Floating stock bin mechanical gripper

Abstract

The utility model relates to the technical field of gripper structures, and discloses a floating stock bin mechanical gripper which comprises a manipulator connecting flange, a fixed base, a floating mechanism and a clamping mechanism. The manipulator connecting flange is connected with an external manipulator; the fixed base is fixedly connected with the manipulator connecting flange; the floating mechanism is arranged below the fixed base; the clamping mechanism comprises an adapter flange, magnets, a left magnetic claw and a right magnetic claw, the adapter flange is fixedly connected with the grouping flange plate, the left magnetic claw and the right magnetic claw are arranged on the two sides of the adapter flange respectively, and the magnets are arranged between the left magnetic claw and the adapter flange and between the right magnetic claw and the adapter flange and used for adsorbing objects to be grabbed. Through the collaborative design of the floating mechanism and the clamping mechanism, the problems that a traditional gripper is in rigid connection and poor in adaptability are solved, and wide application prospects are achieved in the scenes of automatic carrying, assembling and the like.

Description

Technical Field

[0001] This utility model relates to the field of gripper structure technology, specifically a floating silo mechanical gripper. Background Technology

[0002] In the field of industrial automation, robotic grippers are core components of material handling, and their gripping stability and adaptability directly affect production efficiency and reliability.

[0003] Traditional gripper structures typically employ rigid connections, which can easily lead to uneven force distribution and unstable gripping when dealing with workpieces with uneven surfaces, positional deviations, or irregular shapes. In some cases, rigid collisions can even damage the workpiece or the gripper. Furthermore, existing grippers often rely on mechanical clamping or simple magnetic attraction, offering limited ability to adjust the attraction force on magnetic workpieces and making it difficult to quickly replace gripping components of different specifications to adapt to diverse production needs.

[0004] Therefore, there is an urgent need for a gripper structure that can achieve floating adjustment, adaptive positioning, and reliable gripping performance to solve the problems of insufficient gripping stability and poor adaptability in existing technologies. Utility Model Content

[0005] The purpose of this invention is to provide a floating silo mechanical gripper to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a floating silo mechanical gripper, comprising:

[0007] Robotic arm connection flange, used for connecting to an external robotic arm;

[0008] A fixed base is fixedly connected to the connecting flange of the robotic arm;

[0009] A floating mechanism, located below the fixed base, includes an upper clamping block, a connecting rod, a grouping flange plate, a spring base, a rectangular spring, and a spring upper fixing seat. The upper clamping block is fixedly connected to the fixed base. The grouping flange plate is rotatably connected to the upper clamping block via the connecting rod. The spring base is fixedly located below the grouping flange plate. The spring upper fixing seat is fixedly connected to the lower part of the fixed base. The rectangular spring is located between the spring base and the spring upper fixing seat to provide elastic support.

[0010] The clamping mechanism includes a transfer flange, a magnet, a left magnetic claw, and a right magnetic claw. The transfer flange is fixedly connected to a group flange plate. The left and right magnetic claws are respectively disposed on both sides of the transfer flange, and the magnets are disposed between the left and right magnetic claws and the transfer flange for adsorbing the object to be gripped.

[0011] Preferably, at least two connecting rods are provided, symmetrically distributed on both sides of the upper clamping block. One end of each connecting rod is rotatably connected to the upper clamping block, and the other end is rotatably connected to the group flange plate, forming a movable connecting rod mechanism.

[0012] Preferably, there are multiple rectangular springs, evenly distributed between the spring base and the upper fixing seat, and both ends of each rectangular spring are fixedly connected to the spring base and the upper fixing seat respectively to provide uniform elastic force.

[0013] Preferably, both the left and right magnetic claws are made of magnetic material, and the magnet is fixedly disposed between the adapter flange and the contact surfaces of the left and right magnetic claws to enhance the attraction force on magnetic objects.

[0014] Preferably, the group flange plate is provided with multiple connection holes for connecting with adapter flanges of different specifications, so as to realize the quick replacement or adjustment of the clamping mechanism.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. Floating Adaptive Adjustment: The connecting rod and rectangular spring in the floating mechanism form an elastic linkage structure. When gripping the workpiece, the grouped flange plates can achieve three-dimensional floating adjustment through the rotation of the connecting rod and the elastic deformation of the spring. This can adaptively compensate for the unevenness or positional deviation of the workpiece surface, avoid the impact force caused by rigid contact, and effectively protect the workpiece and the gripper body.

