Spider hand adsorption and mechanical clamping composite mechanism suitable for special-shaped workpieces

Abstract

The utility model discloses a spider hand adsorption and mechanical clamping composite mechanism suitable for special-shaped workpieces, and relates to the field of spider hand adsorption, the bottom of a spider hand body is provided with a rotating seat, the bottom of the rotating seat is provided with a connecting plate, and the bottom of the connecting plate is fixedly connected with a clamping seat through a fixing column; a vacuum cavity is formed in the clamping base, a vacuum pump is installed at the top end of the vacuum cavity, the suction end of the vacuum pump communicates with the vacuum cavity, a circle of tension spring is installed on the inner top wall of the vacuum cavity, a rigid suction pipe is arranged in the tension spring in a penetrating mode, and the outer wall of the rigid suction pipe is fixedly connected with the bottom end of the tension spring. The bottom end of the tension spring movably abuts against the inner bottom wall of the vacuum cavity. And a clamping mechanism for clamping the special-shaped workpiece is arranged on the clamping seat. The vacuum pump and the rigid suction pipe are combined with the clamping block, so that the adsorption function and the clamping function can be independently used or cooperatively used according to actual needs.

Description

Technical Field

[0001] This utility model relates to the field of spider hand technology, specifically a spider hand adsorption and mechanical clamping composite mechanism suitable for irregularly shaped workpieces. Background Technology

[0002] Spider-hand gripping refers to a technique that uses mechanical devices (like spider arms) with flexible, spider-like limbs to grasp and move objects. Mechanical clamping, on the other hand, relies on the movement and interaction of mechanical structures to generate clamping force. Common methods include using lever principles, gear transmission, screw transmission, and linkage mechanisms to convert the energy of a power source (such as a motor, cylinder, or hydraulic system) into the closing action of the grippers or clamps, thereby achieving the gripping of objects.

[0003] For example, patent CN222660878U discloses a centering clamping fixture, including a fixed base, a workpiece positioning base, a clamping linkage component, and a driving component. The driving component drives the two clamping linkage components to move synchronously to achieve clamping or releasing. The workpiece positioning base has a positioning block that can slide up and down. The positioning block includes a positioning plate and a positioning post and a top post set on the positioning plate. The height of the top post is greater than the height of the positioning post. This centering clamping fixture cooperates with a drill bit assembly. During the downward movement of the drill bit assembly, the positioning block slides downward to allow the positioning post to avoid the drill bit, realizing the hole enlargement process in one step. This is achieved by using a positioning block that can slide up and down to avoid the drill bit. Therefore, it effectively solves the technical problems of low efficiency and unstable processing accuracy in the existing technology, and thus achieves the technical effect of high processing efficiency and high precision. When existing spider hand adsorption mechanisms adsorb workpieces, they usually do not have mechanical clamping. Relying solely on the adsorption function, it is difficult to adsorb different workpieces, especially irregularly shaped workpieces. The surface of irregularly shaped workpieces is often uneven and the shape is complex and diverse. It is difficult for the adsorption plate to form a good seal with the workpiece surface, so it cannot generate enough adsorption force to stably grasp the workpiece. During the handling process, the workpiece is prone to falling, which not only affects production efficiency, but may also cause damage to the workpiece. There is a lack of mechanical clamping to assist in this process.

[0004] To address the aforementioned issues, there is an urgent need for innovative design based on the existing spider-hand adsorption mechanism. Utility Model Content

[0005] The purpose of this invention is to provide a spider-hand adsorption and mechanical clamping composite mechanism suitable for irregularly shaped workpieces, in order to solve the problems mentioned in the background art, such as the inability to form a good seal with the workpiece surface, resulting in insufficient adsorption force to stably grasp the workpiece, and the easy occurrence of workpiece falling during transportation, which not only affects production efficiency but may also lead to workpiece damage, and the lack of mechanical clamping to assist in its handling.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a spider hand adsorption and mechanical clamping composite mechanism suitable for irregularly shaped workpieces, comprising a spider hand body, a rotating seat at the bottom of the spider hand body, a connecting plate at the bottom of the rotating seat, and a clamping seat fixedly connected to the bottom of the connecting plate by a fixing column.

