Feeding gripper mechanism

Abstract

The utility model provides a feeding clamp jaw mechanism relates to feeding clamp jaw technical field, including the jaw module, and the jaw module includes the jaw main part, telescopic power assembly and connecting rod assembly, the jaw module has the clamping state and non clamping state, under the non clamping state, clamping end two is separated with clamping end one, and both are mutually staggered, with the material in the previous step can be placed on clamping end one upside, under the clamping state, telescopic power assembly drives connecting rod no.

Description

Technical Field

[0001] This utility model relates to the field of feeding gripper technology, and in particular to feeding gripper mechanism. Background Technology

[0002] In the printing industry, the feeding and transfer of paper is generally accomplished by methods such as vacuum adsorption or mechanical grippers. Among them, mechanical grippers are widely used due to their advantages of low cost and simple control. However, current mechanical grippers have insufficient gripping stability for thin objects such as paper. The paper is prone to displacement during the feeding process, resulting in poor feeding accuracy and deviation. This application is proposed to address the above-mentioned defects. Utility Model Content

[0003] The purpose of this invention is to provide a feeding gripper mechanism that efficiently transmits force to the gripping end through a precisely designed linkage device, thereby achieving stable gripping of the material edge and solving the problem of insufficient gripping stability of current mechanical grippers.

[0004] To solve the above problems, this utility model provides a feeding gripper mechanism, including a gripper module. The gripper module includes a gripper body, a telescopic power component, and a linkage assembly. The gripper body includes a first clamping end and a guide structure. The linkage assembly includes a first link and a second link. The second link connects the first link and the gripper body. One end of the first link is connected to the telescopic power component, and the other end is provided with the second clamping end. The first link cooperates with the guide structure. The gripper module has a clamping state and a non-clamping state. In the non-clamping state, the second clamping end is separated from the first clamping end, and the two are staggered, so that the material in the previous step can be placed on the upper side of the first clamping end. In the clamping state, the telescopic power component drives the first link, and under the action of the second link and the guide structure, the second clamping end contacts the first clamping end for clamping, resulting in high clamping stability.

[0005] Alternatively, the telescopic power component may be a cylinder, an electric cylinder, or the like.

[0006] According to one embodiment of the present invention, the telescopic power assembly is provided with a drive rod, and the linkage assembly further includes a third linkage and a fourth linkage. The telescopic power assembly is connected to the gripper body through the third linkage, and the drive rod is connected to the first linkage through the fourth linkage. The gripper module has a compact overall structure and is relatively simple to install and control.

[0007] According to one embodiment of the present invention, the gripper body is provided with a connecting rod mounting chamber, and connecting rod one, connecting rod two and connecting rod four are all arranged in the connecting rod mounting chamber, which further improves the integration of the structure and reduces the volume of the gripper module.

[0008] According to one embodiment of the present invention, the guide structure includes a guide groove disposed on the gripper body.

[0009] The guide grooves are set on the two side walls of the connecting rod mounting chamber. The two sets of guide grooves make the movement of connecting rod one more stable.

[0010] According to one embodiment of the present invention, a roller is installed on the connecting rod, and the roller is disposed in a guide groove to reduce friction during movement.

[0011] According to one embodiment of the present invention, the clamping end one and the clamping end two are provided with protruding structures. In the clamping state, the protruding structures are in contact with each other to firmly clamp the edge of the material.

[0012] According to one embodiment of the present invention, the feeding gripper mechanism further includes a translation module, which is connected to the gripper module and is used to drive the gripper module to translate to achieve feeding.

[0013] Preferably, the translation module adopts a lead screw linear module.

[0014] According to one embodiment of the present invention, the feeding gripper mechanism further includes a plate-shaped feeding platform, on which an elongated groove is provided, and the gripping end is located in the elongated groove.

[0015] According to one embodiment of the present invention, the clamping surface of the clamping end is flush with the surface of the feeding table.

[0016] According to one embodiment of the present invention, the feeding gripper mechanism includes two sets of gripper modules, and two long slots are correspondingly provided on the feeding platform.

[0017] According to one embodiment of the present invention, in the non-clamped state, the clamping end two of the connecting rod is retracted into the connecting rod mounting chamber.

