Mechanical claw mechanism for grabbing materials

Abstract

The utility model discloses a mechanical claw mechanism for grabbing materials, which belongs to the technical field of injection molding processing material taking equipment and particularly comprises a connecting disc, a plurality of suction nozzle mounting components used for mounting vacuum suction nozzle components are arranged on the edge of the connecting disc, and a hinge seat is fixed at the top of the connecting disc. And a turnover mechanism is rotationally mounted on the inner side of the hinge seat through a bolt shaft. According to the utility model, the mounting assembly for mounting the vacuum suction nozzle assembly is independently designed and adopts a rotatable and telescopic design, so that the extension or extension angle and length of the vacuum negative pressure suction units can be freely adjusted according to the layout design of the injection mold; compared with a traditional simple support, the adjusting flexibility and the adaptability to a mold and a product are higher, each vacuum suction nozzle assembly is designed in a buffering mode, the mechanical claw structure comprising the vacuum suction nozzle assemblies can be protected, and the error-tolerant rate of the whole carrying mechanical arm in the movement process can be increased.

Description

Technical Field

[0001] This utility model belongs to the technical field of injection molding material handling equipment, specifically relating to a mechanical claw mechanism for material gripping. Background Technology

[0002] After plastic parts for precision instruments or electronic products are injection molded, robotic arms are often used to remove the raw material from the injection mold and transfer it to a conveyor belt for subsequent finishing processing. Currently, the robotic gripper mechanism in these robotic arms that transfer injection-molded products from the mold mostly uses vacuum suction for material handling. The robotic grippers used to install the vacuum nozzles are mostly designed with fixed metal brackets, which can only make simple horizontal or vertical adjustments to the vacuum nozzles. The adjustment flexibility is limited, and it cannot be freely adjusted according to different product models, sizes, and mold designs. Moreover, the vacuum nozzles used for product handling are currently rigidly connected to the brackets, lacking buffering between them. This results in a low tolerance for errors in the setting of the robotic arm's motion parameters.

[0003] To address this, we propose a multi-angle adjustable mechanical gripper mechanism for material handling. Utility Model Content

[0004] The purpose of this invention is to provide a multi-angle adjustable mechanical gripper mechanism for material handling, in order to solve the aforementioned problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A mechanical gripper mechanism for material handling includes a connecting plate. Several nozzle mounting assemblies for mounting vacuum nozzle assemblies are horizontally arranged at equal intervals around the edge of the connecting plate. A hinge seat is fixed to the top of the connecting plate, and a flipping mechanism is rotatably mounted on the inner side of the hinge seat via a pin shaft.

[0007] Furthermore, the nozzle mounting assembly includes a mounting arm, a primary support arm, and a secondary support arm; the tail end of the mounting arm is fixed to the edge of the connecting plate, the secondary support arm is slidably inserted into the primary support arm, and the side of the primary support arm is fixedly connected to the mounting arm by locking bolts.

[0008] Furthermore, the vacuum nozzle assembly is slidably mounted on the secondary support arm.

[0009] Furthermore, the secondary support arm has a long slot in the middle, the secondary support arm is inserted into the primary support arm and a locking bolt is provided on the outer side of the end of the primary support arm near the vacuum nozzle assembly, and several buckles are also installed on the outer side of the primary support arm.

[0010] Furthermore, the flipping mechanism includes a primary rotating arm that rotates with a hinge seat via a pin shaft. A secondary rotating arm is provided at the top of the primary rotating arm. A flipping drive servo motor is horizontally mounted on the side of the primary rotating arm. A drive wheel is mounted on the output shaft of the flipping drive servo motor. A driven wheel, designed to be coaxial with the pin shaft, is fixedly mounted on the side of the hinge seat that is on the same side as the drive wheel by bolts. The driven wheel and the drive wheel are connected by a drive belt.

