enables flexible gripping of workpieces of different heights, spacings, and sizes, improving work efficiency and adaptability, and meeting the gripping needs of modern industry.
Smart Images
Figure CN223617741U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of automatic packaging equipment for intelligent production lines of perforating bullets, and in particular to a variable-distance mechanical gripper for perforating bullet production lines. Background Technology
[0002] Traditional robotic arms typically rely on predefined rules or control models, resulting in limited adaptability and an inability to effectively handle complex and changing environments based on actual usage. The variable-pitch mechanism developed to address this limitation enables robotic arms to achieve greater flexibility and adaptability, allowing them to learn how to handle new tasks and objects of different shapes and materials through data-driven approaches. Therefore, a variable-pitch robotic gripper for a perforated bullet production line is proposed. Utility Model Content
[0003] The purpose of this invention is to provide a variable-distance mechanical gripper for a perforating projectile production line, thereby solving existing problems.
[0004] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:
[0005] This utility model relates to a variable-pitch mechanical gripper for a perforating projectile production line, comprising an upper flange plate, on both sides of the upper upper surface of which lifting cylinders are fixed, the output end of which passes through the upper flange plate; on both sides of the lower surface of the upper flange plate, connecting plates are fixed; a lower flange plate is fixed to the lower ends of the two upper flange plates; vertical linear slide rails are fixed to opposite surfaces of the connecting plates; vertical sliders are slidably connected to the outer surface of the vertical linear slide rails; a slide rail mounting plate is fixed to one surface of two vertical sliders on the same side, and the two slide rail mounting plates are centrally symmetrically arranged; a transverse linear slide rail is fixed to one surface of the slide rail mounting plate; five transverse sliders are provided on the outer surface of the transverse linear slide rails; a sliding block is fixed to one surface of each of the five transverse sliders; a fixing block is fixed to the inner side of the middle sliding block; the fixing block is fixedly connected to the slide rail mounting plate; the transverse sliders of the two sliding blocks on both sides are slidably connected to the transverse linear slide rails; a transition connecting plate is fixed to the lower end of the sliding block, and a clamping assembly is fixed to the lower end of the transition connecting plate.
[0006] The five transverse sliders are movably connected to a scissor linkage on one side. A servo motor is fixed to one end of the slide rail mounting plate. A drive wheel is fixed to the output end of the servo motor. A driven wheel is provided on one side of the drive wheel. The driven wheel is rotatably connected to the slide rail mounting plate. The driven wheel and the drive wheel are connected by a synchronous belt drive. An upper fixing plate is fixed to one surface of the synchronous belt. A lower fixing plate is fixed to one surface of the sliding block near the servo motor.
[0007] The clamping assembly includes a gripper cylinder mounting plate. A gripper cylinder is fixed to one end face of the gripper cylinder mounting plate. The gripper cylinder piston rod extends through the gripper cylinder mounting plate into the interior. A radial linear slide rail is fixed to the lower center of the gripper cylinder mounting plate. Radial sliders are slidably connected to both sides of the radial linear slide rail. A slider connecting plate is fixedly connected to the lower surface of each of the two radial sliders. The two slider connecting plates are centrally symmetrically arranged. A rack is fixed to the upper surface of the slider connecting plate. A gripper is fixed to the lower surface of the slider connecting plate. A workpiece is clamped between the two grippers. A fixing plate is fixed to one end face of the slider connecting plate and the rack. The fixing plate near the gripper cylinder is fixedly connected to the gripper cylinder piston rod. A rotating shaft is fixed to the center of the upper surface of the radial linear slide rail. A gear is rotatably connected to the upper end of the rotating shaft. The gear is located between the two racks.
[0008] Each of the two slide rail mounting plates has a lifting connecting plate fixed on its two opposite surfaces. The piston rods of the two lifting cylinders correspond to the two lifting connecting plates respectively, and each lifting cylinder piston rod is fixed to one lifting connecting plate.
[0009] Furthermore, the gripper cylinder mounting plate has a "U" shaped plate structure, and the shape and size of the radial linear slide rail are adapted to the radial slider, with the radial linear slide rail and the radial slider sliding together.
[0010] Furthermore, the shape and size of the vertical linear slide rail are adapted to the vertical slider, and the vertical linear slide rail and the vertical slider slide in a sliding fit.
[0011] Furthermore, the shape and size of the transverse linear slide rail are adapted to the transverse slider, and the transverse linear slide rail and the transverse slider slide together.
[0012] Furthermore, the shape and size of the gear are adapted to the rack, and the gear and rack mesh with each other.
