Shape locking mechanism of mechanical gripper

Abstract

The utility model discloses a shape locking mechanism of a mechanical gripper. The shape locking mechanism comprises a clamping body. The clamping main body comprises a lock-shaped assembly, a shell with a mounting cavity with an opening in one side, and a plurality of clamping assemblies which are uniformly mounted in the mounting cavity and have swingability and flexibility; the multiple clamping assemblies are distributed in multiple rows. The lock-shaped assembly comprises a push plate which can be horizontally and movably installed in a through hole in the side face of the shell and an electronic driving source which is used for driving the push plate to move and installed on the shell. The inner end face of the push plate can be used for abutting against the side face of each clamping assembly located on the edge. The push plate is driven by the electronic driving source to move, so that the plurality of clamping assemblies can be mutually and sequentially abutted to be positioned or loosened. According to the utility model, each clamping component can be positioned after a workpiece is clamped, so that the clamping components cannot be compressed by the workpiece, namely, the position of the workpiece is fixed, the shape locking is realized, the workpiece is not easy to loosen in the machining process, and the machining quality is ensured.

Description

Technical Field

[0001] This utility model relates to the field of robotic gripper technology, specifically to a locking mechanism for a robotic gripper. Background Technology

[0002] Robotic grippers are widely used in conjunction with industrial robots to grasp, hold, transfer, and transport workpieces. With continuous development, many different types of robotic grippers with varying structures and functions have emerged, including those capable of gripping workpieces of various shapes and sizes.

[0003] For example, patent announcement number CN221455970U discloses a flexible robotic gripper, which specifically discloses a gripping body; the gripping body includes a box with a mounting cavity having an opening on one side and multiple rows of gripping mechanisms evenly distributed vertically and installed in the mounting cavity; each row of gripping mechanisms includes multiple sets of horizontally and evenly distributed gripping components; each set of gripping components includes a top post and an elastic element mounted on the top post, the first end of the top post extending out of the mounting cavity; the elastic element includes a spring; one end of the spring is connected to the second end of the top post, and the other end of the spring is positioned so that the spring can be used to provide the top post with a telescopic elastic force for moving in and out of the mounting cavity.

[0004] However, there is still room for improvement in the aforementioned flexible robotic gripper. For example, the gripping body cannot stably fix the workpiece during the workpiece processing, which may cause the workpiece to still compress the gripping components, resulting in the workpiece becoming loose or even shifting, thus leading to poor processing quality. Utility Model Content

[0005] To address the problems existing in the prior art, the purpose of this utility model is to provide a locking mechanism for a robotic gripper, which can position each gripping component after clamping the workpiece, thereby preventing the workpiece from compressing the gripping components, thus fixing the position of the workpiece and achieving a locking mechanism. This prevents the workpiece from loosening during processing and ensures processing quality.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A locking mechanism for a robotic gripper includes a clamping body; the clamping body includes locking components, a housing with a mounting cavity having an opening on one side, and multiple clamping components uniformly installed in the mounting cavity, which are swayable and telescopic; the multiple clamping components are arranged in multiple rows; each locking component includes a push plate horizontally movably mounted in a through hole on the side of the housing, and an electronic drive source mounted on the housing for driving the push plate; the inner end face of the push plate can be used to abut against the sides of each clamping component located at the edge; by driving the push plate to move through the electronic drive source, the multiple clamping components can be sequentially clamped or released. This configuration ensures that after the clamping body clamps a workpiece, the workpiece cannot compress the clamping components, thereby fixing the position of the workpiece and achieving a locking mechanism.

[0008] Furthermore, the lock-shaped assembly also includes a rotating rod, a fixed block, a movable block, and a first spring; the electronic drive source is a motor; the rotating rod is horizontally movably mounted on the output shaft of the motor, and an external thread is provided on the inner end surface of the rotating rod; the fixed block is fixed to the outer casing and has a threaded hole for the inner end of the rotating rod to pass through; a groove communicating with the threaded hole is provided on the inner end face of the fixed block; the movable block is horizontally movably installed in the groove, and the inner end of the rotating rod abuts against the movable block; one end of the first spring is connected to the end face of the movable block exposed in the groove, and the other end of the first spring is connected to the outer end face of the push plate. This configuration allows for convenient movement of the push plate by driving it with a motor; additionally, the first spring provides a cushioning effect for the push plate.

[0009] Furthermore, a position sensor for cooperating with the movable block is also provided on the outer end face of the push plate; when the position sensor detects that the movable block has moved to a preset position, the electronic drive source stops. This design prevents the motor from overloading.

