Self-adaptive die-casting part taking paw

Abstract

The utility model discloses a self-adaptive die-casting part taking paw which comprises an arm part, an air cylinder, a fixing seat, two sets of connecting rod assemblies and two paw parts. The air cylinder and the fixing base are installed at the front end of the arm part, and the two claw parts are oppositely arranged on the front side of the fixing base. Each claw part comprises a base part and a movable part; the front section of the base part exceeds the fixed seat, a movable part is arranged below the base part, the movable part and the base part are connected through a guide rod, and an elastic piece is arranged between the movable part and the base part so that the movable part and the base part can elastically move up and down along the guide rod; the middle section of the base part is rotationally connected with the fixed seat through a rotating shaft, and the rear section of the base part is in transmission connection with a driving block driven by a piston rod of a cylinder through a connecting rod assembly; the air cylinder operates, and the connecting rod assembly drives the base part to be unfolded outwards or folded inwards; when the clamping jaw grabs a workpiece, the position can be automatically adjusted according to the position of the workpiece and the shape of the surface, it is guaranteed that clamping force is evenly distributed, the surface of the workpiece is effectively protected, and the workpiece is prevented from being damaged due to too large local pressure.

Description

Technical Field

[0001] This utility model relates to the field of aluminum die casting technology, and in particular to an adaptive die casting gripper. Background Technology

[0002] In the fields of machinery manufacturing and forging, mechanical grippers, as key clamping tools, directly affect production efficiency, machining accuracy, and workpiece integrity through their design and function. With the continuous advancement of industrial technology, the requirements for the flexibility, adaptability, and intelligence of mechanical grippers are increasing.

[0003] In the prior art, several mechanical gripper patents have been disclosed. For example, patent CN222588013U discloses a "forged gripper for large-diameter forged round steel," which uses a compressed adsorption airbag within the gripper plate assembly to adsorb and fix the round steel, improving the protection of the round steel and the stability of the gripper fixation. Furthermore, the bidirectional gripping and fixing setting of the mounting and connecting components facilitates the disassembly of the gripper. However, this gripper is mainly designed for large-diameter round steel, and the gripper plate assembly structure is relatively complex. When dealing with irregularly shaped or small-sized workpieces, it may not be able to effectively utilize its gripping advantages. Additionally, it lacks the ability to automatically adjust the gripping gap, making it difficult to adapt to the rapid change and gripping needs of workpieces of different sizes.

[0004] Patent CN222552932U discloses "a mechanical gripper for mechanical manufacturing," which uses a first motor to drive a gear and a transmission gear to mesh, enabling a linkage mechanism to clamp the workpiece. An adsorption structure further assists in fixing the workpiece, allowing it to adapt to workpieces of different shapes to a certain extent. However, its clamping process mainly relies on the transmission and adsorption effects of the mechanical structure, lacking an elastic adjustment mechanism. When clamping workpieces with uneven surfaces or dimensional tolerances, uneven clamping force can easily lead to workpiece damage or unstable clamping. Furthermore, its adaptability to complex-shaped workpieces is limited, making it difficult to meet the requirements of some high-precision, high-flexibility clamping scenarios.

[0005] In summary, existing mechanical grippers have certain limitations when dealing with workpieces of diverse shapes and sizes, such as insufficient gripping flexibility, poor adaptability to workpiece shapes, lack of automatic clearance adjustment capabilities, and difficulty in balancing gripping stability and workpiece protection. These problems have prompted those skilled in the art to continuously explore and innovate in order to develop a mechanical gripper that can overcome the above-mentioned defects, possess greater flexibility and adaptability, and meet the diverse performance requirements of modern machinery manufacturing and forging industries. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide an adaptive die-casting gripper with a simple structure and adaptive capability.

[0007] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: An adaptive die-casting gripper includes an arm, a cylinder, a fixed seat, two sets of connecting rod assemblies, and two grippers;

[0008] The cylinder and the fixed seat are mounted on the front end of the arm, and the two claws are arranged opposite each other on the front side of the fixed seat;

[0009] Each claw portion includes a base and a movable portion; the front section of the base extends beyond the fixed seat and the movable portion is disposed below it; the movable portion and the base are connected by a guide rod; an elastic element is provided between the movable portion and the base so that the two can move elastically up and down along the guide rod;

[0010] The middle section of the base is rotatably connected to the fixed seat via a rotating shaft, and the rear section of the base is connected to the drive block driven by the piston rod of the cylinder via a connecting rod assembly; when the cylinder operates, the connecting rod assembly drives the base to expand outward or retract inward.

