Internal expansion grabbing device with dragging function

Abstract

The utility model relates to the technical field of industrial manipulators, in particular to an internal expansion gripping device with a dragging function, a gripping device body comprises an internal expansion mechanism and an auxiliary dragging mechanism, and the internal expansion mechanism drives a transmission mechanism through an expansion clamping cylinder to drive an expansion clamping jaw on a clamping jaw mounting pipe to realize clamping; the auxiliary dragging mechanism pushes the push rod to axially move in the fixing pipe through the dragging air cylinder to assist in completing positioning or separation of the workpiece. Through the coaxial composite design of the internal expansion mechanism and the auxiliary dragging mechanism, the grabbing and separating functions are integrated, the device can continuously clamp a workpiece under the influence of gravity in the vertical state, and the clamping jaw is small in stress and not prone to damage.

Description

Technical Field

[0001] This utility model relates to the technical field of industrial robotic arms, specifically to an internally expanding gripping device with a dragging function. Background Technology

[0002] Currently, in processing plants, expandable head robots can be used to grab and transfer workpieces on supports for subsequent processing. However, traditional expandable head robots have problems with insufficient gripping force and poor stability when grabbing workpieces, which makes it difficult to remove the workpieces smoothly from the supports. In particular, when the expandable head robot grabs workpieces in the vertical direction, it needs to continuously output force, and the gripper is subjected to a large force. Not only is it difficult to remove the workpiece from the support, but it is also easy to cause gripper failure and workpiece slippage. Utility Model Content

[0003] To address the aforementioned problems in the existing technology, this utility model provides an internal expansion gripping device with dragging function.

[0004] The objective of this utility model can be achieved through the following technical solutions:

[0005] An internally expanding gripping device with dragging function includes a gripping device body, wherein the gripping device body includes an internal expansion mechanism and an auxiliary dragging mechanism;

[0006] The internal expansion mechanism includes a fixed bracket, an expansion clamping cylinder is provided above the fixed bracket, an installation bracket is provided on the front side of the fixed bracket, a fixed tube is connected to the front side of the installation bracket, a claw installation tube is sleeved on the outside of the fixed tube, and at least two installation grooves are provided on the claw installation tube, with expansion claws provided in the installation grooves.

[0007] The expansion clamping cylinder includes a first piston rod, which is connected to the gripper mounting tube via a transmission mechanism.

[0008] The auxiliary towing mechanism includes a towing cylinder. The front part of the towing cylinder is connected to the mounting bracket. The towing cylinder includes a second piston rod. The front part of the second piston rod passes through the mounting bracket and extends into the fixed tube. A push rod is connected to the front part of the second piston rod. The diameter of the push rod is smaller than the inner diameter of the fixed tube.

[0009] Furthermore, the transmission mechanism includes a connecting rod connected to the first piston rod, the connecting rod being rotatably connected to the upper part of the first connecting rod via a first rotating shaft, and the first connecting rod being bent.

[0010] The rear side of the gripper mounting tube is provided with a fixed shaft, the middle part of the first connecting rod is rotatably connected to the fixed shaft, the lower part of the first connecting rod is rotatably connected to the second connecting rod through a second rotating shaft, the lower part of the mounting bracket is provided with a support, and the second connecting rod is rotatably connected to the support through a third rotating shaft.

[0011] Furthermore, the rear part of the expansion gripper is rotatably connected to the inner wall of the mounting groove via a fourth rotating shaft, and the front side of the fixing tube is provided with an expansion head that matches the position of the expansion gripper. The expansion head is block-shaped, and the side of the expansion head near the expansion gripper is inclined.

[0012] Furthermore, an inner support guide sleeve is fitted on the outer side of the gripper mounting tube, and the inner support guide sleeve is located on the rear side of the mounting groove.

[0013] Furthermore, there are two first connecting rods, which are respectively disposed on both sides of the connecting rod.

[0014] Furthermore, a fixing bolt is screwed onto the fixing tube, and a limiting groove adapted to the fixing bolt is provided on the inner wall of the clamp mounting tube.

[0015] Furthermore, there are three mounting slots, which are arranged at equal angles along the circumferential direction on the gripper mounting tube.

[0016] Furthermore, the expanding gripper includes a base plate, and an anti-slip plate is provided on the outer side of the base plate, with anti-slip texture on the anti-slip plate.

