High-temperature-resistant mechanical gripper

Abstract

The utility model discloses a high-temperature-resistant mechanical gripper, which relates to the technical field of mechanical grippers and comprises a mechanical arm, a fixing frame fixed at the upper end of the mechanical arm, a rotating gripper rotatably connected to the upper end of the fixing frame and an opening and closing driving part slidably mounted on the mechanical arm and the fixing frame. The mechanical arm internally comprises an operation cavity and a containing cavity. The mechanical arm is provided with an air inlet hole channel which allows air to enter and exit and communicates with the operation cavity. Heat from a high-temperature workpiece is absorbed through the cooling liquid, the heat is evenly distributed in the rotating claw through the cooling liquid, on one hand, the effect of assisting in cooling the rotating claw can be achieved, and the high-temperature-resistant effect of the rotating claw is higher; on the other hand, the heat of the rotating claw can be uniformly dispersed, so that the tip of the rotating claw is prevented from being quickly damaged, and the service life of the rotating claw is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of robotic gripper technology, and in particular to a high-temperature resistant robotic gripper. Background Technology

[0002] The pneumatic high-temperature resistant gripper for correcting billet positions is a reliable and durable pneumatic gripper that can withstand high-temperature and harsh operating environments.

[0003] To address the aforementioned issues, a patent document with publication number "CN204471396U" discloses a pneumatic high-temperature resistant claw-type blank clamping gripper. This gripper mainly comprises a ventilated gripper sleeve, a spring, a set screw, a gripper bracket, a linkage block, rivets A and B, grippers B and C, and a piston rod. The ventilated gripper sleeve and the gripper bracket are interference-fitted. After connection, the gripper bracket is positioned by the set screw. The lower end of the piston rod has a double-symmetrical square groove and slides on the double-symmetrical square convex rail of the ventilated gripper sleeve. A vent hole is located at the center of the lower end face of the ventilated gripper sleeve to maintain air pressure within the space.

[0004] Based on the above search and combined with existing technology, it was found that although existing high-temperature resistant robotic grippers are made of high-temperature resistant metal materials, giving them good high-temperature resistance, the claw tip, which comes into contact with high-temperature workpieces (such as blanks), is greatly affected by high temperatures, while the claw tail is less affected. This results in uneven temperature distribution within the gripper itself, which leads to faster damage to the claw tip during long-term operation. In addition, the high-temperature resistance effect of using only high-temperature resistant metal materials is limited. Therefore, a high-temperature resistant robotic gripper is needed. Utility Model Content

[0005] The purpose of this application is to provide a high-temperature resistant robotic gripper to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this application provides the following technical solution: a high-temperature resistant robotic gripper, comprising a robotic arm, a fixed frame fixed to the upper end of the robotic arm, a rotating gripper rotatably connected to the upper end of the fixed frame, and an opening and closing drive component slidably mounted on the robotic arm and the fixed frame. The opening and closing drive component is used to drive the rotating gripper to rotate. The robotic arm includes an operating cavity and a receiving cavity. An air inlet channel is provided on the robotic arm for gas to enter and exit and communicate with the operating cavity.

[0007] The rotating claw has a uniform heating chamber, which is filled with coolant.

[0008] The robotic arm and the fixed frame are equipped with a coolant supply channel that connects the receiving cavity and the uniform heating cavity. The robotic arm and the fixed frame are also equipped with a coolant discharge channel that connects the uniform heating cavity. A water inlet channel for entering the coolant is opened on one side of the robotic arm, and a water outlet channel for discharging waste coolant is opened on the other side of the robotic arm. The coolant discharge channel is connected to the water outlet channel.

[0009] Both the inlet and outlet channels are equipped with one-way structures. The one-way structure in the inlet channel controls the coolant to enter the receiving cavity in one direction from the inlet channel, and the one-way structure in the outlet channel controls the coolant to exit in one direction from the outlet channel.

[0010] Preferably, the coolant delivery channel includes:

[0011] The diversion channel has one end connected to the bottom of the receiving cavity;

[0012] The cooling channel has one end connected to the other end of the diversion channel, and the other end of the cooling channel extends to the side of the fixed frame and is connected to the heat equalization cavity through a connecting piece.

[0013] Preferably, the coolant discharge channel includes:

[0014] A connecting channel, one end of which is connected to the uniform heating cavity;

[0015] The drain channel is connected at one end to the connecting channel at the other end, and at the other end to the water outlet channel.