[0011] Furthermore, the interior of the secondary rotating arm is a T-shaped cylindrical cavity design. The top end of the primary rotating arm is rotatably connected to the secondary rotating arm via a bearing. An anti-detachment disc is horizontally installed at one end of the primary rotating arm that is inserted into the interior of the secondary rotating arm. A horizontal rotation drive servo motor is fixed in the cavity inside the secondary rotating arm, and the output shaft of the horizontal rotation drive servo motor is keyed to the top end of the primary rotating arm.

[0012] Furthermore, a connecting flange seat for assembling with a handling robotic arm is installed at the top of the secondary rotating arm, and a controller for controlling the horizontal rotation drive servo motor and the tilt drive servo motor is installed on the outside of the secondary rotating arm. This controller uses a PLC programmable control module.

[0013] Furthermore, a flip angle monitoring component is provided on the other side of the hinge base and the first-stage rotating arm. The flip angle monitoring component specifically includes an angle measuring disk that is vertically mounted on the top of the connecting plate and parallel to the side of the hinge base and has a semi-circular design, and an angle sensor that is mounted on the side of the first-stage rotating arm and cooperates with the angle measuring disk. The angle sensor is a through-beam laser sensor and is electrically connected to the controller. The angle measuring disk is coaxial with the pin shaft, and the edge of the angle measuring disk has a through hole for every degree of tilt from left to right so that the detection light source emitted by the angle sensor can pass through.

[0014] Furthermore, the vacuum nozzle assembly includes a connecting seat that slides into a slot on the secondary support arm. The connecting seat is equipped with an adjusting bolt, and a mounting bracket is provided on the front of the connecting seat. A hollow tube slides through the middle of the mounting bracket. A tray is fixed to the outside of the inner part of the hollow tube and close to the mounting bracket. A buffer spring fitted on the outside of the hollow tube is provided between the top of the tray and the inner wall of the other side of the mounting bracket. An adjusting nut is threaded onto the top of the hollow tube after it extends out of the mounting bracket. A vacuum quick-connect connector is also fixed to the top of the hollow tube.

[0015] Furthermore, the vacuum nozzle assembly also includes an adjustment tube, the outer side of which and the inner side of which are respectively provided with mutually cooperating threads. The top end of the adjustment tube is threadedly fitted to the inner side of the bottom end of the hollow tube. A screw nut is integrally formed on the outer side of the bottom end of the adjustment tube, and a locking nut is also threadedly fitted on the outer side of the adjustment tube. A vacuum suction cup is installed at the bottom end of the adjustment tube through an integrally formed connecting ball head.

[0016] Beneficial effects:

[0017] The mounting assembly for installing the vacuum nozzle in this invention adopts a rotatable and telescopic design, allowing multiple vacuum negative pressure suction units to freely adjust their extension angle and length according to the layout design of the injection mold. This adjustment flexibility and adaptability to molds and products are higher than traditional simple brackets. Secondly, each vacuum nozzle assembly employs a buffer design, which on the one hand protects the mechanical gripper structure, including the vacuum nozzle assembly, and on the other hand improves the fault tolerance of the entire handling robot arm during movement. Furthermore, the use of a servo motor to control the flipping and horizontal rotation of the entire mechanical gripper mechanism further enhances the flexibility of the entire mechanical gripper during movement, thereby improving its adaptability in complex environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present utility model. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the structure of the present utility model. Figure 2 ;

[0020] Figure 3 This is a schematic diagram of the flipping mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the vacuum nozzle assembly of this utility model.