[0007] The clamping seat has a vacuum chamber installed inside, and a vacuum pump is installed at the top of the vacuum chamber. The suction end of the vacuum pump is connected to the vacuum chamber. A tension spring is installed on the inner top wall of the vacuum chamber. A rigid suction tube is inserted through the tension spring. The outer wall of the rigid suction tube is fixedly connected to the bottom end of the tension spring. The bottom end of the tension spring is movably abutted against the inner bottom wall of the vacuum chamber.

[0008] The clamping base is equipped with a clamping mechanism for clamping irregularly shaped workpieces.

[0009] Furthermore, the clamping mechanism includes electric push rods, which are installed on both sides of the top of the clamping seat. The two electric push rods are arranged opposite each other. A V-shaped strip is fixedly connected to the output end of the electric push rod. The V-shaped strip is slidably connected to the inside of the clamping seat. A clamping block is installed at the bottom of the V-shaped strip. An abutment post is slidably connected inside the clamping block. A spring is installed between the abutment post and the clamping block. One end of the V-shaped strip is slidably connected to the electric push rod.

[0010] Furthermore, auxiliary mechanisms for assisting in clamping irregularly shaped workpieces are provided on both sides of the clamping base.

[0011] Furthermore, the auxiliary mechanism includes a rotating column, which is rotatably connected to both sides of the clamping seat. An auxiliary clamping block is rotatably connected to the outer wall of the rotating column. Connecting rods are rotatably connected to both sides of the auxiliary clamping block, and one end of the connecting rod is rotatably connected to the clamping block.

[0012] Furthermore, anti-slip pads are installed on one side of the auxiliary clamping block and the other side of the abutment post.

[0013] Furthermore, a horn-shaped suction cup is provided at the bottom of the rigid suction tube.

[0014] Furthermore, a sealing ring is provided on the suction port that connects the vacuum chamber to the rigid suction tube.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] This spider-hand suction and mechanical clamping composite mechanism, suitable for irregularly shaped workpieces, utilizes a vacuum pump to create negative pressure in the vacuum chamber, which in turn generates suction force on the workpiece through a rigid suction tube. A tension spring ensures the rigid suction tube fits tightly against the surface of the irregularly shaped workpiece, while the trumpet-shaped suction cup increases the contact area, improving the uniformity and stability of the suction force and ensuring the workpiece is not easily dropped during the suction process.

[0017] Furthermore, the clamping blocks are moved in opposite directions by an electric push rod for clamping, and the adaptive adjustment of the abutment column and spring ensures close contact between the clamping blocks and the workpiece surface. The auxiliary clamping block, driven by a connecting rod, provides auxiliary clamping, increasing friction with the workpiece. Anti-slip plates further increase friction between each clamping component and the workpiece surface. These measures collectively improve the stability of the mechanical clamping and effectively prevent the workpiece from sliding or falling during clamping.

[0018] Furthermore, by combining the vacuum pump and rigid suction pipe with the clamping block, the adsorption and clamping functions can be used individually or in combination according to actual needs. When dealing with some irregularly shaped workpieces with special shapes or working conditions, the adsorption function can be used for preliminary fixation first, and then the clamping function can be used to further strengthen the fixation effect. The flexible synergy of the two functions improves the overall performance of the composite mechanism, while also reducing the risk of workpieces falling due to weak adsorption or clamping, reducing the possibility of human intervention and operational errors, and improving the reliability of the operation process. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0020] Figure 2 This is a bottom-view three-dimensional structural diagram of the entire utility model;

[0021] Figure 3 This is a three-dimensional structural diagram of the clamping mechanism of this utility model;

[0022] Figure 4 This is a partial three-dimensional structural diagram of the clamping mechanism of this utility model;

[0023] Figure 5 This is an exploded three-dimensional structural diagram of the clamping mechanism of this utility model.

[0024] Figure 6 This is a partial cross-sectional three-dimensional structural diagram of the vacuum cavity of this utility model.

[0025] Explanation of reference numerals in the attached drawings: 1. Spider arm body; 2. Rotating seat; 3. Connecting plate; 4. Clamping seat; 5. Vacuum chamber; 6. Vacuum pump; 7. Tension spring; 8. Rigid suction tube; 9. Electric push rod; 10. V-shaped bar; 11. Clamping block; 12. Abutment post; 13. Spring; 14. Rotating post; 15. Auxiliary clamping block; 16. Connecting rod. Detailed Implementation

[0026] 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.

