A gripping device with elastic limiting function

Abstract

This application discloses a gripping device with elastic limiting function, relating to the field of product grasping. It includes finger cylinders fixed to a robotic arm. Each of the two gripping fingers of the finger cylinder is fitted with a mounting block, and the gripping fingers are fixed to the mounting blocks by bolts. A mounting groove is formed within the mounting block, and a gripper assembly is disposed within the mounting groove. An elastic mechanism is provided on the opposite side of each set of gripper assemblies, and the elastic mechanism is also disposed inside the mounting block. Through its elastic structure, this application allows the gripper assembly to automatically adjust its gripping action according to slight changes in the size of the incoming material, effectively preventing material drop and scratches, while also avoiding damage to the product surface.

Description

Technical Field

[0001] This application relates to the field of product gripping, and in particular to a gripping device with an elastic limiting function. Background Technology

[0002] In the MIM (Metal Injection Molding) industry, with the rapid growth in market demand for small, complex-structured metal parts, large-scale production has become a key goal for industry development. Current technologies commonly employ automated forming dies for production. A common method is fixed-position material handling, meaning that operations can only be performed on products in fixed positions at a time. While this method achieves a degree of automation, it also has significant limitations.

[0003] When faced with irregularly sized incoming materials, traditional grippers are prone to material slippage during the gripping process. Furthermore, while traditional grippers achieve their clamping function through rigid contact with the product, they cannot automatically adjust the clamping force according to minute variations in the material's size, potentially damaging the product surface. Utility Model Content

[0004] To address the issue of material slippage during gripping with traditional grippers when handling irregularly sized materials, this application provides a gripping device with an elastic limiting function.

[0005] The clamping device with elastic limiting function provided in this application adopts the following technical solution:

[0006] A gripping device with elastic limiting function includes a finger cylinder fixed on a robotic arm. Each of the two gripping fingers of the finger cylinder is fitted with a mounting block. The gripping fingers of the finger cylinder are fixed to the mounting blocks by bolts. The mounting block has a mounting groove, and a gripper assembly is provided in the mounting groove. An elastic mechanism is provided on the opposite side of the two sets of gripper assemblies. The elastic mechanism is also provided inside the mounting block.

[0007] By adopting the above technical solution, the gripper assembly can be installed on the robotic arm. The gripper assembly is driven by the finger cylinder to grip the product. At the same time, the elastic mechanism allows the gripper assembly to automatically adjust the gripping action according to the slight changes in the size of the incoming material, effectively preventing material drop and scratches, and also avoiding damage to the product surface.

[0008] Optionally, the mounting slot includes two first slots formed on the mounting block and a second slot formed on the mounting block, the second slot being located between the two first slots and communicating with the two first slots.

[0009] By adopting the above technical solution, the mounting slot consists of two first slots and a second slot located between and connected to them, providing mounting space for the gripper assembly and the mounting rod.

[0010] Optionally, the gripper assembly includes two gripper bodies disposed in the mounting slot, and mounting rods are threadedly connected to the two gripper bodies.

[0011] By adopting the above technical solution, the finger cylinder drives the mounting block to move, and the gripper body is connected to the mounting block through the mounting rod. The length direction of the mounting rod is perpendicular to the direction of movement of the finger cylinder clamping the finger, so that the gripper body can be stably driven to achieve the gripping function.

[0012] Optionally, the two gripper bodies are respectively disposed in the two first slots, and the mounting rod is disposed on the second slot.

[0013] By adopting the above technical solution, the gripper body is set in the first groove and the mounting rod is set in the second groove, which can determine the installation position of the gripper body and the mounting rod. In conjunction with the finger cylinder, the gripper body can stably grip the product.

[0014] Optionally, the size of the first slot is slightly larger than the size of the gripper body, and the size of the second slot is slightly larger than the size of the mounting rod.

[0015] By adopting the above technical solution, the size of the first groove is slightly larger than the size of the gripper body, and the size of the second groove is slightly larger than the size of the mounting rod, allowing the gripper body and the mounting rod to have a certain amount of room to move within the mounting groove. Furthermore, with the cooperation of the receiving groove and the elastic mechanism, the gripper assembly can automatically adjust its position and clamping force according to slight changes in the size of the incoming material, avoiding rigid contact between the gripper and the product that could damage the product surface.

[0016] Optionally, the elastic mechanism includes two sets of elastic structures. Each elastic structure includes a receiving groove formed on the mounting block and an elastic component disposed inside the receiving groove. The receiving groove is perpendicular to the first groove and is connected to the first groove.

[0017] By adopting the above technical solution, the mounting groove is used to place the gripper assembly, and the receiving groove is set perpendicularly to and connected to the first groove, so that the elastic component in the receiving groove can automatically adjust according to the slight changes in the size of the incoming material when the gripper body grips products of different sizes, avoiding damage to the product surface caused by rigid contact, and also reducing the phenomenon of material falling off.

[0018] Optionally, the elastic component includes a spring disposed in the receiving groove and a limiting rod threadedly connected to the receiving groove, one end of the spring abutting against the limiting rod and the other end of the spring abutting against the gripper body.

[0019] By adopting the above technical solution, a spring is placed between the limiting rod and the gripper body. The elasticity of the spring is used to automatically adjust the clamping force, avoiding material drop and damage to the product surface during the clamping process. The limiting rod can limit the spring.

[0020] Optionally, a flexible buffer layer is provided on the contact surface between the gripper body and the product.