[0017] 2. Uniform and stable clamping force: Multiple rectangular springs are evenly distributed between the spring base and the upper fixed seat of the spring, providing balanced elastic support force and ensuring uniform force during clamping; at the same time, the magnets between the left and right magnetic claws and the adapter flange enhance the attraction force on magnetic workpieces. Combined with the magnetic material of the magnetic claws themselves, stable magnetic clamping can be achieved, which is suitable for efficient gripping of a variety of magnetic workpieces.

[0018] 3. Modular quick replacement: Multiple connection holes on the group flange plate support the quick installation and disassembly of different specifications of adapter flanges. The clamping mechanism can be replaced without additional tools, which significantly improves the adaptability of the gripper to different workpiece types and sizes and meets the needs of flexible production.

[0019] 4. Compact structure and high reliability: The linkage mechanism adopts a symmetrical distribution design, combined with the stable elastic characteristics of rectangular springs, so that the entire floating hopper mechanical gripper can float flexibly while maintaining high rigidity and reducing swaying during movement; the components are connected through standardized interfaces, with high assembly precision and convenient maintenance, effectively improving the service life and reliability of the equipment.

[0020] In summary, this utility model solves the problems of rigid connection and poor adaptability of traditional grippers through the coordinated design of floating mechanism and clamping mechanism, and has broad application prospects in automated handling, assembly and other scenarios. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a side view of the present invention.

[0023] Figure 3 This is a schematic diagram of the disassembled structure of this utility model;

[0024] Figure 4 This is a top view of the structure of this utility model.

[0025] In the diagram: 1. Robot arm connecting flange; 2. Fixed base; 3. Upper clamping block; 4. Connecting rod; 5. Group flange plate; 6. Spring base; 7. Rectangular spring; 8. Spring upper fixed seat; 9. Adapter flange; 10. Magnet; 11. Left magnetic claw; 12. Right magnetic claw. Detailed Implementation

[0026] 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.

[0027] Please see Figure 1-4 This utility model provides a technical solution: a floating silo mechanical gripper, comprising: a mechanical gripper connecting flange 1, a fixed base 2, a floating mechanism, and a clamping mechanism;

[0028] The robot arm connecting flange 1 is used to connect to an external robot arm; the fixed base 2 is fixedly connected to the robot arm connecting flange 1; the floating mechanism is located below the fixed base 2.

[0029] More specifically, the floating mechanism includes an upper clamping block 3, a connecting rod 4, a grouping flange plate 5, a spring base 6, a rectangular spring 7, and a spring upper fixing seat 8. The upper clamping block 3 is fixedly connected to the fixed base 2. The grouping flange plate 5 is rotatably connected to the upper clamping block 3 through the connecting rod 4. The spring base 6 is fixedly installed below the grouping flange plate 5. The spring upper fixing seat 8 is fixedly connected to the lower part of the fixed base 2. The rectangular spring 7 is installed between the spring base 6 and the spring upper fixing seat 8 to provide elastic support.

[0030] More specifically, the clamping mechanism includes a transition flange 9, a magnet 10, a left magnetic claw 11, and a right magnetic claw 12. The transition flange 9 is fixedly connected to the group flange plate 5. The left magnetic claw 11 and the right magnetic claw 12 are respectively arranged on both sides of the transition flange 9, and a magnet 10 is provided between the left magnetic claw 11, the right magnetic claw 12 and the transition flange 9 for adsorbing the object to be gripped.

[0031] Furthermore, at least two connecting rods 4 are provided, symmetrically distributed on both sides of the upper clamping block 3. One end of each connecting rod 4 is rotatably connected to the upper clamping block 3, and the other end is rotatably connected to the group flange plate 5, forming a movable linkage mechanism to ensure that the group flange plate 5 is subjected to balanced force during floating and to avoid tilting or jamming caused by eccentric loading.

[0032] Furthermore, there are multiple rectangular springs 7, evenly distributed between the spring base 6 and the upper spring fixing seat 8, and both ends of each rectangular spring 7 are fixedly connected to the spring base 6 and the upper spring fixing seat 8 respectively, so as to provide uniform elastic force. By pre-compressing and adjusting the initial elastic force, the group flange plate 5 is kept horizontal in the static state, and provides uniform buffering and restoring force when gripping.

[0033] Furthermore, both the left magnetic claw 11 and the right magnetic claw 12 are made of magnetic materials, and the magnet 10 is fixedly disposed between the adapter flange 9 and the contact surfaces of the left magnetic claw 11 and the right magnetic claw 12 to enhance the adsorption force on magnetic objects. The adsorption surfaces of the left magnetic claw 11 and the right magnetic claw 12 are designed to be flat or curved (selectable according to the shape of the workpiece). The magnet 10 uses neodymium iron boron strong magnets, and its magnetic field distribution is superimposed with the magnetic claw body to form a gradient adsorption force, ensuring that magnetic workpieces of different thicknesses and surface roughness can be stably adsorbed.