[0018] The beneficial effects of this utility model are that the gripper module in this solution has a compact overall structure, with some connecting rods installed in the connecting rod mounting chamber, resulting in higher structural integration, reduced gripper module volume, and simpler installation and control of the gripper module. Through linkage with the connecting rods, power is efficiently transmitted to the second gripping end, achieving stable gripping of the material edge. In the non-gripping state, the second gripping end and the first gripping end are offset from each other, allowing the material in the previous step to be placed directly on the upper side of the first gripping end, which can further improve production efficiency. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of the gripper module;

[0021] Figure 2 This is a structural schematic diagram of the gripper module from another perspective;

[0022] Figure 3 This is an exploded view of the gripper module.

[0023] Figure 4 This is a schematic diagram of the feeding gripper mechanism in Example 2;

[0024] Figure 5 for Figure 4 Top view. Detailed Implementation

[0025] The following description is only intended to disclose the present invention so that those skilled in the art can implement it. The embodiments in the following description are merely examples, and those skilled in the art will conceive of other obvious modifications. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other solutions that do not depart from the spirit and scope of the present invention.

[0026] Example 1:

[0027] This feeding gripper mechanism can be used in the printing industry to feed paper, and can also be used in other fields that require clamping thin sheet materials.

[0028] like Figures 1-3 It includes a gripper module, which includes a gripper body 2, a telescopic power component 1, and a linkage component.

[0029] The gripper body 2 includes a gripping end 22, a guide structure 21, and a connecting rod mounting chamber 23. The connecting rod assembly includes a first connecting rod 33, a second connecting rod 34, a third connecting rod 31, and a fourth connecting rod 32. The telescopic power assembly 1 can be a cylinder, an electric cylinder, etc.

[0030] The telescopic power assembly 1 is equipped with a drive rod 12. In this embodiment, the telescopic power assembly 1 uses a cylinder, which has a large clamping force. The drive rod 12 is the piston rod of the cylinder. The bottom of the cylinder is hinged to the gripper body 2 through the connecting rod 31. The drive rod 12 is hinged to the connecting rod 1 33 through the connecting rod 4 32. The two ends of the connecting rod 2 34 are respectively hinged to the connecting rod 1 33 and the gripper body 2. One end of the connecting rod 1 33 is connected to the connecting rod 4 32, and the other end is provided with the clamping end 2 331. The connecting rod 1 33 cooperates with the guide structure 21.

[0031] The clamping end 22 and the clamping end 331 are provided with protruding structures. In the clamping state, the protruding structures are in contact with each other to firmly clamp the edge of the material.

[0032] Preferably, a magnetic switch 11 is provided on the cylinder to detect the position of the piston in the cylinder, providing accurate feedback to the control system and controlling the piston stroke.

[0033] Link 1 33, Link 2 34 and Link 4 32 are all located in the link mounting chamber 23 to improve the integration of the structure and reduce the volume of the gripper module.

[0034] The guide structure 21 includes a guide groove provided on the gripper body 2, such as Figure 3 The guide grooves are set on both sides of the connecting rod mounting chamber 23. The two sets of guide grooves make the movement of connecting rod 1 33 more stable. Rollers 332 are installed on both sides of the connection position between connecting rod 1 33 and connecting rod 4 32. The rollers 332 are set in the guide grooves to reduce friction during movement.

[0035] The gripper module has a clamping state and a non-clamping state. In the non-clamping state, the left end of the first connecting rod 33 is located at the bottom of the guide groove, which is inclined upward and has a corner. The second clamping end 331 is separated from the first clamping end 22 and the two are staggered, so that the material in the previous step can be placed on the upper side of the first clamping end 22. In the clamping state, the telescopic power component 1 drives the first connecting rod 33, and the roller 332 moves to the upper end in the guide groove. Under the action of the second connecting rod 34 and the guide structure 21, the first connecting rod 33 performs an upward and rotational action. The first connecting rod 33 extends out from the connecting rod mounting chamber 23, and the second clamping end 331 contacts the first clamping end 22 to perform clamping.

[0036] Preferably, in the non-clamped state, the clamping end 331 of the first connecting rod 33 is stored in the connecting rod mounting chamber 23.

