Mechanical gripper

Abstract

The utility model discloses a mechanical gripper which comprises a rack used for being connected with a mechanical arm. The first clamping assembly is arranged on the rack and used for clamping a mold core; the second clamping assembly is arranged on one side of the first clamping assembly, is connected with the rack and is used for clamping an injection molding water gap; the workpiece clamping assembly is arranged on the side, away from the first clamping assembly, of the rack and used for clamping a workpiece. Compared with the prior art, the mechanical gripper provided by the utility model can reduce the labor intensity of workers and improve the material taking efficiency.

Description

A mechanical gripper Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a robotic gripper. Background Technology

[0002] An angiography catheter is a medical device used to introduce contrast agents into blood vessels or other cavities, and is widely used in medical diagnosis and treatment. An angiography catheter is a slender, hollow tubular instrument, usually made of soft polymer materials such as polytetrafluoroethylene, polyurethane, polyethylene, or nylon. It is inserted into a blood vessel or other cavity through a skin puncture or incision to inject contrast agents, allowing visualization of the morphology and function of the blood vessel or cavity under imaging equipment such as X-rays, CT scans, or MRI.

[0003] The contrast catheter consists of a catheter and a connector. In the current technology, the catheter is often manually fed into the injection molding machine, and the injection molding machine molds the catheter and connector. Currently, workers use hand tools to remove the contrast catheter after injection molding. This not only results in high labor intensity for workers, but also low material removal efficiency. Furthermore, workers may be injured or the product may be damaged due to tool collisions during the material removal process.

[0004] Therefore, there is an urgent need for a robotic gripper that can reduce the labor intensity of workers and improve material handling efficiency. Summary of the Invention

[0005] To solve the above-mentioned technical problems, this application provides a robotic gripper that can reduce the labor intensity of workers and improve material handling efficiency.

[0006] The technical solution provided in this application is as follows:

[0007] A robotic gripper, comprising:

[0008] A frame for connecting to a robotic arm;

[0009] A first clamping assembly for clamping the mold core is mounted on the frame.

[0010] A second clamping assembly is disposed on one side of the first clamping assembly and connected to the frame, the second clamping assembly being used to clamp the injection gate;

[0011] A workpiece clamping assembly disposed on the side of the frame away from the first clamping assembly for clamping the workpiece.

[0012] Preferably, the top of the mold core is provided with two clamping grooves spaced apart;

[0013] The first clamping assembly includes:

[0014] Mounting plate fixedly connected to the frame;

[0015] A first connecting plate and a second connecting plate are spaced apart on the mounting plate. Both the first connecting plate and the second connecting plate are provided with claws, which are used to correspond to the clamping slots.

[0016] A first driving component is used to drive two jaws to clamp the gripping slot.

[0017] Preferably, the first connecting plate is fixedly connected to the mounting plate, the second connecting plate is slidably connected to the mounting plate, and the first driving member is connected to the second connecting plate;

[0018] The first clamping assembly further includes:

[0019] A limiting plate is disposed between the first connecting plate and the second connecting plate, and the limiting plate is provided with guide holes;

[0020] A limiting rod is fixedly connected to the second connecting plate, and the limiting rod is slidably connected to the guide hole;

[0021] A limiting member is provided at the end of the limiting rod away from the second connecting plate.

[0022] Preferably, the second clamping assembly includes:

[0023] A first fixing plate is disposed above the mounting plate;

[0024] The second driving component has its mounting portion fixedly mounted on the first fixing plate.

[0025] A second fixing plate is disposed below the first fixing plate, and the second fixing plate has mounting holes.

[0026] The sprue clamp assembly is installed in the mounting hole. The sprue clamp assembly includes a first clamp, a second clamp, and an elastic element arranged in a cross manner. The middle part of the first clamp and the second clamp are hinged to the second fixing plate. There are two elastic elements. The two ends of the first elastic element are connected to the second fixing plate and the second clamp respectively. The two ends of the second elastic element are connected to the second fixing plate and the first clamp respectively, so that the tops of the first clamp and the second clamp are in contact.

[0027] The telescopic end of the second drive member engages with the top of the sprue gripper assembly to close the gripping part of the sprue gripper assembly.

