Mechanical gripper for feeding and discharging shaft parts

Abstract

The utility model belongs to the technical field of mechanical claws, and particularly relates to a mechanical claw for feeding and discharging shaft parts, which comprises a support plate, an air cylinder fixedly arranged on the upper surface of the support plate, an angle adjusting component vertically connected to one side of the top end of the side surface of the support plate, and an air cylinder connected to the upper part of the right side surface of the angle adjusting component, clamping assemblies are arranged on the left side face and the top face of the angle adjusting assembly correspondingly, each clamping assembly comprises a two-claw air cylinder, a sensor a is arranged on the side face of each two-claw air cylinder, clamping fingers are connected to the top faces of the two-claw air cylinders, cushion blocks are arranged in the clamping fingers, and arc-shaped grooves are formed in the centers of the inner sides of the cushion blocks; the device is simple in structure and convenient to use, the manufacturing cost of the device is reduced, and application and popularization are facilitated.

Description

Technical Field

[0001] This utility model belongs to the field of robotic gripper technology, specifically relating to a robotic gripper for loading and unloading shaft-type parts. Background Technology

[0002] In the industrial processing of shaft parts, it is often necessary to place the raw material of the shaft part on the processing machine, and after processing, the finished product is set aside, and then the raw material is placed on the processing machine again for processing, and so on. Initially, the above steps were done manually. With the improvement of the level of automated production and the increase in market demand, the above steps have gradually begun to be replaced by robotic arms. At first, there was a single gripper robotic arm that would first place the processed raw material, and then pick up the raw material and put it into the processing machine for processing. This operation was relatively inefficient. Later, a two-gripper robotic arm appeared. After removing the processed raw material, it immediately puts the new raw material into the processing machine to start processing, and the operation efficiency was further improved.

[0003] The utility model patent application number 2020200815111, entitled "A Rotating Device for the Finger of a Robotic Hand," discloses a rotating device for the finger of a robotic hand. By installing a cylinder rotating block below the side-mounted cylinder assembly, the first and second claw assemblies are respectively mounted on the two sides of the cylinder rotating block. The side-mounted cylinder assembly drives the corresponding first and second claw assemblies to rotate 90 degrees through the cylinder rotating block to grip and load materials, thereby realizing the robotic hand's simplified loading and unloading of shaft-type parts or disc-type parts. However, the structure is relatively complex and the manufacturing cost is high.

[0004] To overcome the above problems, a robotic gripper for loading and unloading shaft-type parts is proposed. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, this utility model provides a robotic gripper for loading and unloading shaft parts, which has a simple structure, low manufacturing cost, and is easy to use.

[0006] The technical solution adopted by this utility model is: a robotic gripper for unloading shaft parts, including a support plate, a cylinder fixedly installed on the upper surface of the support plate, an angle adjustment component vertically connected to one side of the top edge of the support plate, the upper right side of the angle adjustment component connected to the cylinder, the cylinder driving the angle adjustment component to achieve angle adjustment, clamping components are respectively installed on the left side and top surface of the angle adjustment component, the included angle between the two sets of clamping components is 70-50°, the clamping component includes two-jaw cylinders, a sensor a is provided on the side of the two-jaw cylinders, clamping fingers are connected to the top surface of the two-jaw cylinders, a pad is provided inside the clamping fingers, and an arc-shaped groove is opened at the center of the inner side of the pad.

[0007] The angle adjustment assembly includes a connecting plate that is perpendicularly connected to the top side of the support plate. A base is fixedly mounted on the upper surface of the connecting plate. There are two bases, which are symmetrically arranged on both sides of the upper surface of the connecting plate. The two sides of the base are fixedly connected to the upper surface of the connecting plate. A protrusion is provided in the middle and facing upwards. A hole is opened in the middle of the protrusion. A connecting block is provided between the bases. The connecting block is fixedly connected to the base through a connecting shaft. Two-claw cylinders are respectively provided on the top and left sides of the connecting block. A connecting base is fixedly mounted on the upper right side of the connecting block. The connecting base is rotatably connected to the piston rod of the cylinder.