[0011] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the fixing base includes an upper fixing plate and a lower fixing plate spaced apart vertically, and a rotating shaft is fixed between the upper fixing plate and the lower fixing plate; the middle section of the base is rotatably connected to the upper fixing plate and the lower fixing plate through the rotating shaft.

[0012] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the drive block is provided with two pairs of coaxial shaft protrusions at its top and bottom respectively, and the rear section of the base is provided with a pivot, which is exposed on the upper and lower surfaces of the base; each set of connecting rod assembly includes an upper connecting rod and a lower connecting rod, and each connecting rod is provided with a first through hole at the first end and a second through hole at the second end, the first through hole is sleeved on the shaft protrusion, and the second through hole is sleeved on the pivot.

[0013] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the upper fixing plate and the lower fixing plate are provided with guide grooves that extend in a straight line from front to back, and the shaft protrudes within the guide grooves.

[0014] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the claw part further includes a plurality of finger protrusions, and the inner side of the finger protrusions is provided with a serrated structure; the finger protrusions are detachably disposed on the inner side of the movable part.

[0015] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the base and the movable part are connected vertically by two pairs of connecting bolts located on the front and rear sides of the guide rod. The connecting bolts have a movable clearance so that the movable part can rotate relative to the base with a limited range. The guide rod is covered with an oily bushing, which plays a guiding and lubricating role for the vertical movement and rotation of the movable part.

[0016] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the inner side of the movable part is provided with a longitudinal slot, the finger protrusion is inserted into the longitudinal slot and the connection between the two is achieved by fasteners, and the lower edge of the rear end face of the finger protrusion is provided with a transverse ridge, the transverse ridge restricting the height of the finger protrusion when inserted upward.

[0017] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the elastic element between the movable part and the base is a spring, and the spring is sleeved on the guide rod to provide elastic force for the movable part to float up and down.

[0018] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a bearing part is fixed above the upper fixing plate, the bearing part is connected to the arm part, and an auxiliary claw mounting plate is provided on the arm part.

[0019] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the upper fixing plate and the lower fixing plate are provided with outwardly protruding ear pieces on both sides of the front end, and the rotating shaft is disposed on the ear pieces.

[0020] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0021] Compared with the prior art, the advantages of this utility model are: when the gripper grasps the workpiece, the movable part can automatically adjust its position according to the workpiece position and surface shape to ensure that the clamping force is evenly distributed, effectively protect the workpiece surface, and avoid damage to the workpiece due to excessive local pressure. Attached Figure Description

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0023] Figure 1 A three-dimensional structure for an adaptive die-casting gripper Figure 1 ;

[0024] Figure 2 A three-dimensional structure for an adaptive die-casting gripper Figure 2 ;

[0025] Figure 3 An exploded view of an adaptive die-casting gripper;

[0026] Figure 4 An exploded view of an adaptive die-casting gripper;

[0027] Figure 5 Schematic diagram of the claw transmission structure of an adaptive die-casting gripper. Figure 1 ;

[0028] Figure 6 Schematic diagram of the claw transmission structure of an adaptive die-casting gripper. Figure 2 ;

[0029] Figure 7 Schematic diagram of the claw transmission structure of an adaptive die-casting gripper. Figure 3 ;

[0030] Figure 8 This is a diagram showing the internal structure of the claw portion of an adaptive die-casting part-removing gripper.

[0031] Figure 9 This is a structural diagram of the movable part of the claw and the finger protrusion of an adaptive die-casting gripper. Detailed Implementation

[0032] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0033] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it will not be further defined and explained in subsequent figures.

[0034] In the description of this utility model, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the usual placement of the product during use. These terms may differ from the orientations in the accompanying drawings and are used only to facilitate the description of the utility model from the same reference and to simplify the description. They do not indicate or imply that the device or component 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 the utility model. Similarly, "first" and "second" are merely descriptive terms for ease of understanding and have no other directional meaning; they should not be considered as limitations of the utility model.

[0035] like Figure 1-4 As shown, the present invention provides an adaptive die-casting gripper, the structure of which is as follows: Figure 1 As shown, it includes an arm 1, a cylinder 2, a fixed seat 3, two sets of connecting rod assemblies 4, and two claws 5.

