A mechanical grabber
By designing a mechanical gripper with inclined grooves and tilted sections, the problems of unstable gripping and low storage density of sheet-like stacks in the existing technology have been solved, achieving stable gripping and efficient storage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHONGQINGWANJIANGLVCAI CO LTD
- Filing Date
- 2025-05-21
- Publication Date
- 2026-06-19
Smart Images
Figure CN224374090U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of palletizing technology, specifically to a mechanical gripper. Background Technology
[0002] Some stamping equipment can stamp out multiple sheet-like parts stacked together. During the production process, a palletizing device is needed to arrange these stacked sheet-like parts into neat stacks, which are then placed on pallets for storage and transport. To improve efficiency, a robotic arm is needed to place the stacks of sheet-like parts onto pallets.
[0003] The following technical challenges are encountered when using existing robotic arms to place stacks of sheet components onto pallets:
[0004] There is no gripper in the prior art suitable for grasping stacks of sheet-like parts. The gripper on the existing robotic arm may cause some of the sheet-like parts on the stack to shift during the grasping process.
[0005] The existing robotic arm grippers have a large opening and closing angle for the robotic claws. Sufficient operating space needs to be reserved between the stacks of sheet-like parts on the pallet for the robotic claws. This results in a large spacing between the stacks of sheet-like parts on the pallet, reducing the storage density of the pallet and wasting space during the storage and transportation of the sheet-like parts. Utility Model Content
[0006] The purpose of this invention is to provide a mechanical gripper to alleviate or eliminate at least one of the aforementioned technical problems.
[0007] The present invention discloses a mechanical gripper comprising a movable component, a base, an actuator, multiple drive blocks, and multiple mechanical claws. The movable component includes a movable component body and multiple first mounting portions disposed around the periphery of the movable component body. The base includes a base body located below the movable component body and multiple second mounting portions disposed around the periphery of the base body. The actuator is connected between the movable component body and the base body and is used to drive the movable component to move up and down relative to the base. The multiple drive blocks are respectively fixedly connected to the multiple first mounting portions, and each drive block has a groove with an opening at its lower end and extending inwards from bottom to top. Each of the multiple mechanical claws includes a vertical section hinged to the upper part of the second mounting portion and a protrusion extending inwards from the lower end of the vertical section. The actuator comprises a vertical section, a turning section extending inward from the upper end of the vertical section, and an inclined section extending upward and inward from the inner end of the turning section. Multiple inclined sections extend into multiple inclined grooves, and the width of each inclined groove in the inward and outward directions is greater than the width of each inclined section in the inward and outward directions. During the process of the actuator driving the movable member from the top dead center to the bottom dead center, the outermost first groove wall of each inclined groove pushes the multiple inclined sections to swing inward, causing the lower ends of the multiple vertical sections to swing outward. During the process of the actuator driving the movable member from the bottom dead center to the top dead center, the innermost second groove wall of each inclined groove pushes the multiple inclined sections to swing outward, causing the lower ends of the multiple vertical sections to swing inward.
[0008] Optionally, the base body is fixedly connected with multiple upwardly extending guide rods, and the movable part body is provided with multiple guide holes that respectively cooperate with the multiple guide rods; the upper ends of the multiple guide rods are connection ends for connecting with the robotic arm.
[0009] Optionally, a first position adjustment structure for adjusting the position of the drive block in the inward and outward directions is provided between each drive block and its corresponding first mounting part.
[0010] Optionally, multiple first mounting portions extend outward from the movable body, each first mounting portion having a first strip-shaped hole extending in the inward and outward directions and a second strip-shaped hole extending in the inward and outward directions, the second strip-shaped hole penetrating the wall of the first strip-shaped hole; the driving block corresponding to the first mounting portion slides in cooperation with the first strip-shaped hole, and the bolt cooperating with the second strip-shaped hole and the nut connected to the bolt fix the driving block and the first mounting portion together.
[0011] Optionally, a second position adjustment structure for adjusting the position of the mechanical claw in the inward and outward directions is provided between each of the mechanical claws and its corresponding second mounting part.