[0028] Preferably, the tail of the telescopic end of the second drive member is a tapered body, and the diameter of the tail of the second drive member gradually decreases in the direction away from the mounting part of the second drive member. The inner side of the top of the first and second grippers is an arc-shaped surface, and the tapered body is used to cooperate with the arc-shaped surface.

[0029] Preferably, the second clamping assembly further includes:

[0030] A third fixed plate is fixedly disposed between the first fixed plate and the second fixed plate, and the telescopic end of the second driving member is slidably connected to the third fixed plate;

[0031] A guide rod that is fixedly connected to the first fixing plate, the second fixing plate, and the third fixing plate;

[0032] A fourth fixing plate is disposed between the third fixing plate and the mounting plate and is fixedly connected to the mounting plate; the guide rod is slidably connected to the fourth fixing plate.

[0033] A first deformable component is fitted onto the outside of the guide rod, and both ends of the first deformable component abut against the fourth fixing plate and the third fixing plate, respectively.

[0034] Preferably, it further includes: a third clamping assembly for clamping the connection between the mold core and the workpiece;

[0035] The third clamping assembly includes:

[0036] A first base fixedly connected to the mounting plate has clamping mechanisms spaced apart along the length of the first base, and an arc-shaped surface is provided on the outer side of the clamping mechanism;

[0037] A second base is disposed above the first base and slidably connected to the first base. The bottom of the second base is provided with a clamping groove for use with the clamping assembly. The diameter of the clamping groove gradually increases towards the first base.

[0038] The third driving component is used to drive the second base to move towards and away from the first base. The arc-shaped surface cooperates with the clamping groove to drive the clamping mechanism to clamp.

[0039] Preferably, the workpiece clamping assembly includes:

[0040] Connecting seat connected to the frame;

[0041] A first clamping member and a second clamping member are hinged to both sides of the connecting seat, and a receiving cavity for clamping the workpiece is formed between the first clamping member and the second clamping member.

[0042] A drive element used to open and close the first and second clamping members.

[0043] Preferably, the workpiece clamping assembly further includes:

[0044] A positioning plate is fixedly connected to one side of the connecting seat. The bottom of the positioning plate is specifically an arc-shaped surface, which is used to position the workpiece.

[0045] Preferably, there are two sets of workpiece clamping assemblies, and the workpiece clamping assemblies are spaced apart along the length direction of the workpiece.

[0046] Preferably, it further includes:

[0047] Mounting base provided on the rack;

[0048] A connecting rod is disposed between the mounting base and the connecting base, and the connecting rod is slidably connected to the connected base;

[0049] A second deformation member is fitted onto the outside of the connecting rod, with its two ends abutting against the connecting seat and the mounting seat, respectively.

[0050] The robotic gripper provided by this utility model is used in the injection molding of contrast catheters. It comprises a frame, a first clamping assembly, a second clamping assembly, and a workpiece clamping assembly. The frame is connected to a robotic arm. The first clamping assembly is mounted on the frame and clamps the mold core. The second clamping assembly is located to one side of the first clamping assembly and is connected to the frame. The second clamping assembly clamps the injection gate. The workpiece clamping assembly is located on the side of the second clamping assembly away from the first clamping assembly and is connected to the frame. After the contrast catheter injection molding is completed, the first clamping assembly clamps the mold core, the second clamping assembly clamps the injection gate, and the workpiece clamping assembly clamps the molded workpiece. Finally, the robotic arm transfers the mold core, injection gate, and workpiece. In existing technologies, workers often remove the molded workpiece using hand tools. However, the mold core is frequently reused during injection molding and needs to be removed afterward. If only the mold core is removed, leaving the sprue on the injection molding machine, subsequent injection processes cannot proceed. Manual removal of the molded workpiece often requires changing fixtures to remove both the mold core and the sprue, resulting in low efficiency. This technical solution, however, includes a first clamping assembly, a second clamping assembly, and a workpiece clamping assembly. The first clamping assembly holds the mold core, the second clamping assembly holds the sprue, and the workpiece clamping assembly holds the molded workpiece. A robotic arm then removes and transfers the workpiece in one operation. Therefore, compared to existing technologies, the robotic arm in this embodiment reduces worker workload and improves material handling efficiency. Attached Figure Description

[0051] 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.