[0013] Furthermore, the shape and size of the upper fixing piece are adapted to the lower fixing piece, and the upper fixing piece and the lower fixing piece are fixedly connected.
[0014] Furthermore, a central column is fixed in the middle of the upper surface of the upper flange plate.
[0015] This utility model has the following beneficial effects:
[0016] In this invention, the lifting cylinder drives the lifting connecting plate, the slide rail mounting plate, and the components fixed on the slide rail mounting plate to move up and down along the vertical linear slide rail via the vertical slider, thereby satisfying the gripping of workpieces of different heights.
[0017] In this invention, a servo motor drives a synchronous belt, which in turn moves the sliding block closest to the servo motor and the lateral slider via a fixed plate and a lower fixed plate. This forces the scissor linkage to move towards and away from both sides simultaneously, with the middle clamping component as a reference. This achieves variable pitch adjustment of the clamping component, meets the clamping requirements of different spacings, and increases its adaptability.
[0018] In this utility model, the piston rod of the gripper cylinder drives the fixed plate to move, thereby causing the slider connecting plate and the rack to move along the radial linear slide rail through the transverse slider. Through gear transmission, the rack on the other side and the slider connecting plate move towards each other, thereby realizing the clamping and releasing of the two grippers, satisfying the clamping of workpieces of different sizes and increasing its adaptability.
[0019] The mechanical gripper of this invention can be applied to tooling with different spacing, or it can grip multiple workpieces at the same time, then change the workpiece spacing, and finally place them in stages to complete the directional displacement of objects at various distances. It can also cyclically complete the displacement of objects and quickly adjust them to the required position. This not only saves working time and improves work efficiency, but also makes lateral displacement more convenient and faster, thus meeting the needs of modern industry for the gripping function of robotic arms.
[0020] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 A schematic diagram of the overall structure of a variable-pitch mechanical gripper used in a perforation projectile production line;
[0023] Figure 2 This is a partial structural diagram of a variable-pitch mechanical gripper used in a perforation projectile production line.
[0024] Figure 3 This is a schematic diagram of the connection structure between the synchronous belt and the sliding block in this utility model;
[0025] Figure 4 This is a perspective structural diagram of the clamping component in this utility model.
[0026] The attached diagram lists the components represented by each number as follows:
[0027] 1. Upper flange plate; 2. Vertical linear slide rail; 3. Servo motor; 4. Sliding block; 5. Scissor linkage; 6. Grip cylinder; 7. Grip; 8. Workpiece; 9. Grip cylinder mounting plate; 10. Horizontal linear slide rail; 11. Slide rail mounting plate; 12. Connecting plate; 13. Lifting cylinder; 14. Lower flange plate; 15. Transition connecting plate; 16. Central column; 17. Synchronous belt; 18. Driven wheel; 19. Driving wheel; 20. Lifting cylinder piston rod; 21. Lifting connecting plate; 22. Vertical slider; 23. Upper fixed plate; 24. Lower fixed plate; 25. Horizontal slider; 26. Fixed plate; 27. Rack; 28. Slider connecting plate; 29. Gear; 30. Radial linear slide rail; 31. Radial slider; 32. Grip cylinder piston rod. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0029] In the description of this utility model, it should be understood that the terms "upper", "middle", "outer", "inner", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" 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; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0031] Please see Figures 1-4As shown, this utility model is a variable-pitch mechanical gripper for a perforating projectile production line, including an upper flange plate 1, with a central column 16 fixed in the middle of the upper surface of the upper flange plate 1; lifting cylinders 13 are fixed on both sides of the upper surface of the upper flange plate 1, with the output end of the lifting cylinder 13 penetrating through the upper flange plate 1; connecting plates 12 are fixed on both sides of the lower surface of the upper flange plate 1; a lower flange plate 14 is fixed to the lower ends of the two upper flange plates 1; vertical linear slide rails 2 are fixed on both opposite surfaces of the connecting plates 12; vertical sliders 22 are slidably connected to the outer surface of the vertical linear slide rails 2; and two vertical sliders 22 on the same side share a common surface. The slide rail mounting plates 11 are fixed together, and the two slide rail mounting plates 11 are arranged symmetrically at the center. A transverse linear slide rail 10 is fixed to one surface of the slide rail mounting plate 11. Five transverse sliders 25 are provided on the outer surface of the transverse linear slide rail 10. A sliding block 4 is fixed to one surface of each of the five transverse sliders 25. A fixing block is fixed to the inner side of the middle sliding block 4. The fixing block is fixedly connected to the slide rail mounting plate 11. The transverse sliders 25 of the two sliding blocks 4 on both sides are slidably connected to the transverse linear slide rail 10. A transition connecting plate 15 is fixed to the lower end of the sliding block 4. A clamping component is fixed to the lower end of the transition connecting plate 15.