[0012] Optionally, multiple second mounting portions extend outward from the base body, and each second mounting portion is provided with a third strip-shaped hole that extends in the inward and outward direction and penetrates the second mounting portion in the vertical direction. The wall of the third strip-shaped hole is provided with multiple hinge holes, and the multiple hinge holes are arranged sequentially at intervals in the inward and outward direction. The vertical segment corresponding to the second mounting portion is hinged to one of the multiple hinge holes by a pin.
[0013] Optionally, a plurality of first mounting portions are arranged at intervals in sequence on the circumference of the movable part body, and a plurality of second mounting portions are arranged at intervals in sequence on the circumference of the base body.
[0014] Optionally, four first mounting portions are provided on the periphery of the movable component body, and four second mounting portions are provided on the periphery of the base body.
[0015] Optionally, the actuator is a cylinder.
[0016] Optionally, the upper and lower corners of the inner end of the protrusion are both rounded; the inner surface of the vertical section is a plane, and when the movable part is at the upper limit of the stroke, the angle of inclination of the inner surface of the vertical section from bottom to top to the outside is 2° to 5°.
[0017] This invention proposes a mechanical gripper capable of stably gripping stacks of sheet-like parts, which also features a small opening and closing space requirement. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the mechanical gripper described in some embodiments;
[0019] Figure 2 This is a top view of the mechanical gripper described in some embodiments;
[0020] Figure 3 The mechanical gripper described in some embodiments is in Figure 2 A schematic diagram of the structure from the perspective of point A;
[0021] Figure 4 for Figure 3 A magnified view of a portion of the document;
[0022] Figure 5 This is a schematic diagram of the mechanical gripper being mounted on a robotic arm in some embodiments;
[0023] Figure 6This is a schematic diagram of the operation of the mechanical gripper described in some embodiments.
[0024] Among them: 1-Mechanical gripper, 2-Mechanical arm, 3-Conveying device, 4-Pallet, 5-Stack of sheet parts.
[0025] 101-Moving part body, 102-Base body, 103-Guide rod, 104-Actuator, 105-Mechanical claw, 106-Drive block, 107-Protrusion, 108-Pin, 109-Bolt, 110-Nut, 111-First mounting part, 112-First strip hole, 113-Second strip hole, 114-Second mounting part, 115-Third strip hole, 116-Hinge hole, 117-Drive block body, 118-Sliding fit part, 119-Inclined groove, 120-First groove wall, 121-Second groove wall, 122-Inclined section, 123-Turn section, 124-Vertical section, 125-First inclined surface, 126-Second inclined surface. Detailed Implementation
[0026] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.
[0027] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0028] like Figures 1 to 4The mechanical gripper 1 shown includes a movable component, a base, an actuator 104, multiple drive blocks 106, and multiple mechanical claws 105. The movable component includes a movable component body 101 and multiple first mounting portions 111 disposed around the movable component body 101. The base includes a base body 102 located below the movable component body 101 and multiple second mounting portions 114 disposed around the base body 102. The actuator 104 is connected between the movable component body 101 and the base body 102. In between, actuator 104 drives movable parts to move up and down relative to the base; multiple drive blocks 106 are respectively fixedly connected to multiple first mounting portions 111, and each drive block 106 is provided with a slanted groove 119 with an opening at the lower end and extending inward from bottom to top; multiple mechanical claws 105 each include a vertical section 124 hinged to the second mounting portion 114 at the upper part, a protrusion 107 extending inward from the lower end of the vertical section 124, and a protrusion 107 extending inward from the upper end of the vertical section 124. The actuator 104 drives the movable member to move from the top dead center of the stroke to the bottom dead center of the stroke. The first groove wall 120 on the outer side of the multiple grooves 119 presses against the first inclined surface 125 on the outer side of the multiple inclined sections 122 to push the multiple inclined sections 122 to swing inward, so that the lower ends of the multiple vertical sections 124 swing outward. During the process of the actuator 104 driving the movable member to move from the bottom dead center of the stroke to the top dead center of the stroke, the first groove wall 120 on the outer side of the multiple grooves 119 presses against the first inclined surface 125 on the outer side of the multiple inclined sections 122 to push the multiple inclined sections 122 to swing outward, so that the lower ends of the multiple vertical sections 124 swing outward. During the process of the actuator 104 driving the movable member to move from the bottom dead center of the stroke to the top dead center of the stroke, the second groove wall 121 on the inner side of the multiple grooves 119 presses against the second inclined surface 126 on the inner side of the multiple inclined sections 122 to push the multiple inclined sections 122 to swing outward, so that the lower ends of the multiple vertical sections 124 swing inward.