[0036] like Figure 1-4 As shown in Figure 8, each claw 5 consists of a base 51 and a movable part 52. The front section of the base 51 extends to the front of the fixed base 3, and the movable part 52 is provided below it. The movable part 52 is connected to the base 51 by a guide rod 53, and an elastic element is provided between the two, allowing the movable part 52 to move up and down elastically along the guide rod 53. The middle section of the base 51 is rotatably connected to the fixed base 3 via a rotating shaft 31, and the rear section of the base 51 is connected to the drive block 22 driven by the piston rod 21 of the cylinder 2 via a connecting rod assembly 4. When the cylinder 2 is running, the extension and retraction of the piston rod 21 drives the drive block 22 to move, which in turn causes the base 51 to expand outward or retract inward around the rotating shaft 31 via the connecting rod assembly 4, realizing the opening and closing action of the gripper.

[0037] This design allows the movable part 52 to automatically adjust its position according to the workpiece's location and surface shape when the gripper is grasping the workpiece, ensuring a uniform distribution of clamping force, effectively protecting the workpiece surface, and preventing damage to the workpiece due to excessive local pressure.

[0038] like Figure 2-7 As shown, the fixed base 3 includes an upper fixed plate 32 and a lower fixed plate 33 spaced apart vertically, with a rotating shaft 31 fixed between them. The middle section of the base 51 is rotatably connected to the upper fixed plate 32 and the lower fixed plate 33 via the rotating shaft 31. This structure provides stable support and a base for rotation, ensuring the reliability and durability of the gripper during operation.

[0039] More preferably, such as Figure 5-7 As shown, the drive block 22 has two pairs of coaxial shaft protrusions 23 on its upper and lower sides, and a pivot 55 is inserted through the rear section of the base 51, with the pivot 55 protruding from the upper and lower surfaces of the base 51. Each linkage assembly 4 includes an upper linkage 41 and a lower linkage 42, each linkage having a first through hole at a first end and a second through hole at a second end. The first through hole is fitted onto the shaft protrusion 23, and the second through hole is fitted onto the pivot 55. The linkage assembly 4 can accurately transmit the movement of the drive block 22 to the base 51, achieving a stable transmission effect. Preferably, the linkage assemblies on both sides are symmetrically distributed, and the two linkages of the same linkage assembly are distributed parallel vertically, thus eliminating unilateral stress, improving transmission stability, and preventing jaw deflection from causing clamping center deviation.

[0040] like Figure 5-7As shown, in a preferred embodiment, the upper fixing plate 32 and the lower fixing plate 33 are provided with guide grooves 34 extending linearly back and forth, and the shaft protrusion 23 moves within the guide grooves 34. This guiding structure ensures the linearity of the drive block 22 and the connecting rod assembly 4 during movement, and improves the movement accuracy and stability of the gripper.

[0041] like Figure 3-4 As shown, the base 51 and the movable part 52 are connected vertically by two pairs of connecting bolts k with movable clearance located on the front and rear sides of the guide rod 53, so that the connection is strengthened to avoid excessive displacement, while the movable part can be rotated relative to the base to achieve fine adjustment.

[0042] In addition, the guide rod 53 is fitted with an oily bushing 56, which guides and lubricates the up-and-down movement and rotation of the moving part 52, reducing friction and extending the service life of the component.

[0043] like Figure 2-4 As shown in Figure 9, the claw portion 5 also includes several finger protrusions 57. The inner surface of each finger protrusion 57 has a serrated structure, which increases the friction with the workpiece and prevents the workpiece from sliding during clamping. The finger protrusions 57 are detachably disposed inside the movable portion 52, facilitating replacement and adjustment according to different workpiece shapes and sizes. The inner side of the movable portion 52 is provided with a longitudinal slot 58, into which the finger protrusions 57 are inserted and connected by fasteners. The lower edge of the rear end face of each finger protrusion 57 is provided with a transverse ridge 59, which limits the upward insertion height of the finger protrusions 57, ensuring accurate and secure installation. Multiple finger protrusions 57 stacked one on top of the other can form a downwardly extending columnar body. Preferably, the inner surface of the movable portion 52 is arc-shaped.

[0044] like Figure 1-4 As shown, the elastic element between the movable part 52 and the base 51 is a spring, which is sleeved on the guide rod 53 to provide elastic force for the movable part 52 to float up and down. This elastic design allows the gripper to automatically adapt to the contour of the workpiece surface when gripping irregularly shaped workpieces, maintaining good contact and clamping effect, while reducing impact and damage to the workpiece surface.