[0027] Example 1: Please refer to Figures 1-6 The present invention provides the following technical solution: a spider hand adsorption and mechanical clamping composite mechanism suitable for irregular workpieces, including a spider hand body 1, a rotating seat 2 at the bottom of the spider hand body 1, a connecting plate 3 at the bottom of the rotating seat 2, and a clamping seat 4 fixedly connected to the bottom of the connecting plate 3 by a fixing column.

[0028] A vacuum chamber 5 is installed inside the clamping seat 4. A vacuum pump 6 is installed at the top of the vacuum chamber 5. The suction end of the vacuum pump 6 is connected to the vacuum chamber 5. A tension spring 7 is installed on the inner top wall of the vacuum chamber 5. A rigid suction tube 8 passes through the inside of the tension spring 7. The outer wall of the rigid suction tube 8 is fixedly connected to the bottom end of the tension spring 7. The bottom end of the tension spring 7 movably abuts against the inner bottom wall of the vacuum chamber 5. The clamping seat 4 is provided with a clamping mechanism for clamping irregularly shaped workpieces. The clamping mechanism includes electric push rods 9. The electric push rods 9 are installed on both sides of the top of the clamping seat 4. The two electric push rods 9 are arranged opposite each other. A V-shaped bar 10 is fixedly connected to the output end of the electric push rod 9. The V-shaped bar 10 is slidably connected inside the clamping seat 4. A clamping block 11 is installed at the bottom of the V-shaped bar 10. An abutment post 12 is slidably connected inside the clamping block 11. A spring 13 is installed between the abutment post 12 and the clamping block 11. One end of the V-shaped bar 10 is slidably connected to the electric push rod 9.

[0029] In use, the vacuum pump 6 is started. The suction end of the vacuum pump 6 is connected to the inside of the vacuum chamber 5, and its suction end evacuates the vacuum chamber 5, creating a negative pressure inside the vacuum chamber 5. Then, the rigid suction tube 8 is used to adsorb the irregularly shaped workpiece. Since the outer wall of the rigid suction tube 8 is fixedly connected with a tension spring 7, the contact surface between the rigid suction tube 8 and the irregularly shaped workpiece is not consistent when adsorbing workpieces of different shapes. Under the action of the tension spring 7, different concave and convex positions of the irregularly shaped workpiece can be adsorbed. Due to the negative pressure inside the vacuum chamber 5, the rigid suction tube 8 can generate an adsorption force on the irregularly shaped workpiece, achieving the initial adsorption and fixation of the irregularly shaped workpiece. The tension spring 7 can play an adjustment role, allowing the rigid suction tube 8 to better adapt to the surface shape of the irregularly shaped workpiece. When it is necessary to clamp a large workpiece, by activating two opposing electric push rods 9, the two electric push rods 9 in different directions drive the V-shaped strips 10 fixedly connected to their output ends to clamp in opposite directions. Since the V-shaped strips 10 are fixedly connected to the clamping blocks 11, the V-shaped strips 10 will drive the clamping blocks 11 to move synchronously after moving, so that the two clamping blocks 11 move closer to each other and clamp the workpiece. When the surface of the clamping block 11 contacts the irregular workpiece, the abutment post 12 abuts against different concave and convex positions on the surface of the irregular workpiece, and squeezes the spring 13 according to these concave and convex positions, thereby adaptively adjusting according to the surface shape of the irregular workpiece, so that the abutment post 12 can abut tightly against the surface of the irregular workpiece, and realize the mechanical clamping of the irregular workpiece.

[0030] Example 2: Based on Example 1, an auxiliary mechanism is also disclosed, the specific structure of which is as follows:

[0031] The auxiliary mechanism includes a rotating column 14, which is rotatably connected to both sides of the clamping seat 4. An auxiliary clamping block 15 is rotatably connected to the outer wall of the rotating column 14. A connecting rod 16 is rotatably connected to both sides of the auxiliary clamping block 15, and one end of the connecting rod 16 is rotatably connected to the clamping block 11. Anti-slip plates are installed on one side of the auxiliary clamping block 15 and the side of the abutting column 12. A trumpet-shaped suction cup is provided at the bottom of the rigid suction tube 8. A sealing ring is provided on the suction port of the vacuum chamber 5 that communicates with the rigid suction tube 8.