[0052] Figure 1 is a schematic diagram of a mechanical gripper provided in an embodiment of the present invention;

[0053] Figure 2 is a structural schematic diagram of a first clamping assembly provided in an embodiment of the present utility model;

[0054] Figure 3 is a structural schematic diagram of the first clamping assembly provided in an embodiment of the present invention from another angle;

[0055] Figure 4 is a structural schematic diagram of a second clamping assembly provided in an embodiment of the present utility model;

[0056] Figure 5 is a structural schematic diagram of a third clamping assembly provided in an embodiment of the present utility model;

[0057] Figure 6 is a schematic diagram of a workpiece clamping assembly provided in an embodiment of the present utility model;

[0058] Figure 7 is a structural schematic diagram of a positioning plate provided in an embodiment of this utility model.

[0059] Reference numerals: 1. Frame; 2. First clamping assembly; 3. Second clamping assembly; 4. Workpiece clamping assembly; 5. Third clamping assembly; 61. Mounting base; 62. Connecting rod; 7. Mold core; 71. Mold core; 21. Mounting plate; 22. First connecting plate; 23. Second connecting plate; 24. Claw; 25. First driving component; 26. Limiting plate; 27. Limiting rod; 28. Limiting component; 31. First fixing plate; 32. Second driving component; 33. Second fixing plate; 34. Sprue claw assembly; 35. Third fixing plate; 36. Guide rod; 37. Fourth fixing plate; 41. Connecting base; 42. First clamping component; 43. Second clamping component; 44. Driving element; 45. Positioning plate; 51. First base; 52. Clamping mechanism; 53. Second base; 54. Clamping groove; 55. Third driving component. Detailed Implementation

[0060] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0062] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0063] 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 indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0064] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0065] The embodiments of this utility model are written in a progressive manner.

[0066] As shown in Figures 1 to 7, this utility model embodiment provides a robotic gripper, including: a frame 1 for connecting to a robotic arm; a first clamping assembly 2 disposed on the frame 1 for clamping a mold core 7; a second clamping assembly 3 disposed on one side of the first clamping assembly 2 and connected to the frame 1 for clamping an injection gate; and a workpiece clamping assembly 4 disposed on the side of the frame 1 away from the first clamping assembly 2 for clamping a workpiece.

[0067] Currently, workers remove the injection-molded angiography catheters using hand tools. This process is not only physically demanding but also inefficient. Furthermore, workers may be injured or products may be damaged during the removal process due to tool collisions.

[0068] The robotic gripper provided by this utility model is used in the injection molding of contrast catheters. It comprises a frame 1, a first clamping assembly 2, a second clamping assembly 3, and a workpiece clamping assembly 4. The frame 1 is connected to a robotic arm. The first clamping assembly 2 is mounted on the frame 1 and clamps the mold core 7. The second clamping assembly 3 is located on one side of the first clamping assembly 2 and is connected to the frame 1. The second clamping assembly 3 clamps the injection gate. The workpiece clamping assembly 4 is located on the side of the second clamping assembly 3 away from the first clamping assembly 2 and is connected to the frame 1. After the contrast catheter injection molding is completed, the first clamping assembly 2 clamps the mold core 7, the second clamping assembly 3 clamps the injection gate, and the workpiece clamping assembly 4 clamps the completed workpiece. Finally, the robotic arm transfers the mold core 7, the injection gate, and the workpiece.

[0069] In existing technologies, workers often remove the injection-molded workpiece by hand using tools. However, the mold core 7 is often reused during the injection process and needs to be removed after injection. If only the mold core 7 is removed and the sprue is left on the injection molding machine, subsequent injection processes cannot be carried out. After manually removing the injection-molded workpiece, the fixture often needs to be changed to remove the mold core 7 and the sprue, which is inefficient.

[0070] The present technical solution includes a first clamping component 2, a second clamping component 3, and a workpiece clamping component 4. The first clamping component 2 clamps the mold core 7, the second clamping component 3 clamps the sprue, and the workpiece clamping component 4 clamps the workpiece after imaging. The workpiece is then removed and transferred in one go by a robotic arm. Thus, compared with the prior art, the robotic arm in this embodiment can reduce the labor intensity of workers and improve the material handling efficiency.