[0017] Furthermore, the end of the substrate near the expansion head is rounded.

[0018] Furthermore, the mounting bracket has fixing rods on both sides, fixing plates on the fixing rods, and mounting holes on the fixing plates.

[0019] The beneficial effects of this utility model are as follows:

[0020] (1) Through the coaxial composite design of the internal expansion mechanism and the auxiliary dragging mechanism, the gripping and release functions are integrated. In the vertical state, the device will continuously tighten the workpiece under the influence of gravity. The gripper is less stressed and is not easily damaged.

[0021] (2) After the workpiece is fixed by the internal expansion mechanism, the workpiece can be quickly released from the expansion jaws by the auxiliary dragging mechanism. Compared with the traditional expansion head device, it has stronger strength, saves time and speeds up the cycle. Attached Figure Description

[0022] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 This diagram shows a side view of the structure of the present invention in its tensioned state;

[0024] Figure 2 This diagram shows a top view of the structure of the present invention in its tensioned state;

[0025] Figure 3 A schematic cross-sectional view of the structure of this utility model in the tensioned state is shown;

[0026] Figure 4 This diagram shows a side view of the structure of the present invention in its retracted state.

[0027] Figure 5 This diagram shows a top view of the structure of the present invention in its retracted state;

[0028] Figure 6 A schematic cross-sectional view of the structure of this utility model in its retracted state is shown.

[0029] In the diagram: 1. Push rod; 2. Fixing tube; 3. Gripper mounting tube; 4. Anti-slip plate; 5. Inner support guide sleeve; 6. First connecting rod; 7. First piston rod; 8. Expansion clamping cylinder; 9. Fixing bracket; 10. Dragging cylinder; 11. Mounting hole; 12. Fixing plate; 13. Support; 14. Second connecting rod; 15. Fixing ring; 16. Mounting bracket; 17. Fixing shaft mounting bracket; 18. Fixing rod; 19. Connecting rod; 20. Base plate; 21. Fixing bolt; 22. Second piston rod. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0031] like Figure 1-3 As shown, an internally expanding gripping device with dragging function includes a gripping device body. The gripping device body is composed of an internal expansion mechanism and an auxiliary dragging mechanism forming an overall frame, which realizes stable gripping operation of objects.

[0032] The internal expansion mechanism includes a fixed bracket 9, which serves as the core support component. An expansion clamping cylinder 8 is mounted on the top of the fixed bracket, and the front side of the fixed bracket extends to connect to the fixed tube 2 via a mounting bracket 16. The expansion clamping cylinder 8 includes a first piston rod 7, which is connected to a connecting rod 19. The connecting rod 19 is rotatably connected to the upper part of a bent first connecting rod 6 via a first rotating shaft. Here, there are two first connecting rods 6, symmetrically distributed on both sides of the connecting rod 19. The first piston rod 7 is connected to the middle of the connecting rod 19, and the two ends of the connecting rod 19 are rotatably connected to the two first connecting rods 6 respectively.

[0033] A clamp mounting tube 3 is sleeved on the outer side of the fixing tube 2. A fixing shaft is provided on the rear side of the clamp mounting tube 3. The middle parts of the two first connecting rods 6 are rotatably connected to the fixing shafts on the fixing shaft mounting brackets 17 on both sides of the fixing ring 15. The lower part of the first connecting rod 6 is rotatably connected to the second connecting rod 14 through a second rotating shaft. The lower part of the mounting bracket 16 is provided with a support 13. The two second connecting rods 14 are respectively rotatably connected to the two supports 13 through a third rotating shaft.

[0034] The gripper mounting tube 3 has at least two mounting slots, and in this embodiment, there are three mounting slots, which are arranged at equal angles along the circumference of the gripper mounting tube 3. Each mounting slot is provided with an expansion gripper, the rear of which is rotatably connected to the inner wall of the mounting slot via a fourth rotating shaft. The front side of the fixing tube 2 is provided with an expansion head that matches the position of the expansion gripper. The expansion head is block-shaped, and its side near the expansion gripper is inclined. An inner support guide sleeve 5 is sleeved on the outer side of the gripper mounting tube 3, and the inner support guide sleeve 5 is located on the rear side of the mounting slot.

[0035] A fixing bolt 21 is screwed onto the fixing tube 2, and a limiting groove that matches the fixing bolt 21 is provided on the inner wall of the gripper mounting tube 3. This design can limit the relative position of the gripper mounting tube 3 and the fixing tube 2.