[0045] Furthermore, such as Figure 1-2 As shown, a support portion 35 is fixed above the upper fixing plate 32, and the support portion 35 is connected to the arm portion 1. An auxiliary claw mounting plate 11 is provided on the arm portion 1. The support portion 35 is used to support the weight of the entire gripper and fix the gripper to the robotic arm or other equipment. The auxiliary claw mounting plate 11 provides additional mounting interfaces, which facilitates the installation of other auxiliary claws or tools as needed, enhancing the versatility and expandability of the gripper.

[0046] like Figure 6-8As shown, the upper fixing plate 32 and the lower fixing plate 33 have outwardly protruding lugs 36 on both sides of their front ends, and the rotating shaft 31 is mounted on the lugs 36. This design enhances the structural strength of the fixing base 3 and provides a stable support point for the rotating shaft 31, ensuring the stability and reliability of the base 51 during rotation.

[0047] The mechanical gripper of this invention achieves stable clamping and flexible operation of workpieces through its unique structural design and coordinated cooperation between its various components. It has high practicality and adaptability and can meet the clamping needs of different industrial scenarios.

[0048] This invention introduces an adaptive die-casting gripper. Specific examples are used to illustrate the principle and implementation of this invention. The descriptions of the embodiments are merely for the purpose of helping to understand this invention and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. An adaptive die-casting gripper, characterized in that, Includes the arm, cylinder, mounting base, two sets of connecting rod assemblies, and two claws; The cylinder and the fixed seat are mounted on the front end of the arm, and two claws are arranged opposite each other on the front side of the fixed seat; each claw includes a base and a movable part; the front section of the base extends beyond the fixed seat and the movable part is arranged below it; the movable part and the base are connected by a guide rod, and an elastic element is provided between the movable part and the base so that the two can move up and down elastically along the guide rod; The middle section of the base is rotatably connected to the fixed seat via a rotating shaft, and the rear section of the base is connected to the drive block driven by the piston rod of the cylinder via a connecting rod assembly; when the cylinder operates, the connecting rod assembly drives the base to expand outward or retract inward.

2. The adaptive die-casting gripper according to claim 1, characterized in that, The fixing base includes an upper fixing plate and a lower fixing plate spaced apart vertically, and a rotating shaft is fixed between the upper fixing plate and the lower fixing plate; the middle section of the base is rotatably connected to the upper fixing plate and the lower fixing plate through the rotating shaft.

3. The adaptive die-casting gripper according to claim 2, characterized in that: The drive block has two pairs of coaxial axial protrusions on its upper and lower sides respectively. The rear section of the base is provided with a pivot, which is exposed on the upper and lower surfaces of the base. Each linkage assembly includes an upper linkage and a lower linkage. Each linkage is provided with a first through hole at the first end and a second through hole at the second end. The first through hole is fitted on the axial protrusion, and the second through hole is fitted on the pivot.

4. The adaptive die-casting gripper according to claim 3, characterized in that: The upper fixing plate and the lower fixing plate are provided with guide grooves that extend in a straight line from front to back, and the shaft protrudes within the guide grooves.

5. The adaptive die-casting gripper according to claim 1, characterized in that: The claw portion also includes several finger protrusions, the inner surface of which is provided with a serrated structure; the finger protrusions are detachably disposed inside the movable portion.

6. The adaptive die-casting gripper according to claim 1, characterized in that: The base and the movable part are connected vertically by two pairs of connecting bolts located on the front and rear sides of the guide rod. The connecting bolts have a movable clearance so that the movable part can rotate relative to the base with a limited range. The guide rod is covered with an oily bushing, which guides and lubricates the vertical movement and rotation of the movable part.

7. The adaptive die-casting gripper according to claim 5, characterized in that: The inner side of the movable part is provided with a longitudinal slot, the finger protrusion is inserted into the longitudinal slot and the two are connected by fasteners, and the lower edge of the rear end face of the finger protrusion is provided with a transverse ridge, which limits the height of the finger protrusion when inserted upward.

8. The adaptive die-casting gripper according to claim 1, characterized in that: The elastic element between the movable part and the base is a spring, which is sleeved on the guide rod to provide elastic force for the movable part to float up and down.

9. The adaptive die-casting gripper according to claim 2, characterized in that: A bearing portion is fixed above the upper fixing plate, the bearing portion is connected to the arm portion, and an auxiliary claw mounting plate is provided on the arm portion.

10. The adaptive die-casting gripper according to claim 2, characterized in that: The upper fixing plate and the lower fixing plate have outwardly protruding lugs on both sides of their front ends, and the rotating shaft is mounted on the lugs.

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