[0008] A gas connection hole is provided at the rear of the connecting block. The gas connection hole is L-shaped and connects the top and rear surfaces and the left and rear surfaces of the connecting block respectively. A gas throttle valve a is provided at the rear of the connecting block. The gas throttle valve a is connected to the gas connection hole. One gas connection hole is connected to one gas throttle valve a. The bottom of the two-claw cylinder is connected to the gas throttle valve a through the openings of the gas connection hole on the top and left surfaces of the connecting block respectively.

[0009] A connecting component is provided at the lower rear of the connecting block. The connecting component is fixedly sleeved on the connecting shaft. An L-shaped through hole is provided on the connecting component, which connects the top surface and the rear of the connecting component. A quick-connect connector is provided on the top surface of the connecting component. One end of the quick-connect connector is connected to a gas throttle valve a through a connecting pipe, and the other end is connected to the L-shaped through hole. One gas throttle valve a is connected to one quick-connect connector. A gas throttle valve b is provided at the rear of the connecting component. The gas throttle valve b is connected to the opening of the L-shaped through hole at the rear of the connecting component. The gas throttle valve b is connected to the gas source.

[0010] The included angles between the top and left sides, as well as the bottom and right sides of the connecting block, are all 110-130°.

[0011] Two deflection angle buffers are provided on the front of the connecting block, located on the right and bottom sides of the front respectively. Sensors b are provided on the back of the connecting block at positions corresponding to the two deflection angle buffers.

[0012] A protective cover a is provided on the support plate, and the cylinder is located inside the protective cover a.

[0013] The connecting block is equipped with protective covers on both the front and back.

[0014] The beneficial effects of this utility model are as follows:

[0015] This invention uses a cylinder to adjust the angle of the connecting block, thereby adjusting the angle of the clamping assembly, enabling immediate loading of shaft parts after unloading, thus improving production efficiency. Sensor a controls the opening and closing of the clamping assembly, sensor b controls the adjustment angle of the connecting block, and an angle damper reduces vibration of the cylinder during angle adjustment, making the connecting block more stable. This invention has a simple structure, is easy to use, has low manufacturing cost, and is conducive to widespread adoption. Attached Figure Description

[0016] Figure 1 This is a front structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the internal structure of the present invention from the front.

[0018] Figure 3 This is a schematic diagram of the internal structure of the reverse side of this utility model.

[0019] The markings in the diagram are: 1. Support plate, 11. Cylinder, 12. Piston rod, 13. Protective cover a; 2. Angle adjustment assembly, 21. Connecting plate, 22. Base, 23. Connecting block, 231. Connecting base, 232. Gas throttle valve a, 233. Connecting piece, 234. Quick connector, 235. Gas throttle valve b, 236. Angle deflection buffer, 237. Sensor b, 24. Connecting shaft, 25. Protective cover b; 3. Clamping assembly, 31. Two-jaw cylinder, 32. Sensor a, 33. Clamping finger, 34. Pad block. Detailed Implementation