[0036] The auxiliary dragging mechanism includes a dragging cylinder 10, the front of which is connected to the mounting bracket 16. The front of the second piston rod 22 of the dragging cylinder 10 passes through the mounting bracket 16 and extends into the fixed tube 2. The front of the second piston rod 22 is connected to a push rod 1. The diameter of the push rod 1 is smaller than the inner diameter of the fixed tube 2, so as to push the auxiliary workpiece away from the internal expansion mechanism through the push rod.

[0037] The rear of the gripper mounting tube 3 is provided with a fixing ring 15. Both sides of the fixing ring 15 are provided with fixing shaft mounting brackets 17. The fixing shaft mounting brackets 17 are provided with fixing shafts. The middle parts of the two first connecting rods are rotatably connected to the fixing shafts on the fixing shaft mounting brackets 17 on both sides of the fixing ring 15. The lower parts of the two first connecting rods 6 are rotatably connected to the two second connecting rods 14. The two second connecting rods 14 are rotatably connected to the two supports 13 respectively. The two supports 13 are located on both sides below the mounting bracket 16.

[0038] The expansion gripper consists of a base plate 20 and an outer anti-slip plate 4. The base plate 20 and the anti-slip plate 4 are fixedly connected by bolts. The anti-slip plate 4 is provided with anti-slip texture, which is composed of several equally spaced strip-shaped grooves. The end of the base plate 20 near the expansion head is rounded, which is conducive to cooperating with the expansion head during the expansion process and reducing wear and jamming.

[0039] The mounting bracket 16 has fixing rods 18 on both sides, fixing plates 12 on the fixing rods 18, and mounting holes 11 on the fixing plates 12, which facilitates the installation and fixing of the entire device.

[0040] The internal expansion mechanism includes a fixed bracket 9, which serves as the core support component. An expansion clamping cylinder 8 is mounted on the top of the fixed bracket, and the front side of the fixed bracket extends to connect to the fixed tube 2 via a mounting bracket 16. The expansion clamping cylinder 8 includes a first piston rod 7, which is connected to a connecting rod 19. The connecting rod 19 is rotatably connected to the upper part of a bent first connecting rod 6 via a first rotating shaft. Here, there are two first connecting rods 6, symmetrically distributed on both sides of the connecting rod 19. The first piston rod 7 is connected to the middle of the connecting rod 19, and the two ends of the connecting rod 19 are rotatably connected to the two first connecting rods 6 respectively.

[0041] A clamp mounting tube 3 is sleeved on the outer side of the fixing tube 2. A fixing shaft is provided on the rear side of the clamp mounting tube 3. The middle parts of the two first connecting rods 6 are rotatably connected to the fixing shafts on the fixing shaft mounting brackets 17 on both sides of the fixing ring 9. The lower part of the first connecting rod 6 is rotatably connected to the second connecting rod 14 through a second rotating shaft. The lower part of the mounting bracket 16 is provided with a support 13. The two second connecting rods 14 are respectively rotatably connected to the two supports 13 through a third rotating shaft.

[0042] The gripper mounting tube 3 has at least two mounting slots, and in this embodiment, there are three mounting slots, which are arranged at equal angles along the circumference of the gripper mounting tube 3. Each mounting slot is provided with an expansion gripper, the rear of which is rotatably connected to the inner wall of the mounting slot via a fourth rotating shaft. The front side of the fixing tube 2 is provided with an expansion head that matches the position of the expansion gripper. The expansion head is block-shaped, and its side near the expansion gripper is inclined. An inner support guide sleeve 5 is sleeved on the outer side of the gripper mounting tube 3, and the inner support guide sleeve 5 is located on the rear side of the mounting slot.

[0043] like Figure 1-3As shown, in the tensioned state, the first piston rod 7 of the expansion clamping cylinder 8 extends, pushing the connecting rod 19 forward. The connecting rod 19 drives the first connecting rod 6, which is bent on both sides, to rotate around the middle fixed axis of the fixed shaft mounting bracket 17. At the same time, the lower part of the first connecting rod 6 is linked to the rotating shaft of the support 13 through the second connecting rod 14, thereby converting the linear motion of the piston rod into the rearward movement of the gripper mounting tube 3. When the gripper mounting tube 3 moves backward, the inclined expansion head at the front end of the fixed tube 2 contacts the rounded end of the expansion gripper. The inclined surface extrusion forces the expansion gripper to rotate outward around the fourth rotating axis. The inner support guide sleeve 5 restricts the radial displacement of the gripper mounting tube 3, ensuring that the gripper only unfolds along the designed direction. After the expansion gripper is fully opened, it clamps the object and keeps it stable.