[0010] Furthermore, the push plate includes an outer body and a positioning plate; the outer end face of the outer body is connected to the first spring; a mounting groove is provided on the inner end face of the outer body; the positioning plate is fitted into the mounting groove and the inner end of the positioning plate protrudes from the mounting groove; the inner end face of the positioning plate can be used to abut against the sides of each of the clamping components located at the edge. With the above configuration, the positioning plate can abut against the clamping components.

[0011] Furthermore, a slot extending through both sides is provided on the outer end face of the rotating rod; the rotating rod is fitted onto the output shaft of the motor through the slot; and flat surfaces that match and abut against the sides of the slot are respectively provided on both sides of the output shaft of the motor. This design allows the rotating rod to move during rotation, meaning the output shaft of the motor does not restrict the movement of the rotating rod.

[0012] Furthermore, the first spring is provided with at least two evenly distributed springs to ensure the extension force.

[0013] Furthermore, each of the clamping assemblies includes a top post and an elastic element mounted on the top post; a first end of the top post extends outward from the mounting cavity; the elastic element includes a second spring mounted in the insertion cavity of the top post and an abutment rod whose first end is movably engaged in the insertion cavity and whose second end is fixed in the mounting cavity, the second spring being used to provide a telescopic elastic force for the top post; the top post is horizontally movable and the top post and the abutment rod are in clearance fit; the inner end face of the positioning plate is used to abut against the side surface of each of the top posts located at the edge. Through the above configuration, the telescopic and rocking properties of the top post can be achieved, that is, the telescopic and rocking properties of the clamping assembly can be achieved.

[0014] Furthermore, the positioning plate is made of copper, which makes it less likely to scratch the top column.

[0015] Furthermore, it also includes a dual-axis cylinder with two output shafts and an auxiliary clamping body; the two output shafts of the dual-axis cylinder are respectively connected to the clamping body and the auxiliary clamping body.

[0016] Furthermore, the clamping body has the same structure as the auxiliary clamping body.

[0017] The beneficial effects of this utility model are as follows:

[0018] This invention utilizes a locking assembly to sequentially clamp and position each clamping component within the clamping body. By positioning the clamping components after clamping the workpiece, the workpiece can no longer compress the clamping components, thus fixing its position and achieving a locking mechanism. This prevents the workpiece from loosening during processing, ensuring optimal processing results. Furthermore, because the locking assembly uses an electronic drive source to move the push plate, it achieves an electrically operated locking method, making it very convenient to use. Attached Figure Description

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

[0020] Figure 2 This is a schematic diagram of the overall structure of this utility model. Figure 2 ;

[0021] Figure 3 This is the explosive of this utility model. Figure 1 ;

[0022] Figure 4 This is the explosive of this utility model. Figure 2 ;

[0023] Figure 5 This is a partial structural diagram of the present invention. Figure 1 ;

[0024] Figure 6 This is a partial structural diagram of the present invention. Figure 2 ;

[0025] Figure 7 This is a schematic diagram of the clamping assembly of this utility model;

[0026] Figure 8 This is a cross-sectional view of the clamping component of this utility model;

[0027] Figure 9 This is a schematic diagram of the present invention in use.

[0028] Figure Labels

[0029] 1. Clamping body; 11. Outer shell; 111. Mounting cavity; 112. Perforation; 12. Top post; 121. Insertion cavity; 13. Second spring; 14. Abutment rod;

[0030] 2. Lock-shaped assembly; 21. Push plate; 211. Outer body; 212. Positioning plate; 213. Mounting slot; 22. Rotating rod; 221. Slot; 23. Fixing block; 231. Threaded hole; 232. Slide groove; 24. Movable block; 25. First spring; 26. Motor; 261. Plane; 27. Fixing base; 28. Position sensor;

[0031] 3. Twin-shaft cylinder. Detailed Implementation

[0032] The utility model will be further described below with reference to the accompanying drawings and specific embodiments. The following description is merely exemplary and does not limit the scope of protection of the utility model.

[0033] like Figures 1-8 As shown, a locking mechanism for a robotic gripper includes a clamping body 1.

[0034] like Figures 1-5 As shown, the clamping body 1 includes a lock-shaped component 2, a housing 11 with a mounting cavity 111 having an opening on one side, and a plurality of clamping components that are uniformly installed in the mounting cavity 111 and have rocking and telescopic properties; the plurality of clamping components are arranged in multiple rows.