[0034] Furthermore, the group flange plate 5 is provided with multiple connection holes for connecting with adapter flanges 9 of different specifications, so as to realize the quick replacement or adjustment of the clamping mechanism.

[0035] The working principle is as follows:

[0036] Grasping preparation: Install the gripper onto the robotic arm via the robotic arm connecting flange 1. Select the appropriate adapter flange 9 and left magnetic claw 11 and right magnetic claw 12 according to the workpiece type, and quickly install them through the connection holes of the group flange plate 5.

[0037] Floating positioning process: When the robotic arm drives the gripper to approach the workpiece, if there is tilt or positional deviation on the workpiece surface, the group flange plate 5, at the moment of contact with the workpiece, achieves floating compensation in the up and down (Z direction), front and back (X direction), and left and right (Y direction) directions through the rotation of the connecting rod 4 and the compression / tension of the rectangular spring 7, so that the left magnetic claw 11 and the right magnetic claw 12 adaptively fit the workpiece surface and avoid rigid collision.

[0038] Magnetic gripping and handling: After the left magnetic claw 11 and right magnetic claw 12 contact the workpiece, the magnet 10 forms a magnetic circuit with the magnetic material on the workpiece surface, generating an attraction force; at the same time, the elastic preload of the rectangular spring 7 ensures that the magnetic claws are tightly attached to the workpiece. When the robotic arm drives the gripper to move, the elastic support of the floating mechanism absorbs vibration and impact during the movement, improving handling stability;

[0039] Release and Reset: After reaching the target position, the robotic arm controls the gripper to move away from the workpiece, the left magnetic claw 11 and the right magnetic claw 12 separate from the workpiece, the rectangular spring 7 pushes the group flange plate 5 to reset through elastic deformation, and the connecting rod 4 returns to the initial symmetrical state, waiting for the next gripping.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A floating silo mechanical gripper, characterized in that, include: Robotic arm connection flange (1), used for connecting to an external robotic arm; The fixed base (2) is fixedly connected to the connecting flange (1) of the robot arm; The floating mechanism, located below the fixed base (2), includes an upper clamping block (3), a connecting rod (4), a group flange plate (5), a spring base (6), a rectangular spring (7), and a spring upper fixing seat (8). The upper clamping block (3) is fixedly connected to the fixed base (2). The group flange plate (5) is rotatably connected to the upper clamping block (3) through the connecting rod (4). The spring base (6) is fixedly located below the group flange plate (5). The spring upper fixing seat (8) is fixedly connected to the lower part of the fixed base (2). The rectangular spring (7) is located between the spring base (6) and the spring upper fixing seat (8) to provide elastic support. The clamping mechanism includes a transition flange (9), a magnet (10), a left magnetic claw (11), and a right magnetic claw (12). The transition flange (9) is fixedly connected to the group flange plate (5). The left magnetic claw (11) and the right magnetic claw (12) are respectively disposed on both sides of the transition flange (9), and the magnet (10) is disposed between the left magnetic claw (11), the right magnetic claw (12) and the transition flange (9) for adsorbing the object to be gripped.

2. The floating silo mechanical gripper according to claim 1, characterized in that: At least two connecting rods (4) are provided, symmetrically distributed on both sides of the upper clamping block (3). One end of each connecting rod (4) is rotatably connected to the upper clamping block (3), and the other end is rotatably connected to the group flange plate (5) to form a movable connecting rod mechanism.

3. The floating silo mechanical gripper according to claim 1, characterized in that: There are multiple rectangular springs (7), which are evenly distributed between the spring base (6) and the upper spring fixing seat (8). Each rectangular spring (7) has its two ends fixedly connected to the spring base (6) and the upper spring fixing seat (8) respectively, so as to provide uniform elastic force.

4. The floating silo mechanical gripper according to claim 1, characterized in that: The left magnetic claw (11) and the right magnetic claw (12) are both made of magnetic material, and the magnet (10) is fixedly disposed between the adapter flange (9) and the contact surfaces of the left magnetic claw (11) and the right magnetic claw (12) to enhance the adsorption force on magnetic objects.

5. A floating silo mechanical gripper according to claim 1, characterized in that: The group flange plate (5) is provided with multiple connection holes for connecting with different specifications of adapter flanges (9) to realize the quick replacement or adjustment of the clamping mechanism.

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