[0020] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0021] like Figure 1-3As shown, a robotic gripper for unloading shaft parts includes a support plate 1. A cylinder 11 is fixedly mounted on the upper surface of the support plate 1, and a protective cover a13 is provided on the support plate 1, with the cylinder 11 housed inside the protective cover a13. An angle adjustment assembly 2 is vertically connected to one side of the top edge of the support plate 1. The angle adjustment assembly 2 includes a connecting plate 21 vertically connected to the top edge of the side edge of the support plate 1. A base 22 is fixedly mounted on the upper surface of the connecting plate 21. There are two bases 22, symmetrically arranged on both sides of the upper surface of the connecting plate 21. The two sides of the bases 22 are fixedly connected to the upper surface of the connecting plate 21, and a protrusion is provided in the middle with a hole in the middle. A connecting block 23 is provided between the bases 22, and the connecting block 23 is connected to the base 22 by means of... The connecting shaft 24 is fixedly connected. Clamping components 3 are respectively provided on the top and left sides of the connecting block 23. The included angle between the two clamping components 3 is 60°. Each clamping component 3 includes a two-jaw cylinder 31. A sensor a32 is provided on the side of the two-jaw cylinder 31. The top surface of the two-jaw cylinder 31 is connected to a clamping finger 33. A pad 34 is provided inside the clamping finger 33, and an arc-shaped groove is formed at the center of the inner side of the pad 34. A connecting base 231 is fixedly provided at the upper end of the right side of the connecting block 23. The connecting base 231 is rotatably connected to the piston rod 12 of the cylinder 11. A gas connection hole is provided at the rear of the connecting block 23. The gas connection hole is L-shaped and connects the top and rear sides of the connecting block 23 to the left side. Following the connecting block 23, a gas throttle valve a232 is provided at the rear. The gas throttle valve a232 is connected to a gas connection hole, with one gas connection hole connecting one gas throttle valve a232. The bottoms of the two-claw cylinders 31 are connected to the gas throttle valve a232 through the gas connection holes on the top and left sides of the connecting block 23, respectively. A connecting member 233 is provided at the lower rear of the connecting block 23. The connecting member 233 is fixedly sleeved on the connecting shaft 24. An L-shaped through hole is provided on the connecting member 233, connecting the top and rear sides of the connecting member 233. A quick-connect connector 234 is provided on the top surface of the connecting member 233. One end of the quick-connect connector 234 is connected to the gas throttle valve a232 through a connecting pipe. One end is connected to the other end, which is connected to the L-shaped through hole. A gas throttle valve a232 is connected to a quick connector 234. A gas throttle valve b235 is provided behind the connector 233. The gas throttle valve b235 is connected to the opening of the L-shaped through hole behind the connector 233. The gas throttle valve b235 is connected to the gas source. The included angle between the top and left sides and the bottom and right sides of the connecting block 23 is 120°. Two deflection angle buffers 236 are provided on the front of the connecting block 23, which are respectively located on the right side and the bottom of the front. Sensors b237 are respectively provided on the back of the connecting block 23 at the corresponding positions of the two deflection angle buffers 236. Protective covers b25 are provided on both the front and back of the connecting block 23.

[0022] This type of shaft-type component loading and unloading robotic gripper connects to the robotic arm via support plate 1 and connecting plate 21. Gas throttle valves a232 and b235 are opened. Two sets of clamping components 3 are located on the top and left sides of connecting block 23, respectively. One set is used to clamp the blank, and the other to clamp the finished product. The robotic arm drives the clamping components 3 to clamp the blank, and the two-jaw cylinder 31 drives the clamping fingers 33 to clamp the blank. Sensor a32 detects whether the clamp is tight. After clamping, the robotic arm drives the clamping components 3 to clamp the finished product. This operation is repeated. After clamping the finished product, cylinder 11 drives the connecting block 23 to change angle, adjusting the clamping components 3 to the processing position. Angle buffer 236 buffers the angle change of the connecting block 23. The vibration is detected by sensor b237 to determine whether the connecting block 23 has been adjusted to the appropriate angle. The clamping component 3 places the blank into the processing position, and then the robotic arm drives the clamping component 3, which holds the finished product, to the finished product placement area. The two-jaw cylinder 31 drives the clamping fingers 33 to place the finished product in the finished product placement area, completing the loading and unloading action. This utility model adjusts the angle of the connecting block 23 by cylinder 11, thereby adjusting the angle of the clamping component 3, so as to realize the immediate loading after the shaft parts are unloaded, thereby improving production efficiency. Sensor a32 is set to control the opening and closing of the clamping component 3, sensor b237 is set to control the adjustment angle of the connecting block 23, and the deflection angle buffer 236 is set to reduce the vibration of cylinder 11 when adjusting the angle of the connecting block 23, so that the connecting block 23 can be more stable when adjusting the angle, which is conducive to its widespread use.

