Flexible grabbing mechanism

Abstract

The utility model discloses a flexible grabbing mechanism which comprises a servo electric cylinder, a first adjusting plate is arranged on one side of the bottom of the servo electric cylinder, a second adjusting plate is arranged on the other side of the bottom of the servo electric cylinder, a first quick change system is installed at the bottom of the first adjusting plate, a first clamping jaw seat is installed at the bottom of the first quick change system, and a second clamping jaw seat is installed at the bottom of the second adjusting plate. A first rotary clamping jaw is arranged on the first clamping jaw seat, and a second quick change system is installed at the bottom of the second adjusting plate. According to the flexible grabbing mechanism, a feeding mechanism meeting products of different sizes is adopted, a power source of the mechanism is the servo electric claw, the flexible grabbing mechanism can be compatible with the products of different lengths and sizes, the clamping claw can conduct self-rotation in the circumferential direction according to working conditions when clamping the products, the rotation angle is adjustable, and the flexible grabbing mechanism is convenient to use. The type of the clamping jaw can be subjected to mistake proofing identification through a model detection sensor, and in addition, the clamping jaw fixing piece can achieve production of more types of products through a quick change system.

Description

Technical Field

[0001] This utility model relates to the field of product gripping technology, and in particular to a flexible gripping mechanism. Background Technology

[0002] A flexible gripping mechanism is a support device for gripping and moving products. This mechanism is a feeding mechanism and can be applied to working conditions where the products being gripped have similar shapes but different lengths. The power source is a servo electric gripper, which can flexibly accommodate products of different sizes. With the continuous development of technology, people have increasingly higher requirements for the manufacturing process of flexible gripping mechanisms.

[0003] Existing gripping mechanisms have certain drawbacks. First, they cannot be well compatible with a wide range of products, requiring replacement for each product, which is inconvenient and inconvenient for users. Second, they cannot adapt well to the shape of the product, and the stability of gripping materials cannot meet the requirements, which has a certain adverse effect on the actual use process. Therefore, we propose a flexible gripping mechanism. Utility Model Content

[0004] Technical problem solved: To address the shortcomings of existing technologies, this utility model provides a flexible gripping mechanism that can meet the feeding needs of products of different sizes. The power source of the mechanism is a servo electric gripper, which can be compatible with products of different lengths. The gripper can rotate in the circumferential direction when gripping the product according to the working conditions, and the rotation angle is adjustable. The type of gripper can be identified by a model detection sensor to prevent errors. In addition, the gripper fixing part can be used with a quick-change system to realize the production of more types of products, which can effectively solve the problems in the background technology.

[0005] Technical Solution: To achieve the above objectives, the technical solution adopted by this utility model is as follows: A flexible gripping mechanism includes a servo electric cylinder. A first adjusting plate is provided on one side of the bottom of the servo electric cylinder, and a second adjusting plate is provided on the other side of the bottom of the servo electric cylinder. A first quick-change system is installed at the bottom of the first adjusting plate, and a first gripper seat is installed at the bottom of the first quick-change system. A first rotating gripper is provided on the first gripper seat. A second quick-change system is installed at the bottom of the second adjusting plate, and a second gripper seat is installed at the bottom of the second quick-change system. A second rotating gripper is provided on the second gripper seat. The outer wall surfaces of both the first and second rotating grippers are provided with contour grooves. Gripper angle control components are installed on both the first and second gripper seats.

[0006] Preferably, a first detection workpiece is mounted on the outer side of the first gripper seat, and a first tooling number detection sensor is connected to the first detection workpiece; a second detection workpiece is mounted on the outer side of the second gripper seat, and a second tooling number detection sensor is connected to the second detection workpiece.

[0007] Preferably, the servo electric cylinder drives the first adjustment plate and the second adjustment plate to move, thereby driving the first gripper seat and the second gripper seat to perform gripping adjustment.

[0008] Preferably, a bearing is provided between the first gripper seat and the first rotating gripper, and the first rotating gripper rotates on the first gripper seat via the bearing. A bearing is provided between the second rotating gripper and the second gripper seat, and the second rotating gripper rotates on the second gripper seat via the bearing.

[0009] Preferably, the first and second rotary grippers are modified from shaft-mounted mold ejector pins, and the bottom and the contouring groove are integrally formed by processing. The first and second rotary grippers can rotate in the circumferential direction when clamping the product according to the working conditions, so that the contouring groove can hold the edge of the product, and the rotation angle is adjustable.

