Multifunctional mechanical clamping jaw device

Abstract

The utility model discloses a multifunctional mechanical clamping jaw device which comprises a frame, a plurality of pairs of clamping jaws rotationally connected to the lower end of the frame and an air cylinder. The clamping jaw comprises a first structural rod and a second structural rod arranged at one end of the first structural rod. A spring is arranged between the other end of the first structural rod and the frame; a plurality of pairs of arc-shaped push plates are arranged at the moving end of the air cylinder and abut against the middle of the upper end of the second structural rod. The device is compact in structure, small in size, novel in structure, convenient to use and maintain and suitable for automatic carrying. The clamping jaws rotate towards the inner side to clamp the burning column and rotate towards the outer side to support the fixed supporting plate, the two clamping mechanisms are combined into a whole, and the size and the manufacturing cost of automatic equipment can be reduced easily. The main moving parts and the guide structure of the device are arranged in the frame, a larger activity space is reserved for movement of the device, and then the movement flexibility of the device is improved.

Description

Technical Field

[0001] This utility model belongs to the field of kiln technology, and in particular relates to a multifunctional mechanical gripper device. Background Technology

[0002] The automatic kiln loading and unloading system is a highly efficient automated system integrating multiple devices. Key components include a loading machine, a shaking machine, a turning and unloading machine, and a grid stacking machine. These devices work together to ensure efficient material handling and transportation within the kiln. In modern industrial production, especially in scenarios involving kiln loading and unloading, the application of industrial robot grippers is particularly important. These grippers, with their precision, speed, and stability, greatly optimize the loading and unloading process. They can accurately grasp and place materials in a short time, reducing operation time and thus improving production efficiency.

[0003] Chinese patent document CN215524152U discloses an automatic loading and unloading device for firing plates in a tunnel kiln, including a loading device and an unloading device. The loading and unloading devices have identical structures. The loading device includes a moving mechanism and material carts, with several material carts located below the moving mechanism. A suction cup mechanism and a gripper mechanism are connected to the output end of the loading device. The loading and unloading devices complete the loading and unloading of the firing plates and columns, achieving a high degree of automation, greatly improving the efficiency of loading and unloading, and reducing the labor intensity of workers. Proximity sensors are used to position the suction cups or grippers, ensuring high positioning accuracy.

[0004] As a type of kiln furniture, firing columns are used as stacked columns, often requiring them to be neatly arranged on pallets before being stacked. When applying the aforementioned loading and unloading device to the handling and placement of firing columns and pallets, two independent motion systems are needed as operating elements, which undoubtedly increases the size and manufacturing cost of the entire automated device. Utility Model Content

[0005] To overcome the technical problems of existing technologies that require precise placement of the burning column and the support plate, which is difficult to operate manually, and that setting up two sets of operating components for moving the burning column and the support plate separately would increase the size and manufacturing cost of the automated device, one objective of this utility model is to provide a multifunctional mechanical gripper device. This device uses multiple pairs of L-shaped grippers within a frame, with the connecting parts of the two structural rods on the grippers rotatably connected to the frame. Springs provide inward clamping force to each pair of grippers, facilitating control of the clamping torque and preventing damage to the burning column from excessive torque. Additionally, a cylinder is provided to drive the grippers outward, lifting the support plate to achieve the clamping action.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a multifunctional mechanical gripper device, comprising a frame, multiple pairs of grippers rotatably connected to the lower end of the frame along a linear arrangement, and a cylinder disposed within the frame; each gripper includes a horizontally arranged first structural rod and a vertically arranged second structural rod at one end of the first structural rod; the intersection of the first structural rod and the second structural rod is rotatably connected to the outside of the frame; wherein, a spring is disposed between the other end of the first structural rod and the frame, and the spring force is used to cause the ends of each pair of second structural rods to rotate towards each other; multiple pairs of arc-shaped push plates are disposed on the moving end of the cylinder, and each arc-shaped push plate abuts against the middle of the upper end of the corresponding second structural rod.

[0007] The cylinder retracts, and the spring force drives the end of the second structural rod to move towards each other to clamp the burning column. The clamping force is highly controllable, avoiding damage to the burning column due to excessive torque. The cylinder extends, and the arc-shaped push plate pushes the end of the second structural rod to support the support plate outward to achieve the clamping action, thereby reducing the size and manufacturing cost of the automated device.