[0032] Five horizontal sliders 25 are movably connected to a scissor rod 5 on one side. A servo motor 3 is fixed to one end of a surface of the slide rail mounting plate 11. A drive wheel 19 is fixed to the output end of the servo motor 3. A driven wheel 18 is provided on one side of the drive wheel 19. The driven wheel 18 is rotatably connected to the slide rail mounting plate 11. The driven wheel 18 and the drive wheel 19 are connected by a synchronous belt 17. An upper fixing plate 23 is fixed to one surface of the synchronous belt 17. A lower fixing plate 24 is fixed to one surface of the sliding block 4 near the servo motor 3.
[0033] The clamping assembly includes a gripper cylinder mounting plate 9. A gripper cylinder 6 is fixed to one end face of the gripper cylinder mounting plate 9. The gripper cylinder piston rod 32 of the gripper cylinder 6 extends through the gripper cylinder mounting plate 9 into the interior. A radial linear slide rail 30 is fixed to the lower middle part of the gripper cylinder mounting plate 9. Radial sliders 31 are slidably connected to both sides of the radial linear slide rail 30. A slider connecting plate 28 is fixedly connected to the lower surface of the two radial sliders 31. The two slider connecting plates 28 are centrally symmetrically arranged. A rack 27 is fixed to the upper end face of the slider connecting plate 28. A gripper 7 is fixed to the lower end face of the slider connecting plate 28. A workpiece 8 is clamped between the two grippers 7. A fixing plate 26 is fixed to one end face of the slider connecting plate 28 and the rack 27. The fixing plate 26 near the gripper cylinder 6 is fixedly connected to the gripper cylinder piston rod 32. A rotating shaft is fixed to the middle part of the upper surface of the radial linear slide rail 30. A gear 29 is rotatably connected to the upper end of the rotating shaft. The gear 29 is located between the two racks 27.
[0034] Two sliding rail mounting plates 11 are fixed with lifting connecting plates 21 on their opposite surfaces. The lifting cylinder piston rods 20 of the two lifting cylinders 13 correspond to the two lifting connecting plates 21 respectively, and each lifting cylinder piston rod 20 is fixed with a lifting connecting plate 21.
[0035] In one embodiment, the gripper cylinder mounting plate 9 has a "U" shaped plate structure, and the shape and size of the radial linear slide rail 30 are adapted to the radial slider 31, with the radial linear slide rail 30 and the radial slider 31 slidingly engaged.
[0036] In one embodiment, the shape and size of the vertical linear slide rail 2 are adapted to the vertical slider 22, and the vertical linear slide rail 2 and the vertical slider 22 slide together.
[0037] In one embodiment, the shape and size of the transverse linear slide rail 10 are adapted to the transverse slider 25, and the transverse linear slide rail 10 and the transverse slider 25 slide together.
[0038] In one embodiment, the shape and size of the gear 29 are adapted to the rack 27, and the gear 29 and the rack 27 mesh with each other.
[0039] In one embodiment, the shape and size of the upper fixing piece 23 are adapted to the lower fixing piece 24, and the upper fixing piece 23 and the lower fixing piece 24 are fixedly connected.
[0040] Please see Figures 1-4 As shown in the figure, this embodiment illustrates the working principle of a variable-distance mechanical gripper used in a perforation projectile production line:
[0041] The lifting cylinder 13 drives the lifting connecting plate 21, the slide rail mounting plate 11 and the components fixed on the slide rail mounting plate 11 to move up and down along the vertical linear slide rail 2 via the vertical slider 22 through the lifting cylinder piston rod 20.
[0042] Servo motor 3 drives synchronous belt 17. Synchronous belt 17 drives the sliding block 4 closest to servo motor 3 and the horizontal slider 25 to move through upper fixed plate 23 and lower fixed plate 24. This forces scissor linkage 5 to move closer to and further away from the middle clamping component at the same time, thereby achieving variable pitch adjustment of the clamping component.
[0043] The gripper cylinder piston rod 32 of the gripper cylinder 6 drives the fixed plate 26 to move, thereby causing the slider connecting plate 28 and the rack 27 to move along the radial linear slide rail 30 via the transverse slider 25. Through the gear 29, the rack 27 on the other side and the slider connecting plate 28 move towards each other, thus realizing the clamping and releasing of the two grippers 7. This robot can realize tooling with different spacing, simultaneously gripping multiple workpieces, changing the workpiece spacing, and placing them in stages.
[0044] In the description of this specification, references to terms such as "an embodiment," "example," and "specific example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0045] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.