[0010] Preferably, the first rotating gripper on the first gripper holder uses a first tooling number detection sensor and a first workpiece for inspection for error prevention identification, and the second rotating gripper on the second gripper holder uses a second workpiece for inspection and a second tooling number detection sensor for error prevention identification.

[0011] Beneficial Effects: Compared with the prior art, this utility model provides a flexible gripping mechanism with the following beneficial effects: This flexible gripping mechanism can meet the feeding mechanism of products of different sizes. The power source of the mechanism is a servo electric gripper, which can be compatible with products of different lengths. The gripper can rotate in the circumferential direction when gripping the product according to the working conditions. The rotation angle is adjustable. The type of gripper can be identified by a model detection sensor to prevent errors. In addition, the gripper fixing part can use a quick-change system to realize the production of more types of products. The entire flexible gripping mechanism has a simple structure, is easy to operate, and has better performance than traditional methods. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of a flexible gripping mechanism according to the present invention.

[0013] Figure 2 This is a structural schematic diagram of the front view of a flexible gripping mechanism according to the present invention.

[0014] Figure 3 This is a side view of the structure of a flexible gripping mechanism according to the present invention.

[0015] Figure 4This is a structural schematic diagram of point A in the flexible gripping mechanism of this utility model, which is an enlarged view.

[0016] In the diagram: 1. Servo electric cylinder; 2. First adjusting plate; 3. First tooling number detection sensor; 4. First workpiece for inspection; 5. First quick change system; 6. First gripper seat; 7. First rotary gripper; 8. Gripper angle control component; 9. Second workpiece for inspection; 10. Second tooling number detection sensor; 11. Second adjusting plate; 12. Second gripper seat; 13. Second rotary gripper; 14. Second quick change system; 15. Contouring groove. Detailed Implementation

[0017] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. However, those skilled in the art will understand that the embodiments described below are only some embodiments of this utility model, not all embodiments, and are only used to illustrate this utility model, and should not be regarded as limiting the scope of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model. Where specific conditions are not specified in the embodiments, conventional conditions or conditions recommended by the manufacturer shall be followed. Where the manufacturers of reagents or instruments are not specified, they are all conventional products that can be purchased commercially.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0020] like Figure 1-4As shown, a flexible gripping mechanism includes a servo cylinder 1. A first adjusting plate 2 is provided on one side of the bottom of the servo cylinder 1, and a second adjusting plate 11 is provided on the other side of the bottom of the servo cylinder 1. A first quick-change system 5 is installed at the bottom of the first adjusting plate 2, and a first gripper seat 6 is installed at the bottom of the first quick-change system 5. A first rotating gripper 7 is provided on the first gripper seat 6. A second quick-change system 14 is installed at the bottom of the second adjusting plate 11, and a second gripper seat 12 is installed at the bottom of the second quick-change system 14. A second rotating gripper 7 is provided on the second gripper seat 12. 3. The outer wall surfaces of the first rotating gripper 7 and the second rotating gripper 13 are provided with contour grooves 15. The first gripper base 6 and the second gripper base 12 are both equipped with gripper angle control components 8 to meet the feeding mechanism of products of different sizes. The power source of the mechanism is a servo electric gripper, which can be compatible with products of different lengths. The gripper can rotate in the circumferential direction according to the working conditions when clamping the product. The rotation angle is adjustable. The type of gripper can be identified by a model detection sensor to prevent errors. In addition, the gripper fixing component can use a quick change system to realize the production of more types of products.

[0021] Furthermore, a first inspection workpiece 4 is mounted on the outer side of the first gripper seat 6, and a first tooling number detection sensor 3 is connected to the first inspection workpiece 4. A second inspection workpiece 9 is mounted on the outer side of the second gripper seat 12, and a second tooling number detection sensor 10 is connected to the second inspection workpiece 9.

[0022] Furthermore, the servo electric cylinder 1 drives the first adjustment plate 2 and the second adjustment plate 11 to move, thereby driving the first gripper seat 6 and the second gripper seat 12 to perform gripping adjustment.

[0023] Furthermore, a bearing is provided between the first gripper seat 6 and the first rotating gripper 7, and the first rotating gripper 7 rotates on the first gripper seat 6 via the bearing. A bearing is provided between the second rotating gripper 13 and the second gripper seat 12, and the second rotating gripper 13 rotates on the second gripper seat 12 via the bearing.

[0024] Furthermore, the first rotating gripper 7 and the second rotating gripper 13 are modified from the shaft-mounted mold ejector pin, and their bottoms are integrally formed with the contour groove 15 through machining. The first rotating gripper 7 and the second rotating gripper 13 can rotate in the circumferential direction when clamping the product according to the working conditions, so that the contour groove 15 can hold the edge of the product. The rotation angle is adjustable.