[0008] Specifically, the frame includes an upper fixed plate, a lower fixed plate located below the upper fixed plate, and four support rods disposed between the upper fixed plate and the lower fixed plate; a crossbeam is disposed at the upper end of the lower fixed plate, and the crossbeam is located in the middle of each pair of grippers; the upper end of the spring is disposed on the crossbeam.

[0009] Furthermore, the cylinder includes a cylinder body and a piston rod that is longitudinally slidably connected to the lower end of the cylinder body; the lower end of the piston rod is disposed at the upper end of the crossbeam; a movable plate is disposed at the lower end of the cylinder body, and the arc-shaped push plate is disposed below the movable plate.

[0010] Furthermore, guide rods are longitudinally arranged at the four corners of the lower end of the movable plate; four linear bearings are arranged on the lower fixed plate, which are slidably connected to the corresponding guide rods; and the arc-shaped push plate is arranged at the lower end of the guide rods.

[0011] The cylinder, the bearing, the guide rod, and the linear bearing are all located within the frame. The frame has a compact structure, which increases the working space of the mechanical gripper and also helps to reduce the size of the automated equipment.

[0012] Specifically, the lower fixed plate has two parallel rotating seats at its lower end; the rotating seats are located at the edge of the lower fixed plate; the grippers located on the same side are rotatably connected to the rotating seats.

[0013] Furthermore, the lower fixing plate is provided with two sets of waist-shaped holes, each set of waist-shaped holes being located at the upper end of the adjacent rotating seat; the length direction of the waist-shaped holes is perpendicular to the rotation axis of the gripper.

[0014] The position of the rotating seat can be finely adjusted through the waist-shaped hole, which means that the clamping position and clamping stroke of the gripper can be adjusted, reducing manufacturing errors and increasing compatibility.

[0015] Specifically, the grippers are used to hold the burning column and the support plate for supporting the burning column; the upper four corners of the support plate are respectively provided with vertical columns; the upper end of the column is provided with an outwardly inclined guide surface; and the middle of the column is provided with an inner convex plate.

[0016] Furthermore, a rectangular groove is provided at the center of the upper end of the pallet; a constriction is provided at the lower part of the second structural rod, the constriction facing the outside of the frame; the lower part of the constriction may optionally abut against the inner wall of the groove.

[0017] Furthermore, the inner convex plate and the column are an integral sheet metal structure, and the inner convex plate is formed by bending metal; the guide plate is disposed on the outside of the column; the guide plate includes two mutually perpendicular vertical surfaces and two outwardly inclined surfaces respectively disposed on the upper part of the vertical surfaces.

[0018] The tray is placed on the inner convex plate of another tray located below it, and the guide plate facilitates the stacking of multiple trays, reducing the error range.

[0019] Specifically, the end of the first structural rod away from the second structural rod is threadedly connected to a lower hanging rod; the two ends of the crossbeam facing the gripper are respectively threadedly connected to multiple upper hanging rods; the spring is disposed between the lower hanging rod and the upper hanging rod.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] 1. The device has a compact structure, small size, novel design, and is easy to use and maintain, making it suitable for automated material handling.

[0022] 2. The device's grippers rotate inward to hold the burning column, providing high controllability of gripping force and avoiding damage to the burning column from excessive torque. Through the stroke control of the cylinder, it can also grip multiple sets of workpieces with different widths. The grippers rotate outward to support the fixed support plate. The two gripping mechanisms are combined into one, which helps to reduce the size and manufacturing cost of automated equipment.

[0023] 3. The main moving parts and guiding structure of the device are all set inside the frame, making the structure compact and reserving more space for the movement of the device, thereby increasing the flexibility of the device's movement and reducing the size of the automated equipment to a certain extent. Attached Figure Description

[0024] Figure 1 This is the front view of the present invention;

[0025] Figure 2 This is a front view of the present invention;

[0026] Figure 3 This is a bottom oblique projection view of the present invention;

[0027] Figure 4 This is a schematic diagram illustrating the application of the burning column of this utility model;

[0028] Figure 5 This is a schematic diagram illustrating the application scenario of this utility model;

[0029] Figure 6 This is a schematic diagram of the stacking of the tray and the burning column of this utility model;

[0030] Figure 7 This is a schematic diagram of the structure of the tray of this utility model;

[0031] Figure 8 This is a schematic diagram of the structure of the clamping and burning column of this utility model;

[0032] Figure 9 This is a schematic diagram of the clamping tray of this utility model.