[0035] like Figures 3-5 As shown, the lock assembly 2 includes a push plate 21 that is horizontally movably mounted in a perforation 112 on the side of the housing 11 and an electronic drive source mounted on the housing 11 for driving the push plate 21 to move; the inner end face of the push plate 21 can be used to abut against the side of each clamping assembly located at the edge.

[0036] Specifically, the push plate 21 can be moved by an electronic drive source, which can be used to make multiple clamping components press against each other in sequence or release them. In other words, the push plate 21 can be used to position each clamping component.

[0037] In summary, this utility model utilizes a locking assembly to sequentially clamp and position each clamping component in the clamping body 1. Positioning the clamping components after clamping the workpiece prevents further compression of the clamping components, thus fixing the workpiece's position and achieving a locking mechanism. This prevents the workpiece from loosening during processing, ensuring optimal processing results. Furthermore, since the locking assembly uses an electronic drive source to move the push plate 21, it achieves an electrically operated locking mechanism, making it very convenient to use.

[0038] like Figures 1-6As shown, the lock assembly 2 also includes a rotating rod 22, a fixed block 23, a movable block 24, and a first spring 25; the electronic drive source is a motor 26; the rotating rod 22 is horizontally movably mounted on the output shaft of the motor 26, and an external thread is provided on the surface of the inner end of the rotating rod 22; the fixed block 23 is fixed on the housing 11 and is provided with a threaded hole 231 for the inner end of the rotating rod 22 to pass through; a groove 232 communicating with the threaded hole 231 is provided on the inner end face of the fixed block 23; the movable block 24 is horizontally movably installed in the groove 232, and the inner end of the rotating rod 22 abuts against the movable block 24; one end of the first spring 25 is connected to the end face of the movable block 24 that protrudes from the groove 232, and the other end of the first spring 25 is connected to the outer end face of the push plate 21. Therefore, when the output shaft of the motor 26 rotates, driving the rotating rod 22 to rotate, it can simultaneously move horizontally through the threaded hole 231, allowing the rotating rod 22 to push out the movable block 24 in the slide groove 232. The movable block 24, through the first spring 25, pushes the push plate 21 inward until the push plate 21 pushes the clamping assembly to swing. Of course, the stroke of the rotating rod 22 is limited to prevent it from dislodging from the output shaft of the motor 26 during movement. In addition, it should be noted that, due to the setting of the first spring 25, after the electronic drive source drives the push plate 21 to sequentially clamp and position each clamping assembly, if the workpiece is subjected to a very large external force (this external force is greater than the pressing force of the push plate 21 on the clamping assembly), this external force will push the clamping assembly corresponding to the workpiece to continue to retract through the workpiece. At this time, due to the setting of the first spring 25, the first spring 25 has a certain buffering effect on the push plate 21, so that the clamping assembly can appropriately push the push plate 21 away during retraction without causing the clamping assembly to be scratched. Therefore, the first spring 25 can be used to provide a certain buffering force for the push plate 21.

[0039] like Figure 3 As shown, a position sensor 28 for cooperating with the movable block 24 is also provided on the outer end face of the push plate 21; when the position sensor 28 senses that the movable block 24 has moved to a preset position, the motor 26 stops. Therefore, the above design can prevent the motor 26 from overloading, that is, it avoids the motor 26 from being overloaded and damaged due to the continuous starting of the motor 26 after the push plate 21 abuts against the corresponding clamping component, thus ensuring the service life of the motor 26 to a certain extent.

[0040] In this embodiment, the position sensor 28 is a contact sensor.

[0041] like Figures 3-5As shown, the push plate 21 includes an outer body 211 and a positioning plate 212; the outer end face of the outer body 211 is connected to a first spring 25; a mounting groove 213 is provided on the inner end face of the outer body 211; the positioning plate 212 is matchedly installed in the mounting groove 213 and the inner end of the positioning plate 212 protrudes from the mounting groove 213, that is, a portion of the positioning plate 212 protrudes from the mounting groove 213; the inner end face of the positioning plate 212 can be used to abut against the sides of each clamping component located at the edge. Therefore, the above arrangement allows the positioning plate 212 to be conveniently used to abut against the clamping components.

[0042] In this embodiment, the position sensor 28 is disposed on the outer end face of the outer body 211 so as to cooperate with the movable block 24.

[0043] like Figures 1-6 As shown, a slot 221 extending through both sides is provided on the outer end face of the rotating rod 22; the rotating rod 22 is fitted onto the output shaft of the motor 26 through the slot 221; and flat surfaces 261 that match and abut against the sides of the slot 221 are provided on both sides of the output shaft of the motor 26. Therefore, the above arrangement allows the output shaft of the motor 26 to synchronously drive the rotating rod 22 to rotate when it rotates. In addition, since the rotating rod 22 is also threadedly connected to the threaded hole 231, the rotating rod 22 can move within the threaded hole 231 while rotating, so as to push the movable block 24.

