Shell workpiece mechanical claw with floating pushing mechanism
By designing a mechanical gripper with a floating pusher mechanism, and employing infrared sensing control and a multi-track movement design, the problem of damage to cylindrical shell workpieces when moving on the precision positioning surface was solved, achieving protection of the workpiece and the robotic gripper, and improving machining accuracy.
Patent Information
- Application Number
- CN202520322671.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-26
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-02-26
AI Technical Summary
In automated machining production lines, traditional robotic grippers are prone to interference with both the workpiece and the robotic gripper when moving to the precision positioning surface, which can lead to damage to both the workpiece and the robotic gripper, and make it difficult to guarantee machining accuracy.
A mechanical gripper with a floating pusher mechanism was designed, including a base, gripper, brake clamping mechanism, quick-change connector, pusher mechanism and locking mechanism. The brake clamping is controlled by an infrared sensing mechanism to achieve workpiece suspension and precise positioning, reducing inertia and force during the pushing process.
It effectively prevents damage to the workpiece and the robotic gripper, while ensuring machining accuracy, reducing the pushing inertia and force of the workpiece on the precision positioning surface, and improving the stability and accuracy of machining.
Smart Images
Figure CN223917379U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic gripper for a shell workpiece with a floating pusher mechanism. Background Technology
[0002] Cylindrical shell-shaped workpieces are relatively large and have thin walls. In automated machining production lines, these workpieces need to be moved to a precise positioning surface to ensure machining accuracy. Traditional robotic grippers require the robot's loading point to coincide with this surface to move the workpiece close to it. This interference between the loading point and the surface causes significant forces to be applied to both the workpiece and the gripper. This can easily damage the workpiece, and over time, the robotic gripper will also suffer damage. Utility Model Content
[0003] In view of this, it is necessary to provide a mechanical gripper for a housing workpiece with a floating pusher mechanism that prevents damage to the workpiece and the robotic gripper and ensures machining accuracy.
[0004] A mechanical gripper for a shell workpiece with a floating pusher mechanism includes a base, a gripper, a clamping brake mechanism, a quick-change connector, a pusher mechanism, and a locking mechanism. The lower end of the base is provided with a lower slide rail, and the gripper is engaged with the lower slide rail, allowing the gripper to move along the lower slide rail to grip or release the workpiece. The two ends of the clamping brake mechanism are connected to the gripper to drive the gripper to move along the lower slide rail. The upper end of the base is also provided with an upper slide rail, which is perpendicular to the lower slide rail. The quick-change connector is engaged with the upper slide rail, allowing the quick-change connector to move along the upper slide rail. The pusher mechanism is fixedly connected to the base, and the telescopic end of the pusher mechanism is detachably connected to the quick-change connector to drive the quick-change connector to move along the upper slide rail. The locking mechanism is fixedly connected to the base, and the quick-change connector is provided with a locking hole, allowing the telescopic end of the locking mechanism to engage with the locking hole.
[0005] Preferably, the gripper includes two pairs of mechanical fingers, each pair facing each other to grip the workpiece. The upper end of the mechanical fingers is engaged with the lower rail. Brass plates are provided on the inner side of the mechanical fingers to protect the surface of the workpiece. The upper end of the mechanical fingers is connected to both ends of the brake clamping mechanism to move along the lower rail.
[0006] Preferably, the brake clamping mechanism includes a brake clamping cylinder and two hinges. The two ends of the brake clamping cylinder are fixedly connected to one end of the hinge, and the other end of the hinge is fixedly connected to the mechanical finger, so as to drive the mechanical finger to move along the upper slide rail.
[0007] Preferably, the pushing mechanism includes a first cylinder seat, a pushing cylinder, and a connecting rod. The bottom of the first cylinder seat is fixedly connected to the base, and the upper end of the first cylinder seat is fixedly connected to the pushing cylinder. The telescopic end of the pushing cylinder is connected to one end of the connecting rod, and the other end of the connecting rod is provided with an external thread. Correspondingly, the quick-change connector is provided with a nut connector, and the connecting rod and the nut structure are detachably connected.
[0008] Preferably, the locking mechanism includes a second cylinder seat, a locking cylinder, and a lock cylinder. The lower end of the second cylinder seat is fixedly connected to the base, the upper end of the second cylinder seat is fixedly connected to the locking cylinder, the telescopic end of the locking cylinder is fixedly connected to the lock cylinder, and the lock cylinder can engage with the lock hole of the quick-change connector.