[0029] Using the above technical solution, the base is connected to the robotic arm 2, and the actuator 104 drives the moving parts to move up and down, thereby causing the robotic gripper 105 to open and close. The lower ends of multiple vertical segments 124 swing inwards, causing multiple robotic grippers 105 to close. The lower ends of multiple vertical segments 124 swing outwards, causing multiple robotic grippers 105 to open. The width of multiple inclined grooves 119 in the inner and outer directions is greater than the width of multiple inclined segments 122 in the inner and outer directions, allowing the multiple inclined segments 122 to have swing space. By rationally setting the structure and hinge position of the robotic gripper 105, and considering that the vertical segments 124 are strip-shaped structures extending vertically, and the swing angle of the vertical segments 124 is also relatively small, the motion envelope range of the vertical segments 124 is small. This mechanical gripper 1 has the characteristic of requiring minimal opening and closing space.
[0030] As a specific example, the mechanical gripper 1 works in conjunction with the robotic arm 2. When gripping the stack of sheet-like parts 5, the robotic arm 2 is first controlled to move the mechanical gripper 1 to a preset gripping position. Multiple mechanical claws 105 of the mechanical gripper 1 are in an open state, positioned around the periphery of the stack of sheet-like parts 5. Then, the actuator 104 is controlled to drive the movable part upwards, causing the multiple mechanical claws 105 to close, allowing multiple protrusions 107 to extend into the bottom of the stack of sheet-like parts 5, and the multiple mechanical claws 105 to grip the stack of sheet-like parts 5. Next, the robotic arm 2 is controlled to move the mechanical gripper 1 and the stack of sheet-like parts 5 within it to the tray 4. When the mechanical gripper 1 reaches the preset placement position, the actuator 104 is controlled to drive the movable part downwards, causing the multiple mechanical claws 105 to open, placing the stack of sheet-like parts 5 onto the tray 4 or onto the stack of sheet-like parts 5 on the tray 4.
[0031] In some embodiments, a plurality of upwardly extending guide rods 103 are fixedly connected to the base body 102, and a plurality of guide holes are provided on the movable part body 101, each cooperating with one of the guide rods 103. The plurality of guide rods 103 can guide the movement direction of the movable part, ensuring that the movable part can move stably up and down. In a specific implementation, the lower ends of the plurality of guide rods 103 can be connected to the threaded holes on the base body 102 by means of threaded engagement.
[0032] In some embodiments, the upper ends of the multiple guide rods 103 are connection ends for connecting to the robotic arm 2. Using multiple guide rods 103 to connect to the robotic arm 2 reduces the number of parts. In a specific implementation, the upper ends of the multiple guide rods 103 are provided with external threads.
[0033] In some embodiments, a first position adjustment structure for adjusting the position of the drive block 106 in the inward and outward directions is provided between each drive block 106 and its corresponding first mounting portion 111. The position of the drive block 106 can be adjusted to accommodate stacks of sheet-like parts 5 of different sizes.
[0034] As a preferred example, multiple first mounting portions 111 extend outward from the movable body 101. Each first mounting portion 111 is provided with a first strip-shaped hole 112 extending in the inward and outward directions and a second strip-shaped hole 113 extending in the inward and outward directions, with the second strip-shaped hole 113 penetrating the wall of the first strip-shaped hole 112. A drive block 106 corresponding to the first mounting portion 111 slides into the first strip-shaped hole 112, and a bolt 109 engaging with the second strip-shaped hole 113 and a nut 110 connected to the bolt 109 fix the drive block 106 and the first mounting portion 111 together. Using the above technical solution, the position of the drive block 106 can be infinitely adjusted in the inward and outward directions. On the one hand, the position of the drive block 106 can be adjusted to accommodate stacks of sheet-like parts 5 of different sizes; on the other hand, the position of the drive block 106 can be finely adjusted to better match the mechanical gripper 105.