[0044] like Figures 3-4 As shown, in this embodiment, at least two first springs 25 are provided, which are evenly distributed, thereby providing a stable extension force to the push plate 21.

[0045] like Figures 1-6 As shown, in this embodiment, the motor 26 is mounted on the housing 11 via a fixing seat 27, thereby ensuring the installation stability of the motor 26.

[0046] like Figures 7-8As shown, each clamping assembly includes a top post 12 and an elastic element mounted on the top post 12; the first end of the top post 12 extends outward into the mounting cavity 111; the elastic element includes a second spring 13 mounted in the insertion cavity 121 of the top post 12 and an abutment rod 14 whose first end is movably engaged in the insertion cavity 121 and whose second end is fixed in the mounting cavity 111. The second spring 13 can provide a telescopic elastic force for the top post 12; the top post 12 can move horizontally and the top post 12 and the abutment rod 14 are in clearance fit; the inner end face of the positioning plate 212 can be used to abut against the side of each top post 12 located at the edge. Therefore, by providing the second spring 13, the top post 12 can be telescopic, that is, the clamping assembly has a telescopic effect. Furthermore, since the top post 12 and the abutment rod 14 are in a clearance fit, the top post 12 can swing slightly relative to the abutment rod 14, but the swing amplitude should not be too large. That is, the top post 12 has swingability, which in turn makes the clamping assembly swingable, so that the positioning plate 212 can push each top post 12 to abut in sequence. In addition, the first spring 25 can be used to provide a certain buffering force for the positioning plate 212, so that the positioning plate 212 is not easily scratched by the top post 12.

[0047] The end face of the first end of the top post 12 is flat and has an arc transition around it, which makes it less likely to scratch the workpiece.

[0048] In this embodiment, the positioning plate 212 is made of copper. Because copper has good ductility and low hardness, the positioning plate 212 is less likely to scratch the surface of the top post 12 when it comes into contact with the top post 12.

[0049] like Figure 9 As shown, in this embodiment, the present invention further includes a dual-axis cylinder 3 with two output shafts and an auxiliary clamping body; the two output shafts of the dual-axis cylinder 3 are respectively connected to the clamping body 1 and the auxiliary clamping body. Therefore, the above configuration enables the dual-axis cylinder 3 to drive the clamping body 1 and the auxiliary clamping body to move in opposite or opposite directions, and a clamping effect can be formed when the clamping body 1 and the auxiliary clamping body move relative to each other.

[0050] In this embodiment, the clamping body 1 and the auxiliary clamping body have the same structure, that is, it can be understood that this utility model has two clamping bodies 1. Therefore, the two output shafts of the dual-axis cylinder 3 are respectively connected to the outer shells of the clamping body 1 and the auxiliary clamping body. In addition, it should be noted that in other embodiments, the auxiliary clamping body can be replaced with a block-shaped clamping block. In this way, when the clamping block cooperates with the clamping body 1, it can also achieve a clamping effect.

[0051] The following describes the specific working principle of this utility model in order to help you understand it:

[0052] like Figure 9 As shown, firstly, the dual-axis cylinder 3 can be connected to other multi-axis manipulators (not shown in the figure). When a workpiece needs to be clamped, the manipulator moves the two clamping bodies 1 (i.e., the clamping body 1 and the auxiliary clamping body) to the position of the workpiece. Then, after the dual-axis cylinder 3 drives the two clamping bodies 1 to move relative to each other, the two ends of the workpiece will be embedded in the corresponding clamping components and the corresponding second spring 13 will be compressed by the top column 12 until the top column 12 moves to the preset position. Then, the motor 26 in each clamping body 1 drives the rotating rod 22 to rotate. At the same time, when the rotating rod 22 rotates, it will also move horizontally in the direction of the clamping component in the corresponding threaded hole 231. When the rotating rod 22 moves, it pushes the movable block 24 to move in the direction of the clamping component. At the same time, using The first spring 25 pushes the push plate 21 to move until the two positioning plates 212 press against the adjacent top posts 12. Then, these top posts 12 tilt and swing away from the push plate 21 until they sequentially press against each other, thus creating a positioning effect. This prevents the workpiece from being pushed further into the mounting cavity 111. At this point, a corresponding groove for embedding one end of the workpiece is formed between the outer ends of each top post 12 that has moved into the mounting cavity 111. When the movable block 24 is detected by the positioning sensor 28, the motor 26 immediately stops driving the positioning plate 212. Then, the workpiece can be processed. After the workpiece is processed, it can be removed and a new workpiece can be clamped for processing. When changing to a workpiece of a different size, the motor 26 drives the rotating rod 22 to reset, while the push plate 21 and the movable block 24 can be reset using the first spring 25. After the push plate 21 is released, each top post 12 can automatically reset using the second spring 13. During the reset process of the top post 12, the push plate 21 will also be pushed outwards to reset to a certain extent. Then, after the new workpiece is clamped by the two clamping bodies 1, the motor 26 presses the push plate 21 firmly onto the corresponding top post 12, preventing the workpiece from loosening during processing and ensuring the processing effect.