[0009] Preferably, the mechanical claw of the shell workpiece with the floating pusher mechanism further includes a workpiece sensing mechanism to control the brake clamping mechanism to clamp the workpiece. The workpiece sensing mechanism includes an infrared transmitter, an infrared receiver, and a controller. The infrared transmitter and the infrared receiver face each other and are disposed between two pairs of mechanical fingers. The infrared receiver is electrically connected to the controller to transmit infrared information to the controller. The controller is also electrically connected to the brake clamping mechanism to control the brake clamping mechanism to clamp the workpiece.
[0010] Preferably, the mechanical claw of the shell workpiece with the floating pusher mechanism further includes a mechanical finger position adjustment assembly to adjust the starting position of the mechanical finger. The mechanical finger position adjustment assembly includes a limiting plate, an adjusting screw, and a hydraulic buffer. The lower end of the limiting plate is fixedly connected to the mechanical finger. The limiting plate has two through holes. The adjusting screw and the hydraulic buffer are sleeved and connected to the limiting plate. One end of the adjusting screw and the hydraulic buffer is also fixedly connected to the base.
[0011] Beneficial effects: In this invention, the mechanical gripper with a floating pusher mechanism for a housing workpiece grasps the workpiece. The telescopic end of the locking mechanism extends into the locking hole of the quick-change connector, fixing the base to the quick-change connector. When the robotic gripper grasps the workpiece to the precision positioning surface, it first suspends the workpiece at a predetermined position close to the precision positioning surface. Then, the telescopic end of the locking mechanism retracts, allowing the quick-change connector and base to move relative to each other. The pusher cylinder then pushes the quick-change connector, which remains fixed relative to the ground. The base moves the gripper and the workpiece on it until they are in contact with the precision positioning surface. The pushing process has low inertia and minimal force on the gripper and workpiece, thus preventing damage to the workpiece and gripper. Simultaneously, it ensures good machining accuracy. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the mechanical claw of the shell workpiece with floating pusher mechanism of this utility model.
[0013] Figure 2 and Figure 3 for Figure 1 A partial structural diagram.
[0014] Figure 4 This is a schematic diagram showing another preferred angle of the mechanical claw of the shell workpiece with floating pusher mechanism according to this utility model.
[0015] The diagram shows: a mechanical gripper 10, a base 20, a lower slide rail 201, an upper slide rail 202, a hand gripper 30, a mechanical finger 301, a brass patch 3011, a brake clamping mechanism 40, a brake clamping cylinder 401, a hinge 402, a quick-change connector 50, a pushing mechanism 60, a first cylinder seat 601, a pushing cylinder 602, a connecting rod 603, a locking mechanism 70, a second cylinder seat 701, a locking cylinder 702, a lock core 703, a workpiece sensing mechanism 80, a mechanical finger position adjustment assembly 90, a limit plate 901, an adjusting screw 902, and a hydraulic buffer 903 for a shell workpiece with a floating pushing mechanism. Detailed Implementation
[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Please refer to Figures 1 to 4 A mechanical gripper 10 for a housing workpiece with a floating pusher mechanism 60 includes a base 20, a gripper 30, a clamping mechanism 40, a quick-change connector 50, a pusher mechanism 60, and a locking mechanism 70. The lower end of the base 20 is provided with a lower slide rail 201, and the gripper 30 is engaged with the lower slide rail 201. The gripper 30 can move along the lower slide rail 201 to grip or release the workpiece. Both ends of the clamping mechanism 40 are connected to the gripper 30 to drive the gripper 30 to move along the lower slide rail 201. The upper end of the base 20... It also includes an upper slide rail 202, which is perpendicular to the lower slide rail 201. A quick-change connector 50 is engaged with the upper slide rail 202 and can move along the upper slide rail 202. A pushing mechanism 60 is fixedly connected to the base 20, and the telescopic end of the pushing mechanism 60 is detachably connected to the quick-change connector 50 to drive the quick-change connector 50 to move along the upper slide rail 202. A locking mechanism 70 is fixedly connected to the base 20, and the quick-change connector 50 is provided with a locking hole. The telescopic end of the locking mechanism 70 can engage with the locking hole.