[0035] In a specific implementation, the drive block 106 includes a sliding engagement portion 118 that slides with the first strip hole 112 and a drive block body 117 connected to the lower side of the drive block body 117, with a slanted groove 119 disposed in the drive block body 117.
[0036] In some embodiments, a second position adjustment structure for adjusting the position of the mechanical claw 105 in the inward and outward directions is provided between each mechanical claw 105 and its corresponding second mounting portion 114. The position of the mechanical claw 105 can be adjusted to accommodate stacks of sheet-like parts 5 of different sizes.
[0037] As a preferred example, multiple second mounting portions 114 extend outward from the base body 102. Each second mounting portion 114 is provided with a third strip-shaped hole 115 extending in the inward and outward directions and penetrating through the second mounting portion 114 in the vertical direction. The wall of the third strip-shaped hole 115 is provided with multiple hinge holes 116, which are arranged sequentially at intervals in the inward and outward directions. The vertical segment 124 corresponding to the second mounting portion 114 is hinged to one of the hinge holes 116 via a pin 108. By hinged to different hinge holes 116, the position of the mechanical gripper 105 in the inward and outward directions can be adjusted.
[0038] In some embodiments, in order to more securely grip the stack of sheet pieces 5, a plurality of first mounting portions 111 are arranged sequentially at intervals in the circumferential direction of the movable body 101, and a plurality of second mounting portions 114 are arranged sequentially at intervals in the circumferential direction of the base body 102.
[0039] In some embodiments, the movable body 101 is provided with four first mounting portions 111 on its periphery, and the base body 102 is provided with four second mounting portions 114 on its periphery. Using the above technical solution, four mechanical claws 105 can grasp stacks 5 of sheet-like parts of various shapes, such as circular and elliptical sheets.
[0040] In some embodiments, the actuator 104 is a cylinder, which is easy to implement and control. In a specific implementation, the cylinder body is fixedly connected to the base body 102, and the cylinder piston rod is fixedly connected to the moving part body 101. The cylinder described above can be a commercially available product, such as an SMC MHQ2 series cylinder, which features high precision.
[0041] In practical implementation, the cylinder can utilize the workshop's air supply system, which can be controlled by a controller. The controller can be implemented using a programmable logic controller (PLC) from existing technology. For example, the operation of the cylinder can be controlled by using a controller with a pre-programmed sequence to control the solenoid valves of the air supply system.
[0042] In some embodiments, in order to prevent the protrusion 107 from scratching the sheet-like component, the upper and lower corners of the inner end of the protrusion 107 are both rounded.
[0043] In some embodiments, the inner surface of the vertical segment 124 is a plane, and when the movable part is at the top end of its stroke, the angle of inclination of the inner surface of the vertical segment 124 from bottom to top outward is 2° to 5°. By adopting the above technical solution, interference between the inner surface of the vertical segment 124 and the sheet pieces of the sheet piece stack 5 can be prevented, and the sheet pieces on the sheet piece stack 5 can be prevented from shifting during gripping and placement.
[0044] In some embodiments, when the moving part is at the top dead center of its stroke, the upper side of the protrusion 107 is in a horizontal state, at which time the upper side of the protrusion 107 can provide better support for the sheet stack 5.
[0045] like Figure 5 and Figure 6 As shown, by installing the mechanical gripper 1 to the end of the robotic arm 2, the robotic arm 2 and the mechanical gripper 1 can work together to grasp and place the stack of sheet pieces 5. The robotic arm 2 and the mechanical gripper 1 can be used to grasp the stack of sheet pieces 5 on the conveying device 3 and place it on the tray 4.
[0046] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model. In the description of this specification, the reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a specific feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.