[0071] In the above structure, as shown in Figures 2 and 3, the first clamping component 2 is used to clamp the mold core 7. Specifically, in this embodiment of the present invention, the top of the mold core 7 is provided with two clamping slots spaced apart. For this type of mold core 7, this embodiment of the present invention provides a specific structure of the first clamping component. The first clamping component 2 includes a mounting plate 21, a first connecting plate 22, a second connecting plate 23, and a first driving component 25. The mounting plate 21 is fixedly connected to the frame 1. The first connecting plate 22 and the second connecting plate 23 are disposed on the mounting plate 21. Both the first connecting plate 22 and the second connecting plate 23 are provided with claws 24. The claws 24 are used to correspond to the clamping slots. The first driving component 25 is used to drive the two claws 24 to clamp the clamping slots, thereby removing the mold core 7 from the injection molding machine.

[0072] In one specific embodiment of this utility model, the first connecting plate 22 is fixedly connected to the mounting plate 21, the second connecting plate 23 is movably connected to the mounting plate 21, the telescopic end of the first driving member 25 is connected to the second connecting plate 23, and two claws 24 are respectively fixedly disposed on the first connecting plate 22 and the second connecting plate 23. The first clamping assembly 2 also includes a limiting plate 26, a limiting rod 27, and a limiting member 28. The limiting plate 26 is disposed between the first connecting plate 22 and the second connecting plate 23, and the limiting plate 26 is fixed to the mounting plate 21. The connection includes a guide hole on the limiting plate 26, a fixed connection between one end of the limiting rod 27 and the second connecting plate 23, a sliding connection between the limiting rod 27 and the guide hole, and a limiting member 28 located at the end of the limiting rod 27 away from the second connecting plate 23. The limiting member 28 abuts against the limiting plate 26, limiting the farthest distance between the two claws 24. The second connecting plate 23 abuts against the limiting plate 26, limiting the shortest distance between the two claws 24. The cooperation between the limiting rod 27 and the guide hole limits the direction of movement of the second connecting plate 23.

[0073] In the above structure, as shown in Figure 4, the second clamping assembly 3 is used to clamp the sprue and remove it using a robotic arm. In one specific embodiment, the second clamping assembly 3 includes a first fixing plate 31, a second driving member 32, a second fixing plate 33, and a sprue gripper assembly 34. The first fixing plate 31 is positioned above the mounting plate 21, the mounting portion of the second driving member 32 is fixedly mounted on the first fixing plate 31, and the second fixing plate 33 is positioned below the first fixing plate 31. The second fixing plate 33 has a mounting hole, and the sprue gripper assembly 34 passes through the mounting hole. The gripper assembly 34 includes a first gripper, a second gripper, and an elastic element. The first and second grippers are arranged crosswise, and the middle of the first and second grippers is hinged to the second fixed plate 33. There are two elastic elements. The two ends of the first elastic element are connected to the second fixed plate 33 and the second gripper, respectively. The two ends of the second elastic element are connected to the second fixed plate 33 and the first gripper, respectively, so that the tops of the first and second grippers are in contact and the gripping parts of the first and second grippers are in an open state. The telescopic end of the second drive member 32 cooperates with the top of the sprue gripper assembly 34 to open and close the gripping parts of the sprue gripper assembly 34.

[0074] Specifically, when the sprue is not grasped, the tops of the first and second grippers are closed and the gripping parts of the first and second grippers are open under the action of the elastic element. When it is necessary to grasp the sprue, the telescopic end of the second drive member 32 opens the tops of the first and second grippers and closes the gripping parts of the first and second grippers to grasp the sprue.

[0075] In the above structure, the telescopic end of the second driving member 32 is used to overcome the elastic force of the elastic member and open the top of the first and second grippers. It can be directly inserted between the top of the first and second grippers through the telescopic end of the second driving member 32. This method requires a large amount of power. As a preferred embodiment, the tail of the telescopic end of the second driving member 32 in this utility model embodiment is specifically a cone-shaped body. The diameter of the tail of the second driving member 32 gradually decreases in the direction away from the mounting part of the second driving member 32. The inner surface of the top of the first and second grippers is specifically an arc-shaped surface. The cone-shaped body is used to cooperate with the arc-shaped surface. When the telescopic end of the second driving member 32 extends, a line-point contact is formed between the cone-shaped body and the first gripper, and between the cone-shaped body and the second gripper. It can overcome the elastic force more effortlessly and close the gripping part of the first and second grippers.