Claims

1. A mechanical hand claw for feeding and discharging shafts, comprising a support plate, characterized in that: The upper surface of the support plate is fixedly provided with a gas cylinder, the top end of the side surface of the support plate is vertically connected with an angle adjusting assembly, the upper part of the right side surface of the angle adjusting assembly is connected with the gas cylinder, the gas cylinder drives the angle adjusting assembly to realize angle adjustment, the left side surface of the angle adjusting assembly is respectively provided with a clamping assembly, the included angle between the two clamping assemblies is 70-50 degrees, the clamping assembly comprises two claw cylinders, the side surface of the two claw cylinders is provided with a sensor a, the top surface of the two claw cylinders is connected with a clamping finger, the clamping finger is internally provided with a pad, and an arc-shaped groove is formed in the inner side center position of the pad.

2. The mechanical gripper for feeding and discharging shaft parts according to claim 1, characterized in that: The angle adjusting assembly comprises a connecting plate which is vertically connected with the top end of the side surface of the support plate, the upper surface of the connecting plate is fixedly provided with a base, the base is provided with two bases which are symmetrically arranged on the two sides of the upper surface of the connecting plate, the two sides of the base are fixedly connected with the upper surface of the connecting plate, a protrusion is arranged in the middle of the base, a hole is formed in the middle of the protrusion, a connecting block is arranged between the two bases, the connecting block is fixedly connected with the base through a connecting shaft, two claw cylinders are arranged on the top surface and the left side surface of the connecting block respectively, a connecting base is fixedly arranged on the upper end of the right side surface of the connecting block, and the connecting base is rotatably connected with the piston rod of the gas cylinder.

3. The mechanical gripper for feeding and discharging shaft parts according to claim 2, characterized in that: An air connection hole is formed in the rear surface of the connecting block, the air connection hole is L-shaped, and the top surface and the rear surface of the connecting block and the left surface and the rear surface are communicated respectively, the rear surface of the connecting block is provided with a gas throttle valve a, the gas throttle valve a is connected with the air connection hole, one air connection hole is connected with one gas throttle valve a, and the bottoms of the two claw cylinders are connected with the gas throttle valve a through the air connection holes on the top surface and the left side surface of the connecting block.

4. The mechanical gripper for feeding and discharging shaft parts according to claim 3, characterized in that: A connecting piece is arranged on the lower part of the rear surface of the connecting block, the connecting piece is fixedly sleeved on the connecting shaft, an L-shaped through hole is formed in the connecting piece, the L-shaped through hole communicates the top surface and the rear surface of the connecting piece, a quick plug connector is arranged on the top surface of the connecting piece, one end of the quick plug connector is connected with the gas throttle valve a through a connecting pipe, the other end is communicated with the L-shaped through hole, one gas throttle valve a is connected with one quick plug connector, a gas throttle valve b is arranged on the rear surface of the connecting piece, the gas throttle valve b is communicated with the opening of the L-shaped through hole on the rear surface of the connecting piece, and the gas throttle valve b is connected with a gas source.

5. The mechanical gripper for feeding and discharging shaft parts according to claim 2, characterized in that: The included angles between the top surface and the left side surface of the connecting block and between the bottom surface and the right side surface of the connecting block are all 110-130 degrees.

6. The mechanical gripper for feeding and discharging shaft parts according to claim 2, characterized in that: The front surface of the connecting block is provided with two angle deviation buffers which are arranged on the right side and the lower side of the front surface respectively, and the rear surface of the connecting block is provided with a sensor b at positions corresponding to the two angle deviation buffers.

7. The mechanical gripper for feeding and discharging shaft parts according to claim 1, characterized in that: The support plate is provided with a shield a, and the gas cylinder is arranged in the shield a.

8. The mechanical gripper for feeding and discharging shaft parts according to claim 2, characterized in that: The front surface and the rear surface of the connecting block are provided with a shield b.

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