[0016] Preferably, the connecting component includes a shaft tube, the heat equalization cavity is fixedly connected to the shaft tube, the shaft tube is rotatably connected to the fixed frame in a sealed manner, the shaft tube is a hollow pipe, and both ends of the shaft tube are respectively connected to the cooling channel and the heat equalization cavity.

[0017] Preferably, the unidirectional structure includes:

[0018] The mounting frame is fixed to the robotic arm;

[0019] The flow plate is provided in two parts. One flow plate is fixed to the robotic arm, and the other flow plate is located between one of the fixed frames and the flow plate and is slidably connected to the robotic arm. The other flow plate is elastically connected to the fixed frame through a second spring.

[0020] Both flow plates have multiple flow holes, and the multiple flow holes on the two flow plates are arranged alternately.

[0021] Preferably, the opening and closing drive component includes a sliding plug plate slidably installed in the operating cavity, a piston rod slidably passing through the upper part of the robotic arm and the middle part of the fixed frame, a first spring elastically connected between the upper end of the sliding plug plate and the top wall of the operating cavity, and a drive rod fixed to the upper end of the piston rod and rotatably connected to one end of the rotating claw through a linkage block.

[0022] In summary, the technical effects and advantages of this utility model are as follows:

[0023] 1. In this utility model, by setting up a uniform heating chamber, filling the receiving chamber with coolant, a coolant delivery channel, and a coolant discharge channel, the coolant absorbs heat from the high-temperature workpiece and makes the heat evenly distributed in the rotating claw through the coolant. On the one hand, it can play a role in assisting the cooling of the rotating claw, making the rotating claw more resistant to high temperatures. On the other hand, it can make the heat of the rotating claw evenly distributed, thereby avoiding accelerated damage to the tip of the rotating claw and extending the service life of the rotating claw.

[0024] 2. In this utility model, the unidirectional structure enables the coolant to enter and exit in one direction, thereby allowing the coolant in the heat equalization chamber to be replaced each time the high-temperature workpiece is clamped and released, thus ensuring the cooling and temperature equalization effect of the coolant. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure in this embodiment;

[0027] Figure 2 This is a cross-sectional view in this embodiment;

[0028] Figure 3 This is a side sectional view of the robotic arm and the fixed frame in this embodiment;

[0029] Figure 4 for Figure 3 Enlarged view of the structure at point A in the middle;

[0030] Figure 5 This is a cross-sectional view of the connection between the fixed frame and the rotating claw in this embodiment.

[0031] In the diagram: 1. Robotic arm; 11. Operating chamber; 12. Receiving chamber; 13. Air inlet channel; 14. Water inlet channel; 15. Diverting channel; 16. Water outlet channel; 2. Fixing frame; 21. Cooling channel; 22. Drainage channel; 3. Rotating claw; 31. Heating chamber; 32. Connecting channel; 4. Opening and closing drive component; 41. Sliding plug plate; 42. Piston rod; 43. First spring; 44. Drive rod; 5. One-way structure; 51. Fixing frame; 52. Flow plate; 521. Flow hole; 53. Second spring; 6. Shaft tube. Detailed Implementation

[0032] 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.

[0033] Example: Reference Figures 1-5 The high-temperature resistant robotic gripper shown includes a robotic arm 1, a fixed frame 2 fixed to the upper end of the robotic arm 1, a rotating claw 3 rotatably connected to the upper end of the fixed frame 2, and an opening and closing drive component 4 slidably installed on the robotic arm 1 and the fixed frame 2. The opening and closing drive component 4 is used to drive the rotating claw 3 to rotate. The opening and closing drive component 4 includes a sliding plug plate 41 slidably installed in the operating cavity 11, a piston rod 42 slidably passing through the upper part of the robotic arm 1 and the middle part of the fixed frame 2, a first spring 43 elastically connected between the upper end of the sliding plug plate 41 and the inner top wall of the operating cavity 11, and a drive rod 44 fixed to the upper end of the piston rod 42 and rotatably connected to one end of the rotating claw 3 through a linkage block (the linkage block is prior art and will not be described in detail here). The robotic arm 1 includes an operating cavity 11 and a receiving cavity 12. An air inlet channel 13 is provided on the robotic arm 1 for gas to enter and exit and communicate with the operating cavity 11.

[0034] When in use, when external pressurized gas enters or exits the operating chamber 11 through the air inlet 13, the gas pressure drives the sliding plug plate 41 to move up and down against the elastic force of the first spring 43, and drives the drive rod 44 to rise and fall synchronously through the piston rod 42. When the drive rod 44 rises and falls, it drives the rotating claw 3 to rotate along the rotating connection between the claw and the fixed frame 2 through the linkage block, so that the tips of the two rotating claws 3 approach or move away from each other, thereby achieving the purpose of clamping or releasing the high-temperature workpiece.