[0037] The gripper module in this solution has a compact overall structure and is relatively simple to install and control. It is linked by a linkage to efficiently transmit power to the second gripping end, achieving a stable gripping of the material edge. Furthermore, since the second gripping end 331 and the first gripping end are offset from each other in the non-gripping state, the material in the previous step can be directly placed on the upper side of the first gripping end 22, which can further improve production efficiency.

[0038] Example 2:

[0039] Based on Example 1, in this example, as Figure 4 , Figure 5 The feeding gripper mechanism also includes a translation module 5 and a feeding platform 4. The translation module 5 is connected to the gripper module and is used to drive the gripper module to translate and feed the material.

[0040] Preferably, the translation module 5 adopts a lead screw linear module.

[0041] The feeding platform 4 is plate-shaped and is used to carry materials and serve as a platform for material movement. The feeding platform 4 is provided with two sets of long slots 41, and two sets of gripper modules are provided accordingly. The gripping end 22 of the gripper module is located in the long slot 41, and the gripping surface of the gripping end 22 is flush with the surface of the feeding platform 4.

[0042] Feeding steps: such as Figure 5 In the previous step, material 6 is placed on the feeding platform 4. Two sets of gripper modules clamp the two sides of the material edge respectively. The translation module 5 drives the gripper module to move along the long groove 41 to send the material to the next station.

[0043] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations and modifications.

Claims

1. A feeding gripper mechanism, characterized in that: The system includes a gripper module, which comprises a gripper body (2), a telescopic power assembly (1), and a linkage assembly. The gripper body (2) includes a gripping end (22) and a guide structure (21). The linkage assembly includes a connecting rod (33) and a connecting rod (34). The connecting rod (34) connects the connecting rod (33) to the gripper body (2). One end of the connecting rod (33) is connected to the telescopic power assembly (1), and the other end is provided with a gripping end (331). The connecting rod (33) cooperates with the guide structure (21). The gripper module has a gripping state and a non-gripping state. In the non-gripping state, the gripping end (331) is separated from the gripping end (22), and the two are staggered. In the gripping state, the telescopic power assembly (1) drives the connecting rod (33). Under the action of the connecting rod (34) and the guide structure (21), the gripping end (331) contacts the gripping end (22) to perform gripping.

2. The feeding gripper mechanism according to claim 1, characterized in that: The telescopic power assembly (1) is provided with a drive rod (12), and the linkage assembly further includes a third link (31) and a fourth link (32). The telescopic power assembly (1) is connected to the gripper body (2) through the third link (31), and the drive rod (12) is connected to the first link (33) through the fourth link (32).

3. The feeding gripper mechanism according to claim 2, characterized in that: The gripper body (2) is provided with a connecting rod mounting chamber (23), and the connecting rod one (33), connecting rod two (34) and connecting rod four (32) are all located in the connecting rod mounting chamber (23).

4. The feeding gripper mechanism according to any one of claims 1-3, characterized in that: The guide structure (21) includes a guide groove provided on the gripper body (2).

5. The feeding gripper mechanism according to claim 4, characterized in that: A roller (332) is installed on the first connecting rod (33), and the roller (332) is disposed in the guide groove.

6. The feeding gripper mechanism according to claim 1, characterized in that: The clamping end one (22) and clamping end two (331) are provided with protruding structures, and the protruding structures are in contact with each other in the clamping state.

7. The feeding gripper mechanism according to claim 1 or 5, characterized in that: The feeding gripper mechanism also includes a translation module (5), which is connected to the gripper module and is used to drive the gripper module to translate and feed the material.

8. The feeding gripper mechanism according to claim 7, characterized in that: The feeding gripper mechanism also includes a feeding table (4), on which a long groove (41) is provided, and the gripping end (22) is located in the long groove (41).

9. The feeding gripper mechanism according to claim 8, characterized in that: The clamping surface of the clamping end (22) is flush with the surface of the feeding table (4).

10. The feeding gripper mechanism according to claim 8 or 9, characterized in that: The feeding gripper mechanism includes two sets of gripper modules, and two long slots (41) are correspondingly provided on the feeding table (4).

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