[0076] Furthermore, in order to better clamp the sprue, as one embodiment, the clamping parts of the first and second clamps in this utility model embodiment are provided with rough surfaces. The rough surfaces are used to contact the sprue, thereby increasing the frictional force between the sprue and the first and second clamps, and preventing the sprue from falling off during the clamping process.

[0077] In the above structure, after injection molding, the mold core 7 often needs to be sent to the reflow station for reuse, the injection-molded workpiece needs to be placed on the workpiece placement table, and the sprue only needs to be placed in the scrap area. To avoid interference between the sprue gripper assembly 34 and other structures during the placement of the mold core 7 or workpiece by the mechanical grippers, as one embodiment, the second clamping assembly 3 in this utility model embodiment also includes a third fixing plate 35, a guide rod 36, a fourth fixing plate 37, and a first deformation member, wherein the third fixing plate 35 is disposed on the first fixing plate 37. Between the fixed plate 31 and the second fixed plate 33, the telescopic end of the second driving member 32 is slidably connected to the third fixed plate 35. The guide rod 36 is fixedly connected to the first fixed plate 31, the second fixed plate 33 and the third fixed plate 35. The fourth fixed plate 37 is disposed between the third fixed plate 35 and the mounting plate 21, and the fourth fixed plate 37 is fixedly connected to the mounting plate 21. The fourth fixed plate 37 is slidably connected to the guide rod 36. The first deformable member is fitted on the outside of the guide rod 36, and the two ends of the first deformable member abut against the fourth fixed plate 37 and the third fixed plate 35 respectively.

[0078] Specifically, when the gate clamp assembly 34 interferes with other structures, the second fixed plate 33 undergoes elastic deformation through the first deformation member under the action of external force, thereby lifting the second fixed plate 33, the third fixed plate 35, the first fixed plate 31, the second driving member 32, and the gate clamp assembly 34 as a whole, thus avoiding interference.

[0079] Furthermore, in this embodiment of the invention, the elastic element is specifically a spring.

[0080] Furthermore, in this embodiment of the present invention, two guide rods 36 are provided, and the number of first deformable members corresponds one-to-one with the number of guide rods 36.

[0081] Furthermore, in this embodiment of the invention, the guide rod 36 and the fourth fixing plate 37, as well as the telescopic end of the second driving member 32 and the third fixing plate 35, are all connected by sliding bearings.

[0082] In the above structure, as shown in Figure 5, the robotic gripper in this embodiment of the present invention is used in the injection molding of angiography catheters. Before molding the angiography catheter, it is often necessary to insert the mold core 71 into the catheter. After the mold core and the catheter are sent into the injection molding machine, in order to prevent the catheter from falling off the mold core 71, as a preferred embodiment, the robotic gripper in this embodiment of the present invention further includes: a third clamping component 5 for clamping the connection between the mold core and the workpiece; wherein, the third clamping component 5 includes: a first base 51 fixedly connected to the mounting plate 21, along the first... Clamping mechanisms 52 are spaced apart along the length of the base 51, and the outer side of the top of each clamping mechanism 52 has an arc-shaped surface. A second base 53 is positioned above the first base 51 and slidably connected to it. The bottom of the second base 53 has a clamping groove 54, the opening of which gradually increases towards the first base 51. A third driving member 55 drives the second base 53 to move towards and away from the first base 51. The arc-shaped surface engages with the clamping groove 54 to clamp the clamping mechanisms 52. The number of clamping mechanisms and clamping grooves corresponds one-to-one with the number of conduits. Thus, multiple clamping mechanisms can be driven simultaneously by a single third driving member, simplifying the structure. The contact between the clamping groove and the arc-shaped surface is specifically a line-to-point contact, making the drive less labor-intensive.