[0035] The rotating claw 3 has a uniform heating chamber 31, and the receiving chamber 12 is filled with coolant.

[0036] The robotic arm 1 and the fixed frame 2 are provided with a coolant supply channel that connects the receiving cavity 12 and the heat equalization cavity 31. The coolant supply channel includes a diversion channel 15 and a cooling channel 21. One end of the diversion channel 15 is connected to the bottom of the receiving cavity 12, and one end of the cooling channel 21 is connected to the other end of the diversion channel 15. The other end of the cooling channel 21 extends to the side of the fixed frame 2 and is connected to the heat equalization cavity 31 through a connecting piece.

[0037] The connecting component includes a shaft tube 6, a heat equalization cavity 31 is fixedly connected to the shaft tube 6, the shaft tube 6 is rotatably connected to the fixed frame 2 in a sealed manner, the shaft tube 6 is a hollow pipe, and the two ends of the shaft tube 6 are respectively connected to the cooling channel 21 and the heat equalization cavity 31;

[0038] The robotic arm 1 and the fixed frame 2 are also provided with a coolant discharge channel that connects to the uniform heating chamber 31. The coolant discharge channel includes a connecting channel 32 and a drain channel 22. One end of the connecting channel 32 is connected to the uniform heating chamber 31, one end of the drain channel 22 is connected to the other end of the connecting channel 32, and the other end of the drain channel 22 is connected to the water outlet channel 16.

[0039] The robotic arm 1 has an inlet channel 14 for entering the coolant on one side and an outlet channel 16 for discharging waste coolant on the other side. The coolant discharge channel is connected to the outlet channel 16.

[0040] Both the inlet channel 14 and the outlet channel 16 are equipped with a one-way structure 5. The one-way structure 5 in the inlet channel 14 controls the coolant to enter the receiving cavity 12 in one direction from the inlet channel 14, and the one-way structure 5 in the outlet channel 16 controls the coolant to exit in one direction from the outlet channel 16.

[0041] Based on the above structure, when the sliding plug plate 41 descends under the action of air pressure regulation (at this time, the one-way structure 5 in the water inlet channel 14 is closed), the coolant in the receiving cavity 12 is squeezed through the diversion channel 15, the cooling channel 21, and the shaft tube 6 into the heat equalization cavity 31. If there is already coolant (coolant after heat absorption) in the heat equalization cavity 31, the existing coolant will be discharged through the connecting channel 32, the drain channel 22, and the water outlet channel 16 (at this time, the one-way structure 5 in the water outlet channel 16 is open). The coolant absorbs the heat from the high-temperature workpiece and makes the heat evenly distributed in the rotating claw 3. On the one hand, it can play a role in assisting the cooling of the rotating claw 3, making the high temperature resistance of the rotating claw 3 stronger. On the other hand, it can make the heat of the rotating claw 3 evenly distributed, thereby avoiding the accelerated damage of the tip of the rotating claw 3 and extending the service life of the rotating claw 3.

[0042] Furthermore, the unidirectional structure 5 includes:

[0043] Fixture 51, which is fixed to robotic arm 1;

[0044] Two flow plates 52 are provided. One flow plate 52 is fixed to the robotic arm 1, and the other flow plate 52 is located between one of the fixed frames 51 and the flow plate 52 and is slidably connected to the robotic arm 1. The other flow plate 52 is elastically connected to the fixed frame 51 by a second spring 53.

[0045] Both flow plates 52 are provided with multiple flow holes 521, and the multiple flow holes 521 on the two flow plates 52 are arranged alternately.

[0046] The working principle of this utility model is as follows: During daily use, when external pressurized gas enters or exits the operating chamber 11 through the air inlet 13, the gas pressure drives the sliding plug plate 41 to move up and down against the elastic force of the first spring 43, and drives the drive rod 44 to move up and down synchronously through the piston rod 42. When the drive rod 44 moves up and down, it drives the rotating claw 3 to rotate along the rotating connection between the claw and the fixed frame 2 through the linkage block, so that the tips of the two rotating claws 3 move closer or further away from each other, achieving the purpose of clamping or releasing the high-temperature workpiece. When the sliding plug plate 41 descends under the action of air pressure regulation, the coolant in the receiving chamber 12 is squeezed through the diversion channel 15, the cooling channel 21 and the shaft tube 6 into the heat equalization chamber 31. If there is already coolant in the heat equalization chamber 31, the coolant that is already there will be discharged through the connecting channel 32, the drain channel 22 and the water outlet channel 16.