[0022] In the diagram: 1. Connecting plate; 2. Mounting arm; 3. Locking bolt; 4. Primary support arm; 5. Secondary support arm; 6. Slot; 7. Locking bolt; 8. Vacuum nozzle assembly; 801. Connecting seat; 802. Adjusting bolt; 803. Mounting bracket; 804. Hollow tube; 805. Adjusting nut; 806. Tray; 807. Buffer spring; 808. Vacuum quick-connect connector; 809. Adjusting tube; 810. Tightening nut; 811. Locking nut; 812. Suction cup; 9. Buckle; 10. Hinge seat; 11. Pin shaft; 12. Primary rotating arm; 13. Angle measuring plate; 14. Angle sensor; 15. Driven wheel; 16. Tilting drive servo motor; 17. Drive wheel; 18. Drive belt; 19. Bearing; 20. Secondary rotating arm; 21. Horizontal rotation drive servo motor; 22. Controller; 23. Connecting flange seat; 24. Anti-detachment plate. Detailed Implementation

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is used to help understand this utility model, but does not constitute a limitation on this utility model.

[0024] Example:

[0025] To address the limitations of current mechanical gripper mechanisms for transferring injection-molded products from molds, which use simple, fixed metal supports with limited adjustability and cannot be freely adjusted to different product models, sizes, and mold designs, and whose rigid connection between the vacuum nozzle and the support lacks cushioning, resulting in low tolerance for motion parameter settings in the handling robot, we propose a multi-angle adjustable mechanical gripper mechanism for material handling. The specific solution is as follows:

[0026] like Figure 1-4As shown, this embodiment provides a mechanical gripper mechanism for material handling, including a circular connecting plate 1. Several suction nozzle mounting assemblies for mounting vacuum nozzle assemblies 8 are horizontally arranged at equal intervals around the circumference of the connecting plate 1. Each suction nozzle mounting assembly specifically includes a mounting arm 2, a primary support arm 4, and a secondary support arm 5. Specifically, the tail end of the mounting arm 2 is fixed to the edge of the connecting plate 1, and a reinforcing rib is provided between the tail end of the mounting arm 2 and the connecting plate 1 to enhance the stability of the connection between the mounting arm 2 and the connecting plate 1. The secondary support arm 5 is slidably inserted into the primary support arm 4, specifically, the secondary support arm 5 is inserted inside the primary support arm 4 and the primary support arm 4 is close to... A locking bolt 7 is provided on the outer side of one end of the vacuum nozzle assembly 8. The locking bolt 7 is used to fix the secondary support arm 5, thereby adjusting the extension length of the secondary support arm 5. The side of the primary support arm 4 is fixedly connected to the mounting arm 2 by a locking bolt 3. At the same time, the vacuum nozzle assembly 8 is slidably mounted on the secondary support arm 5. It should be noted that the tightness of the fit between the primary support arm 4 and the mounting arm 2 is controlled by the locking bolt 3. By loosening the locking bolt 3, the primary support arm 4 can be adjusted in horizontal angle with the locking bolt 3 as the center. By tightening the locking bolt 3, the fit between the primary support arm 4 and the mounting arm 2 can be locked and fixed.

[0027] To further improve the flexibility of selecting the installation position of the vacuum nozzle assembly 8, a long slot 6 is provided in the middle of the secondary support arm 5. Multiple vacuum nozzle assemblies 8 can be installed on the secondary support arm 5 through the slot 6 according to actual needs. In order to prevent the vacuum negative pressure suction pipeline from being scattered, several clips 9 are also installed on the outside of the primary support arm 4.

[0028] To facilitate the mechanical gripper mechanism in smoothly grasping materials from the injection mold, a hinge seat 10 is fixed to the top of the connecting plate 1. A flipping mechanism is rotatably mounted on the inner side of the hinge seat 10 via a pin shaft 11. Specifically, the flipping mechanism includes a primary rotating arm 12 that rotates with the hinge seat 10 via the pin shaft 11, and a secondary rotating arm 20 is located at the top of the primary rotating arm 12. To achieve vertical angle flipping of the mechanical gripper, a flipping drive servo motor 16 is horizontally mounted on the side of the primary rotating arm 12. A drive wheel 17 is mounted on the output shaft of the flipping drive servo motor 16. Meanwhile, at the hinge... A driven wheel 15, coaxial with the pin shaft 11, is fixedly mounted on the same side of the seat 10 as the drive wheel 17 by bolts. The driven wheel 15 and the drive wheel 17 are connected by a drive belt 18. The flip drive servo motor 16, in conjunction with the drive wheel 17, the driven wheel 15 and the drive belt 18, drives the connecting disc 1 to rotate around the pin shaft 11. To prevent the drive belt 18 from loosening due to prolonged stress, a tensioning wheel can be added to the side of the first-stage rotating arm 12, so that it acts on the drive belt 18 to ensure that the drive belt 18 can always maintain a relatively stable power transmission effect.