[0083] Furthermore, in one embodiment, the clamping mechanism includes a third jaw, a fourth jaw, and a third deformation member. The middle portions of the third and fourth jaws are respectively hinged to the first base. The third deformation member is disposed between the third and fourth jaws. When the third and fourth jaws are not clamping the conduit, the top of the jaw mechanism engages with the narrowest part of the clamping groove, the distance between the first and second bases is at its shortest, and the clamping portions of the third and fourth jaws are open. The third deformation member undergoes elastic deformation. When it is necessary to clamp the conduit, the third driving member drives the second base to move away from the first base, so that the top of the jaw mechanism engages with the lower end of the clamping groove. The third deformation member undergoes elastic reset deformation, thereby closing the clamping portions of the third and fourth jaws.

[0084] In the above structure, as shown in Figures 6 and 7, the workpiece clamping assembly 4 in this embodiment of the present invention includes a connecting seat 41, a first clamping member 42, a second clamping member 43, and a driving element 44. The connecting seat 41 is connected to the frame 1. The first clamping member 42 and the second clamping member 43 are respectively hinged to the two sides of the connecting seat 41. The first clamping member 42 and the second clamping member 43 form a receiving cavity for clamping the workpiece. The driving element 44 is used to open and close the first clamping member 42 and the second clamping member 43.

[0085] Specifically, in this embodiment of the invention, the two ends of the driving element 44 are connected to the first clamping member 42 and the second clamping member 43, respectively. More specifically, the driving element 44 in this embodiment of the invention is a cylinder with an opening of 180°. More specifically, the workpiece in this embodiment of the invention is a guide tube bundle. To better clamp the guide tube bundle, the receiving cavity in this embodiment of the invention is a circular receiving cavity.

[0086] Furthermore, to avoid the situation where the workpiece is placed at different heights, as one embodiment, the robotic gripper in this utility model also includes a positioning plate 45. The positioning plate 45 is fixedly connected to one side of the connecting seat 41. The bottom of the positioning plate 45 is specifically an arc-shaped surface, which is used to limit the workpiece and make it easier for the workpiece clamping assembly 4 to accurately clamp the workpiece.

[0087] Furthermore, if the workpiece is too long, the center of gravity of the workpiece may become unstable during the clamping process. As one implementation method, the workpiece clamping assembly 4 in this utility model embodiment is provided in two sets, and the workpiece clamping assembly 4 is spaced apart along the length direction of the workpiece.

[0088] Furthermore, to avoid interference between the workpiece clamping assembly 4 and other structures during use, as a more preferred embodiment, the robotic gripper in this utility model further includes a mounting base 61, a connecting rod 62, and a second deforming element. The mounting base 61 is disposed on the frame 1, and the connecting rod 62 is disposed between the mounting base 61 and the connecting base 41, with the connecting rod 62 slidably connected to the connecting base 41. The second deforming element is fitted onto the outside of the connecting rod 62, and both ends of the second deforming element abut against the connecting base 41 and the mounting base 61, respectively. When the workpiece clamping assembly 4 interferes with other structures, the second deforming element generates elastic deformation, causing the mounting base 61 to lift up and avoiding interference.

[0089] In the above structure, in order to accommodate the length of the workpiece, the mounting base 61 and the frame 1 in this embodiment of the present invention are specifically slidably connected and locked by a locking member.

[0090] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic gripper, characterized in that, include: A frame (1) is used to connect to a robotic arm; a first clamping assembly (2) is disposed on the frame (1) for clamping the mold core; a second clamping assembly (3) is disposed on one side of the first clamping assembly (2) and connected to the frame (1), the second clamping assembly (3) is used to clamp the injection gate; and a workpiece clamping assembly (4) is disposed on the side of the frame (1) away from the first clamping assembly (2) for clamping the workpiece.

2. The robotic gripper according to claim 1, characterized in that, The top of the mold core is provided with two clamping slots at intervals; the first clamping assembly (2) includes: a mounting plate (21) fixedly connected to the frame (1); a first connecting plate (22) and a second connecting plate (23) spaced apart on the mounting plate (21), both the first connecting plate (22) and the second connecting plate (23) are provided with claws (24), the claws (24) are used to correspond to the clamping slots; a first driving member (25), the first driving member (25) is used to drive the two claws (24) to clamp the clamping slots.