[0047] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicate directions based on the appendix. Figure 1 The coordinate system in the diagram represents the orientation only for the convenience of describing the present invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
Claims
1. A mechanical gripper, characterized in that, The device includes a movable component, a base, an actuator, multiple drive blocks, and multiple mechanical claws. The movable component includes a movable component body and multiple first mounting portions disposed around the periphery of the movable component body. The base includes a base body located below the movable component body and multiple second mounting portions disposed around the periphery of the base body. The actuator is connected between the movable component body and the base body and is used to drive the movable component to move up and down relative to the base. Multiple drive blocks are respectively fixedly connected to multiple first mounting portions, and each drive block has a slanted groove with an opening at its lower end that extends inwards from bottom to top. Each mechanical claw includes a vertical section hinged to the second mounting portion at its upper part, a protrusion extending inwards from the lower end of the vertical section, and a protrusion extending from the lower end of the vertical section. The segment comprises a turning segment extending inward from its upper end and an inclined segment extending upward and inward from the inner end of the turning segment. Multiple inclined segments extend into multiple inclined grooves, and the groove widths of the multiple inclined grooves in the inward and outward directions are greater than the widths of the multiple inclined segments in the inward and outward directions. During the process of the actuator driving the movable member from the top dead center of the stroke to the bottom dead center of the stroke, the first groove walls on the outer sides of the multiple inclined grooves push the multiple inclined segments to swing inward, causing the lower ends of the multiple vertical segments to swing outward. During the process of the actuator driving the movable member from the bottom dead center of the stroke to the top dead center of the stroke, the second groove walls on the inner sides of the multiple inclined grooves push the multiple inclined segments to swing outward, causing the lower ends of the multiple vertical segments to swing inward.
2. The mechanical gripper according to claim 1, characterized in that, The base body is fixedly connected to multiple upward-extending guide rods, and the movable part body is provided with multiple guide holes that respectively cooperate with the multiple guide rods; the upper ends of the multiple guide rods are connection ends for connecting with the robotic arm.
3. The mechanical gripper according to claim 1, characterized in that, Each of the drive blocks and its corresponding first mounting part is provided with a first position adjustment structure for adjusting the position of the drive block in the inward and outward directions.
4. The mechanical gripper according to claim 3, characterized in that, Multiple first mounting portions extend outward from the movable body, each first mounting portion having a first strip-shaped hole extending in the inward and outward directions and a second strip-shaped hole extending in the inward and outward directions, the second strip-shaped hole penetrating the wall of the first strip-shaped hole; the driving block corresponding to the first mounting portion slides in engagement with the first strip-shaped hole, and the bolt engaging with the second strip-shaped hole and the nut connected to the bolt fix the driving block and the first mounting portion together.
5. The mechanical gripper according to claim 1, characterized in that, A second position adjustment structure for adjusting the position of the mechanical claw in the inward and outward directions is provided between each of the mechanical claws and its corresponding second mounting part.
6. The mechanical gripper according to claim 5, characterized in that, Multiple second mounting portions extend outward from the base body. Each second mounting portion is provided with a third strip-shaped hole that extends in the inward and outward direction and penetrates the second mounting portion in the vertical direction. The wall of the third strip-shaped hole is provided with multiple hinge holes. The multiple hinge holes are arranged sequentially at intervals in the inward and outward direction. The vertical segment corresponding to the second mounting portion is hinged to one of the multiple hinge holes by a pin.
7. The mechanical gripper according to claim 1, characterized in that, A plurality of first mounting parts are arranged at intervals in sequence on the circumference of the movable part body, and a plurality of second mounting parts are arranged at intervals in sequence on the circumference of the base body.
8. The mechanical gripper according to claim 7, characterized in that, The movable part body has four first mounting portions on its periphery, and the base body has four second mounting portions on its periphery.
9. The mechanical gripper according to claim 1, characterized in that, The actuator is a cylinder.
10. The mechanical gripper according to claim 1, characterized in that, The upper and lower corners of the inner end of the protrusion are both rounded; the inner surface of the vertical section is a plane, and when the movable part is at the upper limit of the stroke, the angle of inclination of the inner surface of the vertical section from bottom to top to the outside is 2° to 5°.