[0032] When the electric push rod 9 pushes the clamping block 11 to move, the clamping block 11 will drive the connecting rod 16 to rotate and shift on both sides. Since the other end of the connecting rod 16 is rotatably connected to the auxiliary clamping block 15, the connecting rod 16 will rotate on the auxiliary clamping block 15 under the drive of the clamping block 11. Since the end of the auxiliary clamping block 15 is rotatably connected to the rotating column 14, the connecting rod 16 will drive the auxiliary clamping block 15 to rotate on the rotating column 14 after it moves, thereby tilting the angle of the auxiliary clamping block 15, so that the side of the auxiliary clamping block 15 assists in clamping the workpiece, increasing the friction force on the workpiece and preventing the workpiece from falling off. The anti-slip plate can increase the friction force between the auxiliary clamping block 15, the abutment column 12 and the surface of the irregular workpiece, preventing the irregular workpiece from sliding or falling off during adsorption and clamping, and improving the clamping reliability of the composite mechanism for irregular workpieces. The trumpet-shaped suction cup increases the contact area with the irregular workpiece, can better adapt to the surface shape of the irregular workpiece, and improve the uniformity and stability of the adsorption force. Meanwhile, the trumpet-shaped structure can compensate for the unevenness of the surface of irregularly shaped workpieces to a certain extent, making the adsorption effect better and ensuring effective adsorption of irregularly shaped workpieces.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Although the present invention 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 invention should be included within the protection scope of the present invention.

Claims

1. A spider-hand adsorption and mechanical clamping composite mechanism suitable for irregularly shaped workpieces, comprising a spider-hand body (1), characterized in that: The bottom of the spider hand body (1) is provided with a rotating seat (2), the bottom of the rotating seat (2) is provided with a connecting plate (3), and the bottom of the connecting plate (3) is fixedly connected with a clamping seat (4) by a fixing post. The clamping seat (4) has a vacuum chamber (5) installed inside. A vacuum pump (6) is installed at the top of the vacuum chamber (5). The suction end of the vacuum pump (6) is connected to the vacuum chamber (5). A tension spring (7) is installed on the inner top wall of the vacuum chamber (5). A rigid suction tube (8) is inserted inside the tension spring (7). The outer wall of the rigid suction tube (8) is fixedly connected to the bottom end of the tension spring (7). The bottom end of the tension spring (7) moves against the inner bottom wall of the vacuum chamber (5). The clamping seat (4) is provided with a clamping mechanism for clamping irregularly shaped workpieces.

2. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 1, characterized in that: The clamping mechanism includes an electric push rod (9), which is installed on both sides of the top of the clamping seat (4). The two electric push rods (9) are arranged opposite each other. A V-shaped bar (10) is fixedly connected to the output end of the electric push rod (9). The V-shaped bar (10) is slidably connected to the inside of the clamping seat (4). A clamping block (11) is installed at the bottom of the V-shaped bar (10). An abutment post (12) is slidably connected inside the clamping block (11). A spring (13) is installed between the abutment post (12) and the clamping block (11). One end of the V-shaped bar (10) is slidably connected to the electric push rod (9).

3. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 1, characterized in that: The clamping base (4) is provided with auxiliary mechanisms on both sides for auxiliary clamping of irregular workpieces.

4. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 3, characterized in that: The auxiliary mechanism includes a rotating column (14), which is rotatably connected to both sides of the clamping seat (4). An auxiliary clamping block (15) is rotatably connected to the outer wall of the rotating column (14). A connecting rod (16) is rotatably connected to both sides of the auxiliary clamping block (15). One end of the connecting rod (16) is rotatably connected to the clamping block (11).

5. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 4, characterized in that: Anti-slip pads are installed on one side of the auxiliary clamp (15) and one side of the abutment post (12).

6. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 1, characterized in that: The bottom of the rigid suction tube (8) is provided with a trumpet-shaped suction cup.

7. The spider-hand adsorption and mechanical clamping composite mechanism for irregularly shaped workpieces according to claim 1, characterized in that: A sealing ring is provided on the suction port of the vacuum chamber (5) that connects to the rigid suction tube (8).

Images