3. The robotic gripper according to claim 2, characterized in that, The second clamping assembly (3) includes: a first fixing plate (31) disposed above the mounting plate (21); a second driving member (32), the mounting part of which is fixedly disposed on the first fixing plate (31); a second fixing plate (33) disposed below the first fixing plate (31), the second fixing plate (33) having a mounting hole; a sprue clamping jaw assembly (34) disposed in the mounting hole, the sprue clamping jaw assembly including a first clamping jaw, a second clamping jaw, and an elastic member arranged in a cross configuration, the middle part of the first clamping jaw and the second clamping jaw being hinged to the second fixing plate, and two elastic members being provided, the two ends of the first elastic member being connected to the second fixing plate and the second clamping jaw respectively, and the two ends of the second elastic member being connected to the second fixing plate and the first clamping jaw respectively, so that the tops of the first clamping jaw and the second clamping jaw are in contact; the telescopic end of the second driving member (32) cooperates with the top of the sprue clamping jaw assembly (34) to close the clamping part of the sprue clamping jaw assembly (34).

4. The robotic gripper according to claim 3, characterized in that, The tail of the telescopic end of the second drive member (32) is specifically a cone-shaped body. In the direction away from the mounting part of the second drive member (32), the diameter of the tail of the second drive member (32) gradually decreases. The inner side of the top of the first gripper and the second gripper is specifically an arc-shaped surface. The cone-shaped body is used to cooperate with the arc-shaped surface.

5. The robotic gripper according to claim 4, characterized in that, The second clamping assembly (3) further includes: a third fixing plate (35) fixedly disposed between the first fixing plate (31) and the second fixing plate (33), wherein the telescopic end of the second driving member (32) is slidably connected to the third fixing plate (35); a guide rod (36) fixedly connected to the first fixing plate (31), the second fixing plate (33) and the third fixing plate (35); a fourth fixing plate (37) disposed between the third fixing plate (35) and the mounting plate (21) and fixedly connected to the mounting plate (21), wherein the guide rod (36) is slidably connected to the fourth fixing plate (37); and a first deformable member fitted on the outside of the guide rod (36), wherein the two ends of the first deformable member abut against the fourth fixing plate (37) and the third fixing plate (35) respectively.

6. The robotic gripper according to claim 2, characterized in that, It also includes a third clamping assembly (5) for clamping the connection between the mold core and the workpiece; the third clamping assembly (5) includes: a first base (51) fixedly connected to the mounting plate (21), clamping mechanisms (52) are provided at intervals along the length direction of the first base (51), and an arc-shaped surface is provided on the outer side of the clamping mechanism (52); a second base (53) disposed above the first base (51) and slidably connected to the first base (51), the bottom of the second base (53) is provided with a clamping groove (54) for cooperating with the clamping assembly, and the diameter of the clamping groove (54) gradually increases towards the first base; a third driving member (55) for driving the second base (53) to move towards and away from the first base (51), and the arc-shaped surface cooperates with the clamping groove (54) to drive the clamping mechanism (52) to clamp.

7. The robotic gripper according to any one of claims 1 to 6, characterized in that, The workpiece clamping assembly (4) includes: a connecting seat (41) connected to the frame (1); a first clamping member (42) and a second clamping member (43) hinged to both sides of the connecting seat (41), wherein a receiving cavity for clamping the workpiece is formed between the first clamping member (42) and the second clamping member (43); and a driving element (44) for opening and closing the first clamping member (42) and the second clamping member (43).

8. The robotic gripper according to claim 7, characterized in that, The workpiece clamping assembly further includes a positioning plate (45) fixedly connected to one side of the connecting seat (41), wherein the bottom of the positioning plate (45) is an arc-shaped surface used for positioning the workpiece.

9. The robotic gripper according to claim 8, characterized in that, The workpiece clamping assembly (4) is provided in two sets, and the workpiece clamping assembly (4) is provided at intervals along the length direction of the workpiece.

10. The robotic gripper according to claim 9, characterized in that, Also includes: A mounting base (61) is provided on the frame (1); a connecting rod (62) is provided between the mounting base (61) and the connecting seat (41), and the connecting rod (62) is slidably connected to the connecting seat (41); a second deformation member is fitted on the outside of the connecting rod (62), and the two ends of the second deformation member abut against the connecting seat (41) and the mounting base (61) respectively.

Images