[0018] The base 20 of this invention is used to mount the gripper 30, the clamping mechanism 40, the quick-change connector 50, the pushing mechanism 60, and the locking mechanism 70. The gripper 30 can move along the lower slide rail 201 of the base 20, and under the action of the clamping mechanism 40, the gripper 30 is controlled to clamp the workpiece. The quick-change connector 50 of this invention is used to connect to external machine tools, etc., to control the movement of the mechanical gripper, thereby controlling the movement of the workpiece. When the mechanical gripper moves to a predetermined position close to the precision positioning surface, it stops moving and, through the pushing mechanism 60, drives the gripper 30 to continue moving and to engage with the precision positioning surface. The locking mechanism 70 of this invention is used to fix the base 20 and the quick-change connector 50, preventing the mechanical gripper from moving relative to the base 20 and the quick-change connector 50 during movement.
[0019] The brake clamping mechanism 40, the pushing mechanism 60, and the locking mechanism 70 are telescopic mechanisms, which can be extended or retracted by means of electric push rods, cylinders, hydraulic cylinders, worm gears, etc.
[0020] In a preferred embodiment, the gripper 30 includes two pairs of mechanical fingers 301, each pair of mechanical fingers 301 facing each other to grip the workpiece. The upper ends of the mechanical fingers 301 are engaged with the lower slide rail 201. Brass patches 3011 are provided on the inner side of the mechanical fingers 301 to protect the surface of the workpiece. The upper ends of the mechanical fingers 301 are connected to both ends of the brake clamping mechanism 40 to move along the lower track.
[0021] Since the workpiece is cylindrical, the inner side of the 3011 brass patch is also curved to facilitate its fit.
[0022] In a preferred embodiment, the brake clamping mechanism 40 includes a brake clamping cylinder 401 and two hinges 402. The two ends of the brake clamping cylinder 401 are fixedly connected to one end of the hinge 402, and the other end of the hinge 402 is fixedly connected to the mechanical finger 301, so as to drive the mechanical finger 301 to move along the upper slide rail 202.
[0023] In a preferred embodiment, the pushing mechanism 60 includes a first cylinder seat 601, a pushing cylinder 602, and a connecting rod 603. The bottom of the first cylinder seat 601 is fixedly connected to the base 20, and the upper end of the first cylinder seat 601 is fixedly connected to the pushing cylinder 602. The telescopic end of the pushing cylinder 602 is connected to one end of the connecting rod 603, and the other end of the connecting rod 603 is provided with an external thread. Correspondingly, the quick-change connector 50 is provided with a nut connector, and the connecting rod 603 and the nut structure are detachably connected.
[0024] The connecting rod 603 is used to connect the quick-change connector 50 and the pusher cylinder 602. Under the action of the pusher cylinder 602, the base 20 and the quick-change connector 50 move relative to each other, thereby driving the workpiece to a predetermined position.
[0025] In a preferred embodiment, the locking mechanism 70 includes a second cylinder seat 701, a locking cylinder 702, and a lock cylinder 703. The lower end of the second cylinder seat 701 is fixedly connected to the base 20, the upper end of the second cylinder seat 701 is fixedly connected to the locking cylinder 702, the telescopic end of the locking cylinder 702 is fixedly connected to the lock cylinder 703, and the lock cylinder 703 can be engaged with the lock hole of the quick-change connector 50.
[0026] During the movement of the mechanical gripper, the locking cylinder 703 of the locking mechanism 70 extends into the locking hole of the quick-change connector 50, thereby locking the base 20 and the quick-change connector 50.
[0027] In a preferred embodiment, the mechanical claw 10 of the housing workpiece with the floating pusher mechanism 60 further includes a workpiece sensing mechanism 80 to control the brake clamping mechanism 40 to clamp the workpiece. The workpiece sensing mechanism 80 includes an infrared transmitter, an infrared receiver, and a controller. The infrared transmitter and the infrared receiver face each other and are disposed between two pairs of mechanical fingers 301. The infrared receiver is electrically connected to the controller to transmit infrared information to the controller. The controller is also electrically connected to the brake clamping mechanism 40 to control the brake clamping mechanism 40 to clamp the workpiece.
[0028] When the infrared receiver does not receive an infrared signal, it indicates that the robotic finger 301 is in a gripping state and the workpiece is being grasped. Conversely, it indicates that the robotic finger 301 is in an idle state.