[0029] Considering the flexibility of the robotic gripper mechanism, and to facilitate adjustment of the gripper's horizontal angle or orientation, the secondary rotating arm 20 employs a T-shaped cylindrical cavity design. The top of the primary rotating arm 12 is inserted into the cavity of the secondary rotating arm 20, and a bearing 19 is used to achieve a rotational engagement with the secondary rotating arm 20. Furthermore, to prevent disengagement between the primary and secondary rotating arms 12, an anti-disengagement disc 24 is horizontally installed at the end of the primary rotating arm 12 inserted into the secondary rotating arm 20, utilizing the T-shaped cylindrical cavity design. Simultaneously, to achieve horizontal orientation adjustment of the robotic gripper, a horizontal rotation drive servo motor 21 is fixed within the cavity of the secondary rotating arm 20. The output shaft of the horizontal rotation drive servo motor 21... A key connection is made between the top end of the first-stage rotating arm 12 and the second-stage rotating arm 20. The horizontal rotation drive servo motor 21 drives the first-stage rotating arm 12 to achieve horizontal rotation, which in turn drives the entire mechanical claw mechanism to achieve horizontal angle adjustment. It should be noted that, in order to ensure the accuracy of the rotation angle of the first-stage rotating arm 12, an angle sensor 14 electrically connected to the controller 22 can be set between the first-stage rotating arm 12 and the second-stage rotating arm 20 to monitor the offset angle of the rotation of the first-stage rotating arm 12 in real time. The angle sensor 14 is preferably any one of a photoelectric encoder, a magnetic encoder, and a Hall effect sensor. It should be further noted that photoelectric encoders, magnetic encoders, and Hall effect sensors are all conventional angle monitoring sensors, and their usage and installation methods are known technologies.

[0030] To facilitate assembly and installation with the handling robot arm, a connecting flange seat 23 for assembly with the handling robot arm is also installed at the top of the secondary rotating arm 20.

[0031] Meanwhile, in order to facilitate the control of the mechanical gripper's drive, a controller 22 is also installed on the outside of the secondary rotating arm 20 to control the horizontal rotation drive servo motor 21 and the tilt drive servo motor 16. The controller 22 adopts a PLC programmable control module so that engineers or programmers can write the corresponding control program.

[0032] To facilitate precise control of the vertical angle rotation of the robotic gripper, a rotation angle monitoring component is provided on the other side of the hinge base 10 and the first-stage rotating arm 12. This component monitors the rotation angle of the connecting plate 1 around the pin shaft 11. Specifically, the rotation angle monitoring component includes an angle measuring disk 13, which is vertically mounted on the top of the connecting plate 1 and parallel to the side of the hinge base 10, and has a semi-circular design. An angle sensor 14 is mounted on the side of the first-stage rotating arm 12 and cooperates with the angle measuring disk 13. The angle sensor 14 is a through-beam laser sensor, and the angle sensor 14 is connected to the controller 2. 2. Electrical connection: The angle measuring disk 13 and the pin shaft 11 are designed to be coaxial. The edge of the angle measuring disk 13 is provided with a through hole for every degree of tilt from left to right so that the detection light source emitted by the angle sensor 14 can pass through. When the connecting disk 1 rotates around the pin shaft 11, it drives the angle measuring disk 13 to rotate together. The position of the angle sensor 14 installed on the first-stage rotating arm 12 remains unchanged. When the angle measuring disk 13 rotates, the through hole on it moves, which will cause the laser signal emitted by the angle sensor 14 to be intermittent. The angle deviation data is obtained by counting the number of intermittent signals.