[0033] In the diagram: 1. Frame; 11. Upper fixed plate; 12. Support rod; 13. Lower fixed plate; 131. Waist-shaped hole; 14. Linear bearing; 15. Crossbeam; 21. Cylinder; 211. Piston rod; 22. Movable plate; 23. Guide rod; 24. Arc-shaped push plate; 31. Spring; 32. Upper hanging rod; 33. Lower hanging rod; 41. Gripper; 411. Closure; 42. Rotating seat; 51. Support plate; 511. Groove; 512. Column; 513. Inner convex plate; 514. Guide plate; 52. Burning column. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0035] In the description of this utility model, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" are based on the orientation or positional relationship shown in the accompanying drawings. They 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. They should not be construed as limiting the specific protection scope of this utility model.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In this description of the utility model, "a number" means two or more, unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, terms such as "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection; they can refer to a direct connection or a connection through an intermediate medium; or 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 according to the specific circumstances.

[0038] See Figures 1-9 A multifunctional mechanical gripper device includes a frame 1, eight pairs of grippers 41 arranged linearly and rotatably connected to the lower end of the frame 1, and a cylinder 21 disposed within the frame 1; each pair of grippers 41 includes two symmetrically arranged grippers 41.

[0039] The frame 1 includes an upper fixing plate 11, a lower fixing plate 13 located below the upper fixing plate 11, and four support rods 12 disposed between the upper fixing plate 11 and the lower fixing plate 13; a crossbeam 15 is provided at the upper end of the lower fixing plate 13, and the crossbeam 15 is located in the middle of each pair of grippers 41.

[0040] The lower fixing plate 13 has two parallel rotating seats 42 at its lower end; the rotating seats 42 are located at the edge of the lower fixing plate 13; the grippers 41 located on the same side are rotatably connected to the rotating seats 42. The lower fixing plate 13 has two sets of waist-shaped holes 131, each set of waist-shaped holes 131 being located at the upper end of the adjacent rotating seats 42; the length direction of the waist-shaped holes 131 is perpendicular to the rotation axis of the grippers 41.

[0041] The gripper 41 includes a horizontally arranged first structural rod and a vertically arranged second structural rod at one end of the first structural rod; the intersection of the first structural rod and the second structural rod is rotatably connected to the rotating seat 42. A lower hanging rod 33 is threadedly connected to the end of the first structural rod away from the second structural rod; eight upper hanging rods 32 are threadedly connected to both ends of the crossbeam 15 facing the gripper 41; a spring 31 is provided between the lower hanging rods 33 and the upper hanging rods 32; the elastic force of the spring 31 is used to make the ends of each pair of second structural rods rotate towards each other.

[0042] The cylinder 21 includes a cylinder body and a piston rod 211 that is longitudinally slidably connected to the lower end of the cylinder body; the lower end of the piston rod 211 is disposed at the upper end of the crossbeam 15; a movable plate 22 is disposed at the lower end of the cylinder body, and guide rods 23 are longitudinally disposed at the four corners of the lower end of the movable plate 22; an arc-shaped push plate 24 is disposed between the two guide rods 23; the two arc-shaped push plates 24 are respectively located on both sides of the crossbeam 15; the arc-shaped push plates 24 respectively abut against the middle of the upper end of the corresponding second structural rod.

[0043] The lower fixing plate 13 is provided with four linear bearings 14 that are slidably connected to the corresponding guide rods 23.

[0044] The gripper 41 is used to hold the burning column 52 and the support plate 51 for supporting the burning column; the four corners of the upper end of the support plate 51 are respectively provided with columns 512 longitudinally; the column 512 is a sheet metal structure, and the upper end of the column 512 is bent to form an inner convex plate 513; a guide plate 514 is provided on the outside of the column 512; the guide plate 514 includes two mutually perpendicular vertical surfaces and two inclined surfaces that are respectively provided on the upper end of the vertical surfaces and tilted outward.

[0045] A rectangular groove 511 is provided at the center of the upper end of the support plate 51; a constriction 411 is provided at the lower part of the second structural rod, and the constriction 411 faces the outside of the frame 1; the lower part of the constriction 411 may abut against the inner wall of the groove 511.