[0029] In a preferred embodiment, the mechanical claw 10 of the shell workpiece with the floating pusher mechanism 60 further includes a mechanical finger position adjustment assembly 90 to adjust the starting position of the mechanical finger 301. The mechanical finger position adjustment assembly 90 includes a limiting plate 901, an adjusting screw 902, and a hydraulic buffer 903. The lower end of the limiting plate 901 is fixedly connected to the mechanical finger 301. The limiting plate 901 has two through holes. The adjusting screw 902 and the hydraulic buffer 903 are sleeved and connected to the limiting plate 901. One end of the adjusting screw 902 and the hydraulic buffer 903 is also fixedly connected to the base 20.
[0030] The mechanical finger 301 includes a fixed finger and a movable finger. The fixed finger is connected to the limiting plate 901. By adjusting the limiting plate 901, the relative position between the base 20 and the mechanical finger 301 can be changed. By adjusting the position of the mechanical finger 301, the clamping distance can be adjusted, so that the mechanical finger 301 can adapt to workpieces of different diameters.
[0031] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Those skilled in the art can understand that implementing all or part of the above-described embodiments and making equivalent changes in accordance with the claims of the present utility model are still within the scope of the utility model.
Claims
1. A mechanical gripper for housing workpieces with a floating pusher mechanism, characterized by: The shell workpiece mechanical claw with floating pushing mechanism comprises a base, a hand claw, a brake clamp clamping mechanism, a quick-change connector, a pushing mechanism, and a locking mechanism.
2. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 1, characterized in that: The hand claw comprises two pairs of mechanical fingers, each pair of mechanical fingers is opposite to each other to clamp the workpiece, the upper end of the mechanical finger is clamped and connected with the lower slide rail, the inner side of the mechanical finger is provided with a brass patch to protect the surface of the workpiece, and the upper end of the mechanical finger is connected with the two ends of the brake clamp clamping mechanism to move along the lower rail.
3. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 1, characterized in that: The brake clamp clamping mechanism comprises a brake clamp clamping cylinder and two hinges, the two ends of the brake clamp clamping cylinder are fixedly connected with one end of the hinge, and the other end of the hinge is fixedly connected with the mechanical finger to drive the mechanical finger to move along the upper slide rail.
4. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 1, characterized in that: The pushing mechanism comprises a first cylinder seat, a pushing cylinder, and a connecting rod, the bottom of the first cylinder seat is fixedly connected with the base, the upper end of the first cylinder seat is fixedly connected with the pushing cylinder, the telescopic end of the pushing cylinder is connected with one end of the connecting rod, the other end of the connecting rod is provided with an external thread, and correspondingly, the quick-change connector is provided with a nut connector, and the connecting rod and the nut structure are detachably connected.
5. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 1, characterized in that: The locking mechanism comprises a second cylinder seat, a locking cylinder, and a lock core, the lower end of the second cylinder seat is fixedly connected with the base, the upper end of the second cylinder seat is fixedly connected with the locking cylinder, the telescopic end of the locking cylinder is fixedly connected with the lock core, and the lock core can be clamped and connected with the lock hole of the quick-change connector.
6. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 2, characterized in that: The shell workpiece mechanical claw with floating pushing mechanism further comprises a workpiece sensing mechanism to control the brake clamp clamping mechanism to clamp the workpiece, the workpiece sensing mechanism comprises an infrared emitter, an infrared receiver, and a controller, the infrared emitter and the infrared receiver are opposite to each other and are arranged between the two pairs of mechanical fingers, the infrared receiver is electrically connected with the controller to transmit infrared information to the controller, and the controller is further electrically connected with the brake clamp clamping mechanism to control the brake clamp clamping mechanism to clamp the workpiece.
7. The mechanical gripper for housing workpieces with a floating pusher mechanism as claimed in claim 2, characterized in that: The shell workpiece mechanical claw with floating pushing mechanism further comprises a mechanical finger position adjusting assembly to adjust the initial position of the mechanical finger, the mechanical finger position adjusting assembly comprises a limiting plate, an adjusting screw, and a hydraulic buffer, the lower end of the limiting plate is fixedly connected with the mechanical finger, the limiting plate is provided with two through holes, the adjusting screw and the hydraulic buffer are sleeved with the limiting plate, and one end of the adjusting screw and the hydraulic buffer is further fixedly connected with the base.