[0033] To improve the tolerance of parameter settings during the movement of the robotic arm, its vacuum nozzle assembly 8 adopts a buffer design. Specifically, the vacuum nozzle assembly 8 includes a connecting seat 801 that slides into a slot 6 on the secondary support arm 5. The connecting seat 801 is equipped with an adjusting bolt 802, and a mounting bracket 803 is located on the front of the connecting seat 801. A hollow tube 804 slides through the center of the mounting bracket 803. A component is fixed to the outer side of the inner portion of the hollow tube 804, close to the side of the mounting bracket 803. A tray 806 has a buffer spring 807 fitted on the outside of a hollow tube 804 between its top and the inner wall of the mounting base 803. An adjusting nut 805 is threaded onto the top of the hollow tube 804, which extends out of the mounting base 803. A vacuum quick-connect fitting 808 is also fixed to the top of the hollow tube 804. The vacuum nozzle assembly 8 also includes an adjusting tube 809, with mating threads on its outer side and the inner side of the hollow tube 804. The top of the adjusting tube 809 is threaded into the bottom of the hollow tube 804. On the side, a screw nut 810 is integrally formed on the outer side of the bottom end of the adjusting tube 809, and a locking nut 811 is also threaded onto the outer side of the adjusting tube 809. A vacuum suction cup 812 is installed at the bottom end of the adjusting tube 809 through an integrally formed connecting ball head, and the connecting ball head has an air circulation channel inside. The arrangement of the buffer spring 807, the tray 806, and the adjusting nut 805 allows the adjusting tube 809 to drive the hollow tube 804 to retract when the vacuum suction cup 812 is compressed, and the buffer spring 807 is compressed by the tray 806 cooperating with the mounting bracket 803. The pressure prevents rigid collisions between the vacuum suction cup 812 and the object, while also ensuring the adhesion between the vacuum suction cup 812 and the material surface. The main function of the adjusting nut 805 is to adjust the resistance during buffering. The threaded assembly design between the adjusting tube 809 and the hollow tube 804, together with the screw nut 810 and the locking nut 811, allows for adjustment of the height of the vacuum suction cup 812. Furthermore, the ball joint connection between the vacuum suction cup 812 and the adjusting tube 809 enables the vacuum suction cup 812 to adapt to changes in the angle of the material surface.

[0034] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A mechanical gripper mechanism for material grasping, characterized in that, Includes a connecting plate (1), and several nozzle mounting components for mounting vacuum nozzle assemblies (8) are horizontally arranged at equal intervals around the edge of the connecting plate (1). A hinge seat (10) is fixed on the top of the connecting plate (1), and a flipping mechanism is rotatably mounted on the inner side of the hinge seat (10) through a pin shaft (11). The nozzle mounting assembly includes a mounting arm (2), a primary support arm (4), and a secondary support arm (5); the tail end of the mounting arm (2) is fixed to the edge of the connecting plate (1), the secondary support arm (5) and the primary support arm (4) are slidably inserted into each other, and the side of the primary support arm (4) is fixedly connected to the mounting arm (2) by a locking bolt (3); The vacuum nozzle assembly (8) is slidably mounted on the secondary support arm (5).

2. The material gripping mechanical claw mechanism according to claim 1, characterized in that, The secondary support arm (5) has a long slot (6) in the middle. The secondary support arm (5) is inserted into the primary support arm (4) and a locking bolt (7) is provided on the outer side of the end of the primary support arm (4) near the vacuum nozzle assembly (8). Several buckles (9) are also installed on the outer side of the primary support arm (4).