[0046] The automated process involves the cylinder 21 retracting, causing the gripper 41 to rotate under the elastic force of the spring 31. This causes the lower ends of the two second structural rods to rotate towards each other, clamping the arranged burning column 52. After clamping, the motion module carries the gripper 41 to the first tray, placing the burning column 52 into the groove 511. Subsequently, the cylinder 21 extends, pushing the lower ends of the second structural rods to rotate outward, and the gripper 41 releases the burning column 52.

[0047] Subsequently, the motion module, carrying the gripper 41, moves into the groove 511 of the second tray. The cylinder 21 extends, pushing the second structural rod to rotate outward, causing its lower end to abut against the inner wall of the groove 511. The motion module then carries the second tray above the first tray, causing it to abut against the lower inner protruding plate 513, and finally releases the second tray. This process is repeated to stack the trays.

[0048] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A multifunctional mechanical gripper device, characterized in that: The device includes a frame, multiple pairs of grippers rotatably connected to the lower end of the frame in a linear arrangement, and a cylinder disposed within the frame. Each gripper includes a horizontally arranged first structural rod and a vertically arranged second structural rod at one end of the first structural rod. The intersection of the first and second structural rods is rotatably connected to the outside of the frame. A spring is disposed between the other end of the first structural rod and the frame, and the spring force is used to rotate the ends of each pair of second structural rods towards each other. Multiple pairs of arc-shaped push plates are disposed on the moving end of the cylinder, and each arc-shaped push plate abuts against the middle of the upper end of the corresponding second structural rod.

2. The mechanical gripper device as described in claim 1, characterized in that: The frame includes an upper fixed plate, a lower fixed plate located below the upper fixed plate, and four support rods disposed between the upper fixed plate and the lower fixed plate; a crossbeam is disposed at the upper end of the lower fixed plate, and the crossbeam is located in the middle of each pair of grippers; the upper end of the spring is disposed on the crossbeam.

3. The mechanical gripper device as described in claim 2, characterized in that: The cylinder includes a cylinder body and a piston rod that is longitudinally slidably connected to the lower end of the cylinder body; the lower end of the piston rod is disposed at the upper end of the crossbeam; a movable plate is disposed at the lower end of the cylinder body, and the arc-shaped push plate is disposed below the movable plate.

4. The mechanical gripper device as described in claim 3, characterized in that: The movable plate has guide rods longitudinally arranged at its four lower corners; the lower fixed plate has four linear bearings that are slidably connected to the corresponding guide rods; and the arc-shaped push plate is located at the lower end of the guide rods.

5. The mechanical gripper device as described in any one of claims 2-4, characterized in that: The lower fixed plate has two parallel rotating seats at its lower end; the rotating seats are located at the edge of the lower fixed plate; the grippers located on the same side are rotatably connected to the rotating seats.

6. The mechanical gripper device as described in claim 5, characterized in that: The lower fixed plate is provided with two sets of waist-shaped holes, each set of waist-shaped holes being located at the upper end of the adjacent rotating seat; the length direction of the waist-shaped holes is perpendicular to the rotation axis of the gripper.

7. The mechanical gripper device as described in any one of claims 1-4, characterized in that: The grippers are used to hold the burning column and the support plate for supporting the burning column; the upper four corners of the support plate are respectively provided with vertical columns; the upper end of the column is provided with an outwardly inclined guide surface; the middle of the column is provided with an inwardly protruding plate.

8. The mechanical gripper device as described in claim 7, characterized in that: A rectangular groove is provided at the center of the upper end of the pallet; a constriction is provided at the lower part of the second structural rod, the constriction facing the outside of the frame; the lower part of the constriction may optionally abut against the inner wall of the groove.

9. The mechanical gripper device as described in claim 7, characterized in that: The inner convex plate and the column are an integral sheet metal structure, and the inner convex plate is formed by bending metal; the guide plate is disposed on the outside of the column; the guide plate includes two mutually perpendicular vertical surfaces and two outwardly inclined surfaces disposed at the upper end of the vertical surfaces respectively.

10. The mechanical gripper device as described in any one of claims 2-4, characterized in that: The first structural rod has a lower hanging rod threadedly connected to the end away from the second structural rod; the two ends of the crossbeam facing the gripper have multiple upper hanging rods threadedly connected to each other; the spring is disposed between the lower hanging rod and the upper hanging rod.

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