Claims
1. A variable-pitch mechanical gripper for a perforating projectile production line, comprising an upper flange plate (1), characterized in that: Lifting cylinders (13) are fixed on both sides of the upper surface of the upper flange plate (1). The output end of the lifting cylinder (13) passes through the upper flange plate (1). Connecting plates (12) are fixed on both sides of the lower surface of the upper flange plate (1). The lower ends of the two upper flange plates (1) are jointly fixed with a lower flange plate (14). Vertical linear slide rails (2) are fixed on both opposite surfaces of the connecting plate (12). Vertical sliders (22) are slidably connected to the outer surface of the vertical linear slide rails (2). The two vertical sliders (22) on the same side are jointly fixed with a slide rail mounting plate (11) on one surface. The two slide rail mounting plates (11) are centered on each other. The slide rail mounting plate (11) is fixed with a horizontal linear slide rail (10) on one surface. The outer surface of the horizontal linear slide rail (10) is provided with five horizontal sliders (25). Each of the five horizontal sliders (25) has a sliding block (4) fixed on one surface. The inner side of the middle sliding block (4) is fixed with a fixing block. The fixing block is fixedly connected to the slide rail mounting plate (11). The horizontal sliders (25) of the two sliding blocks (4) on both sides are slidably connected to the horizontal linear slide rail (10). A transition connecting plate (15) is fixed at the lower end of the sliding block (4). A clamping component is fixed at the lower end of the transition connecting plate (15). The five transverse sliders (25) are movably connected to a scissor link (5) on one side. A servo motor (3) is fixed to one end of the slide rail mounting plate (11). A drive wheel (19) is fixed to the output end of the servo motor (3). A driven wheel (18) is provided on one side of the drive wheel (19). The driven wheel (18) is rotatably connected to the slide rail mounting plate (11). The driven wheel (18) and the drive wheel (19) are connected by a synchronous belt (17). An upper fixing plate (23) is fixed to one surface of the synchronous belt (17). A lower fixing plate (24) is fixed to one surface of the sliding block (4) near the servo motor (3). The clamping assembly includes a gripper cylinder mounting plate (9), on one end face of which a gripper cylinder (6) is fixed. The gripper cylinder piston rod (32) of the gripper cylinder (6) extends through the gripper cylinder mounting plate (9) into the interior. A radial linear slide rail (30) is fixed at the lower center of the gripper cylinder mounting plate (9). Radial sliders (31) are slidably connected to both sides of the radial linear slide rail (30). Slider connecting plates (28) are fixedly connected to the lower surfaces of the two radial sliders (31). The two slider connecting plates (28) are arranged symmetrically at the center. A rack (27) is fixed on the upper end face of the slider connecting plate (28), and a gripper (7) is fixed on the lower end face of the slider connecting plate (28). The workpiece (8) is held between the two grippers (7). A fixing plate (26) is fixed on one end face of the slider connecting plate (28) and the rack (27). The fixing plate (26) near the gripper cylinder (6) is fixedly connected to the gripper cylinder piston rod (32). A rotating shaft is fixed in the middle of the upper surface of the radial linear slide rail (30). A gear (29) is rotatably connected to the upper end of the rotating shaft. The gear (29) is located between the two racks (27). The two slide rail mounting plates (11) are fixed with lifting connecting plates (21) on their opposite surfaces. The lifting cylinder piston rods (20) of the two lifting cylinders (13) correspond to the two lifting connecting plates (21) respectively. Each lifting cylinder piston rod (20) is fixed with a lifting connecting plate (21).
2. The variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, The gripper cylinder mounting plate (9) has a "U" shaped plate structure. The shape and size of the radial linear slide rail (30) are adapted to the radial slider (31). The radial linear slide rail (30) and the radial slider (31) slide together.
3. The variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, The shape and size of the vertical linear slide rail (2) are adapted to the vertical slider (22), and the vertical linear slide rail (2) and the vertical slider (22) slide together.
4. The variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, The shape and size of the transverse linear slide rail (10) are adapted to the transverse slider (25), and the transverse linear slide rail (10) and the transverse slider (25) slide together.
5. A variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, The shape and size of the gear (29) are adapted to the rack (27), and the gear (29) and the rack (27) mesh with each other.
6. A variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, The shape and size of the upper fixing piece (23) are adapted to the lower fixing piece (24), and the upper fixing piece (23) and the lower fixing piece (24) are fixedly connected.
7. A variable-pitch mechanical gripper for a perforating projectile production line according to claim 1, characterized in that, A central column (16) is fixed in the middle of the upper surface of the upper flange plate (1).