3. The material gripping mechanical claw mechanism according to claim 1, characterized in that, The flipping mechanism includes a primary rotating arm (12) that rotates with a hinge seat (10) via a pin shaft (11). A secondary rotating arm (20) is provided at the top of the primary rotating arm (12). A flipping drive servo motor (16) is mounted laterally on the side of the primary rotating arm (12). A drive wheel (17) is mounted on the output shaft of the flipping drive servo motor (16). A driven wheel (15) designed to be coaxial with the pin shaft (11) is fixedly mounted on the side of the hinge seat (10) and the drive wheel (17) by bolts. The driven wheel (15) and the drive wheel (17) are connected by a drive belt (18).

4. The material gripping mechanical claw mechanism according to claim 3, characterized in that, The interior of the secondary rotating arm (20) is a T-shaped cylindrical cavity design. The top end of the primary rotating arm (12) is rotated with the secondary rotating arm (20) through a bearing (19). An anti-detachment disc (24) is horizontally installed at one end of the primary rotating arm (12) inserted into the interior of the secondary rotating arm (20). A horizontal rotation drive servo motor (21) is fixed in the cavity inside the secondary rotating arm (20). The output shaft of the horizontal rotation drive servo motor (21) is keyed to the top end of the primary rotating arm (12).

5. A material gripping mechanical claw mechanism according to claim 4, characterized in that, The top of the secondary rotating arm (20) is also equipped with a connecting flange seat (23) for assembly with the handling robot arm. The outer side of the secondary rotating arm (20) is also equipped with a controller (22) for controlling the horizontal rotation drive servo motor (21) and the flip drive servo motor (16). The controller (22) is a PLC programmable control module.

6. The material gripping mechanical claw mechanism according to claim 1, characterized in that, The hinge seat (10) and the first-stage rotating arm (12) are also provided with a flip angle monitoring component. The flip angle monitoring component specifically includes an angle measuring disk (13) that is vertically installed on the top of the connecting plate (1) and parallel to the side of the hinge seat (10) and has a semi-circular design, and an angle sensor (14) that is installed on the side of the first-stage rotating arm (12) and cooperates with the angle measuring disk (13). The angle sensor (14) is a through-beam laser sensor and is electrically connected to the controller (22). The angle measuring disk (13) is coaxial with the pin shaft (11), and the edge of the angle measuring disk (13) is provided with a through hole for every degree of tilt from left to right so that the detection light source emitted by the angle sensor (14) can pass through.

7. A material gripping mechanical claw mechanism according to claim 1, characterized in that, The vacuum nozzle assembly (8) includes a connecting seat (801) that slides into a slot (6) on the secondary support arm (5). The connecting seat (801) is provided with an adjusting bolt (802), and a mounting bracket (803) is provided on the front side of the connecting seat (801). A hollow tube (804) slides through the middle of the mounting bracket (803). A tray (806) is fixed on the outside of the inner part of the hollow tube (804) and close to the side of the mounting bracket (803). A buffer spring (807) is provided between the top of the tray (806) and the inner wall of the other side of the mounting bracket (803) and is fitted on the outside of the hollow tube (804). An adjusting nut (805) is screwed on the top of the hollow tube (804) after it extends out of the mounting bracket (803). A vacuum quick connector (808) is also fixed on the top of the hollow tube (804).

8. A material gripping mechanical claw mechanism according to claim 7, characterized in that, The vacuum nozzle assembly (8) also includes an adjustment tube (809). The outer side of the adjustment tube (809) and the inner side of the hollow tube (804) are respectively provided with mutually cooperating threads. The top end of the adjustment tube (809) is threadedly fitted to the inner side of the bottom end of the hollow tube (804). A screw nut (810) is integrally formed on the outer side of the bottom end of the adjustment tube (809), and a locking nut (811) is also threadedly fitted on the outer side of the adjustment tube (809). A vacuum suction cup (812) is installed on the bottom end of the adjustment tube (809) through an integrally formed connecting ball head.

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