[0025] Furthermore, the first rotating gripper 7 on the first gripper seat 6 is identified by the first tooling number detection sensor 3 and the first workpiece for detection 4 to prevent errors, and the second rotating gripper 13 on the second gripper seat 12 is identified by the second workpiece for detection 9 and the second tooling number detection sensor 10 to prevent errors.

[0026] Working principle: This utility model includes a servo electric cylinder 1, a first adjusting plate 2, a first tooling number detection sensor 3, a first workpiece for detection 4, a first quick-change system 5, a first gripper seat 6, a first rotating gripper 7, a gripper angle control component 8, a second workpiece for detection 9, a second tooling number detection sensor 10, a second adjusting plate 11, a second gripper seat 12, a second rotating gripper 13, a second quick-change system 14, and a contour groove 15. It is a feeding mechanism that meets the needs of products of different sizes. The power source of the mechanism is a servo electric gripper, which can be compatible with products of different lengths. The gripper can rotate in the circumferential direction when clamping the product according to the working conditions. The rotation angle is adjustable. The type of gripper can be identified by a model detection sensor to prevent errors. In addition, the gripper fixing component can utilize the quick-change system to realize the production of more types of products.

[0027] This mechanism is a feeding mechanism that can be applied to situations where the products being picked up are similar in shape but different in length and size. The power source is a servo electric gripper, which can flexibly accommodate products of different sizes.

[0028] In addition, the quick-change system can be compatible with a wider range of product sizes by changing the clamping fasteners, but the clamps do not need to be changed, thus satisfying the need to be compatible with more products with minimal replacement work.

[0029] The quick-change system is a standard SCHUNK quick-change system, with a simple mechanism and more stable and faster replaceability;

[0030] The gripper is modified from the ejector pin of the shaft-mounted mold. While meeting the requirements of gripper strength and service life, it can achieve axial rotation. Due to the non-fixed position of the product being picked up, the gripper can achieve axial rotation to adapt to the shape of the product when picking up material in the gripping system, ensuring the stability of the material being gripped.

[0031] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A flexible gripping mechanism comprising a servo-electric cylinder (1), characterized in that: The bottom side of the servo cylinder (1) is provided with a first adjusting plate (2), and the other side of the bottom of the servo cylinder (1) is provided with a second adjusting plate (11), the bottom of the first adjusting plate (2) is provided with a first quick change system (5), the bottom of the first quick change system (5) is provided with a first jaw seat (6), the first jaw seat (6) is provided with a first rotary jaw (7), the bottom of the second adjusting plate (11) is provided with a second quick change system (14), the bottom of the second quick change system (14) is provided with a second jaw seat (12), the second jaw seat (12) is provided with a second rotary jaw (13), the outer wall surface of the first rotary jaw (7) and the second rotary jaw (13) is provided with a profiling groove (15), and the first jaw seat (6) and the second jaw seat (12) are provided with a jaw angle control member (8).

2. The flexible grasping mechanism of claim 1, wherein: The outer side of the first jaw seat (6) is provided with a first detection workpiece (4), and the first detection workpiece (4) is connected with a first tool number detection sensor (3); the outer side of the second jaw seat (12) is provided with a second detection workpiece (9), and the second detection workpiece (9) is connected with a second tool number detection sensor (10).

3. The flexible gripping mechanism of claim 1, wherein: The servo cylinder (1) drives the first adjusting plate (2) and the second adjusting plate (11) to move, so as to drive the first jaw seat (6) and the second jaw seat (12) to grasp and adjust.

4. The flexible gripping mechanism of claim 1, wherein: The first rotary jaw (7) is rotated on the first jaw seat (6) through the bearing, and the second rotary jaw (13) is rotated on the second jaw seat (12) through the bearing.

5. The flexible gripping mechanism of claim 1, wherein: The first rotary jaw (7) and the second rotary jaw (13) are modified from shaft mold ejector pins, and the bottom is integrally formed with the profiling groove (15) through machining, the first rotary jaw (7) and the second rotary jaw (13) can rotate in the circumferential direction according to the working condition when clamping the product, so that the profiling groove (15) clamps the product edge, and the rotation angle is adjustable.

6. The flexible gripping mechanism of claim 2, wherein: The first rotary jaw (7) on the first jaw seat (6) is prevented from being mistaken through the first tool number detection sensor (3) and the first detection workpiece (4), and the second rotary jaw (13) on the second jaw seat (12) is prevented from being mistaken through the second detection workpiece (9) and the second tool number detection sensor (10).

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