[0044] like Figure 4-6 As shown, in the retracted state, the first piston rod 7 of the expansion clamping cylinder 8 retracts, pulling the connecting rod 19 to move backward. The first connecting rod 6 rotates in the opposite direction around the fixed axis, driving the gripper mounting tube 3 to move forward axially, thus disengaging from the inclined surface compression state of the expansion head. When the gripper mounting tube 3 moves forward, the expansion gripper rotates inward around the fourth axis under the action of gravity or elastic restoring force, disengaging from contact with the object. The inner support guide sleeve 5 assists the gripper to return to its original position, preventing displacement. The second piston rod 22 of the dragging cylinder 10 pushes the push rod 1 forward, pressing against the object to assist in disengagement and prevent jamming due to residual friction.

[0045] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. An internally expanding gripping device with dragging function, comprising a gripping device body, characterized in that, The gripping device body includes an internal expansion mechanism and an auxiliary dragging mechanism; The internal expansion mechanism includes a fixed bracket, an expansion clamping cylinder above the fixed bracket, a mounting bracket on the front side of the fixed bracket, a fixed tube connected to the front side of the mounting bracket, a clamping mounting tube sleeved on the outside of the fixed tube, and at least two mounting grooves on the clamping mounting tube, with expansion clamps inside the mounting grooves; the expansion clamping cylinder includes a first piston rod, which is connected to the clamping mounting tube via a transmission mechanism. The auxiliary towing mechanism includes a towing cylinder. The front part of the towing cylinder is connected to the mounting bracket. The towing cylinder includes a second piston rod. The front part of the second piston rod passes through the mounting bracket and extends into the fixed tube. A push rod is connected to the front part of the second piston rod. The diameter of the push rod is smaller than the inner diameter of the fixed tube.

2. The internally expanding gripping device with dragging function according to claim 1, characterized in that, The transmission mechanism includes a connecting rod connected to the first piston rod. The connecting rod is rotatably connected to the upper part of the first connecting rod via a first rotating shaft, and the first connecting rod is bent. The rear side of the gripper mounting tube is provided with a fixed shaft, the middle part of the first connecting rod is rotatably connected to the fixed shaft, the lower part of the first connecting rod is rotatably connected to the second connecting rod through a second rotating shaft, the lower part of the mounting bracket is provided with a support, and the second connecting rod is rotatably connected to the support through a third rotating shaft.

3. The internally expanding gripping device with dragging function according to claim 1, characterized in that, The rear part of the expansion gripper is rotatably connected to the inner wall of the mounting groove via a fourth rotating shaft. The front side of the fixing tube is provided with an expansion head that matches the position of the expansion gripper. The expansion head is block-shaped and the side of the expansion head near the expansion gripper is inclined.

4. The internally expanding gripping device with dragging function according to claim 1, characterized in that, An inner support guide sleeve is fitted on the outer side of the gripper mounting tube, and the inner support guide sleeve is located on the rear side of the mounting groove.

5. The internally expanding gripping device with dragging function according to claim 2, characterized in that, There are two first connecting rods, which are respectively located on both sides of the connecting rod.

6. The internally expanding gripping device with dragging function according to claim 1, characterized in that, The fixing tube is screwed with a fixing bolt, and the inner wall of the clamp mounting tube is provided with a limiting groove that matches the fixing bolt.

7. The internally expanding gripping device with dragging function according to claim 1, characterized in that, There are three mounting slots, which are arranged at equal angles along the circumference on the gripper mounting tube.

8. The internally expanding gripping device with dragging function according to claim 1, characterized in that, The expanding gripper includes a base plate, and an anti-slip plate is provided on the outer side of the base plate, with anti-slip texture on the anti-slip plate.

9. The internally expanding gripping device with dragging function according to claim 6, characterized in that, The end of the substrate near the expansion head is rounded.

10. The internally expanding gripping device with dragging function according to claim 1, characterized in that, The mounting bracket has fixing rods on both sides, fixing plates on the fixing rods, and mounting holes on the fixing plates.

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