[0053] This utility model is not limited to the above-described embodiments. If any modifications or variations to this utility model do not depart from the spirit and scope of this utility model, and if such modifications and variations fall within the scope of the claims and equivalent technologies of this utility model, then this utility model also intends to include such modifications and variations.

Claims

1. A locking mechanism for a robotic gripper, characterized in that: Includes a clamping body; The clamping body includes a locking assembly, a housing with a mounting cavity having an opening on one side, and multiple clamping assemblies that are evenly installed in the mounting cavity and are swayable and telescopic; the multiple clamping assemblies are arranged in multiple rows; The locking assembly includes a push plate horizontally movably mounted in a perforation on the side of the housing and an electronic drive source mounted on the housing for driving the push plate; the inner end face of the push plate can be used to abut against the sides of each of the clamping assemblies located at the edge. The push plate is moved by the electronic drive source, which can be used to sequentially clamp or release the multiple clamping components.

2. The locking mechanism of the robotic gripper according to claim 1, characterized in that: The locking assembly further includes a rotating rod, a fixed block, a movable block, and a first spring; the electronic drive source is a motor; the rotating rod is horizontally movably mounted on the output shaft of the motor, and an external thread is provided on the surface of the inner end of the rotating rod; the fixed block is fixed to the outer casing and has a threaded hole for the inner end of the rotating rod to pass through; a groove communicating with the threaded hole is provided on the inner end face of the fixed block; the movable block is horizontally movably installed in the groove, and the inner end of the rotating rod abuts against the movable block; one end of the first spring is connected to the end face of the movable block that protrudes from the groove, and the other end of the first spring is connected to the outer end face of the push plate.

3. The locking mechanism of the robotic gripper according to claim 2, characterized in that: A positioning sensor is also provided on the outer end face of the push plate for cooperating with the movable block; when the positioning sensor senses that the movable block has moved to a preset position, the electronic drive source stops.

4. The locking mechanism of the robotic gripper according to claim 2, characterized in that: The push plate includes an outer body and a positioning plate; the outer end face of the outer body is connected to the first spring; a mounting groove is provided on the inner end face of the outer body; the positioning plate is matched and installed in the mounting groove and the inner end of the positioning plate protrudes from the mounting groove; the inner end face of the positioning plate can be used to abut against the side of each of the clamping components located at the edge.

5. The locking mechanism of the robotic gripper according to claim 2, characterized in that: A slot extending through both sides is provided on the outer end face of the rotating rod; the rotating rod is fitted onto the output shaft of the motor through the slot; and flat surfaces that match and abut against the sides of the slot are provided on both sides of the output shaft of the motor.

6. The locking mechanism of the robotic gripper according to claim 2, characterized in that: The first spring has at least two springs that are evenly distributed.

7. The locking mechanism of the robotic gripper according to claim 4, characterized in that: Each of the clamping assemblies includes a top post and an elastic element mounted on the top post; a first end of the top post extends outward from the mounting cavity; the elastic element includes a second spring mounted in a cavity of the top post and an abutment rod whose first end is movably engaged in the cavity and whose second end is fixed in the mounting cavity, the second spring being used to provide a telescopic elastic force for the top post; the top post is horizontally movable and the top post and the abutment rod are clearance-fitted; the inner end face of the positioning plate is used to abut against the side of each of the top posts located at the edge.

8. The locking mechanism of the robotic gripper according to claim 7, characterized in that: The positioning plate is made of copper.

9. The locking mechanism of the robotic gripper according to claim 1, characterized in that: It also includes a dual-axis cylinder with two output shafts and an auxiliary clamping body; the two output shafts of the dual-axis cylinder are respectively connected to the clamping body and the auxiliary clamping body.

10. The locking mechanism of the robotic gripper according to claim 9, characterized in that: The clamping body has the same structure as the auxiliary clamping body.

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