[0047] When the sliding plug plate 41 rises under the action of air pressure regulation and the first spring 43, the one-way structure 5 in the water inlet channel 14 opens and the one-way structure 5 in the water outlet channel 16 closes, so that the coolant enters the receiving cavity 12 from the water inlet channel 14, waiting for the next operation.

[0048] It should be further noted that the technical features such as lead screws, drive motors, telescopic rods, and control panels involved in this utility model patent application should be regarded as prior art. The specific structure, working principle, and possible control methods and spatial arrangement of these technical features can be conventionally selected in the field and should not be regarded as the inventive point of this utility model patent. This utility model patent will not elaborate further.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A high-temperature resistant robotic gripper, comprising a robotic arm (1), a fixed frame (2) fixed to the upper end of the robotic arm (1), a rotating gripper (3) rotatably connected to the upper end of the fixed frame (2), and an opening / closing drive (4) slidably mounted on the robotic arm (1) and the fixed frame (2), wherein the opening / closing drive (4) is used to drive the rotating gripper (3) to rotate, the robotic arm (1) includes an operating cavity (11) and a receiving cavity (12), and the robotic arm (1) is provided with an air inlet channel (13) for gas to enter and exit and communicate with the operating cavity (11), characterized in that: The rotating claw (3) has a uniform heating cavity (31) inside, and the receiving cavity (12) is filled with coolant; The robotic arm (1) and the fixed frame (2) are provided with a coolant supply channel connecting the receiving cavity (12) and the heat equalization cavity (31). The robotic arm (1) and the fixed frame (2) are also provided with a coolant discharge channel connecting the heat equalization cavity (31). A water inlet channel (14) for entering the coolant is opened on one side of the robotic arm (1), and a water outlet channel (16) for discharging waste cooling liquid is opened on the other side of the robotic arm (1). The coolant discharge channel is connected to the water outlet channel (16). Both the inlet channel (14) and the outlet channel (16) are equipped with a one-way structure (5). The one-way structure (5) in the inlet channel (14) controls the coolant to enter the receiving cavity (12) unidirectionally from the inlet channel (14), and the one-way structure (5) in the outlet channel (16) controls the coolant to exit unidirectionally from the outlet channel (16).

2. The high temperature resistant mechanical gripper of claim 1, wherein: The coolant delivery channel includes: A diversion channel (15) is provided, one end of which is connected to the bottom of the receiving cavity (12). Cooling channel (21), one end of which is connected to the other end of the diversion channel (15), and the other end of which extends to the side of the fixing frame (2) and is connected to the heat equalization cavity (31) through a connecting member.

3. The high temperature resistant mechanical gripper of claim 2, wherein: The coolant discharge channel includes: A connecting channel (32) is provided, one end of which is connected to the heat equalization cavity (31); The drain channel (22) is connected at one end to the connecting channel (32) at the other end, and at the other end to the water outlet channel (16).

4. The high temperature resistant mechanical gripper of claim 3, wherein: The connecting component includes a shaft tube (6), the heat equalization cavity (31) is fixedly connected to the shaft tube (6), the shaft tube (6) is sealed and rotatably connected to the fixing frame (2), the shaft tube (6) is a hollow pipe, and the two ends of the shaft tube (6) are respectively connected to the cooling channel (21) and the heat equalization cavity (31).

5. The high temperature resistant mechanical gripper of claim 1, wherein: The unidirectional structure (5) includes: A mounting bracket (51) is fixed to the robotic arm (1); Two flow plates (52) are provided. One flow plate (52) is fixed to the robotic arm (1), and the other flow plate (52) is located between one of the fixed frames (51) and the flow plate (52) and is slidably connected to the robotic arm (1). The other flow plate (52) is elastically connected to the fixed frame (51) through a second spring (53). Both flow plates (52) are provided with multiple flow holes (521), and the multiple flow holes (521) on the two flow plates (52) are arranged alternately.

6. The high temperature resistant mechanical gripper of claim 1, wherein: The opening and closing drive component (4) includes a sliding plug plate (41) slidably installed in the operating cavity (11), a piston rod (42) slidably passing through the upper part of the robotic arm (1) and the middle part of the fixed frame (2), a first spring (43) elastically connected between the upper end of the sliding plug plate (41) and the inner top wall of the operating cavity (11), and a drive rod (44) fixed to the upper end of the piston rod (42) and rotatably connected to one end of the rotating claw (3) through a linkage block.

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