[0021] By adopting the above technical solution, a flexible buffer layer is set on the contact surface between the gripper body and the product, which further reduces damage to the product surface.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] By setting the size of the receiving groove slightly larger than the size of the gripper assembly, the gripper body and mounting rod have a certain amount of room to move within the mounting groove. With the assistance of the elastic mechanism, the gripper assembly can automatically adjust its position and clamping force according to slight changes in the size of the incoming material, effectively preventing material drop and scratches. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an overall schematic diagram of the elastic limiting clamping device provided in the embodiments of this application;

[0026] Figure 2 This is an exploded view of the finger cylinder and mounting block provided in the embodiments of this application, used to show the mounting groove;

[0027] Figure 3 This is a partial cross-sectional view of the mounting block provided in the embodiments of this application, used to show the mounting groove and the receiving groove;

[0028] Figure 4 This is a schematic diagram of the gripper assembly and elastic assembly provided in the embodiments of this application.

[0029] Reference numerals: 1. Finger cylinder; 2. Mounting block; 3. Mounting groove; 31. First groove; 32. Second groove; 4. Gripper assembly; 41. Gripper body; 42. Mounting rod; 5. Elastic structure; 51. Receiving groove; 52. Elastic component; 521. Spring; 522. Limiting rod; 6. Flexible buffer layer. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1-4This application will be described in further detail.

[0031] This application discloses a gripping device with an elastic limiting function.

[0032] Reference Figure 1 and Figure 4 A gripping device with elastic limiting function includes a finger cylinder 1 fixed on a robotic arm, a mounting block 2 sleeved on the finger cylinder 1 to grip the finger, a mounting groove 3 formed on the mounting block 2, and a gripper assembly 4 disposed in the mounting groove 3. An elastic mechanism 5 is provided on the opposite side of the two sets of gripper assemblies 4, and the elastic structure 5 is also disposed inside the mounting block 2.

[0033] In this embodiment, a parallel opening and closing type finger cylinder 1 is selected as the power source for the gripping device. This type of cylinder enables the two gripping fingers to perform parallel opening and closing movements, facilitating precise product gripping. The finger cylinder 1 is fixed to the robotic arm with bolts, making the installation method simple and secure. This ensures that the gripping device will not loosen during the operation of the robotic arm, allowing the gripping device to move with the movement of the robotic arm and place the product in the designated position.

[0034] Reference Figure 2 The clamping finger of the finger cylinder 1 is fixed to the mounting block 2 with bolts, which ensures a stable connection between the two. This allows the activation of the finger cylinder 1 to effectively drive the two mounting blocks 2 to move synchronously in a centered or discentered manner, providing a motion basis for gripping the product.

[0035] With the cooperation of the elastic mechanism and the gripper assembly 4, when gripping a product, the elastic mechanism deforms according to slight changes in the product size, adjusting the gripping force of the gripper assembly 4. This not only allows for gripping products of different sizes but also prevents the gripper assembly 4 from damaging the product surface.

[0036] Reference Figure 3 The mounting slot 3 includes a first slot 31 and a second slot 32. There are two first slots 31, and the second slot 32 is located between the two first slots 31 and is connected to them. The line connecting the two first slots 31 is perpendicular to the direction of movement of the finger cylinder 1 when it clamps the finger.

[0037] Reference Figure 4The gripper assembly 4 includes a gripper body 41 and a mounting rod 42. There are two gripper bodies 41, and the mounting rod 42 is threadedly connected to both gripper bodies 41. The size of the first groove 31 is slightly larger than the size of the gripper body 41, and the size of the second groove 32 is slightly larger than the size of the mounting rod 42. This arrangement ensures that the gripper assembly 4 can be smoothly installed in the mounting groove 31 while also allowing for some movement. This allows the gripper body 41 to automatically adjust its gripping force when in contact with the product, ensuring stable gripping of products of different sizes and preventing damage to the product surface.

[0038] Reference Figure 4 A flexible buffer layer 6 is provided on the contact surface between the gripper body 41 and the product. The flexible buffer layer 6 can be made of materials such as rubber or silicone. Its function is to further buffer the force during gripping and protect the product surface.

[0039] When it is necessary to assemble the gripper assembly 4 onto the mounting block 2, first place the gripper body 41 into the first groove 31 on the mounting block 2, and then rotate the mounting rod 42 into the second groove 32. The mounting rod 42 and the gripper body 41 are threadedly fixed within the mounting block 2, thereby preventing the gripper assembly 4 from falling off the mounting block 2 during the use of the gripping device.

[0040] Reference Figure 3 and Figure 4 The elastic mechanism includes two sets of elastic structures 5. Each elastic structure 5 includes a receiving groove 51 formed on the mounting block 2 and an elastic component 52 disposed inside the receiving groove 51. The receiving groove 51 is perpendicular to the first groove 31 and is connected to the first groove 31.

[0041] Reference Figure 4 The elastic component 52 includes a spring 521 and a limiting rod 522. The spring 521 is placed inside the receiving groove 51, and the limiting rod 522 is threadedly connected to the inner wall of the receiving groove 51. One end of the spring 521 contacts the limiting rod 522, and the other end of the spring 521 contacts the gripper body 41.

[0042] After the finger cylinder 1 drives the gripper body 41 to contact the product, if there is a slight change in the product size, the spring 521 in the elastic mechanism will generate corresponding elastic deformation according to the change. If the product size is slightly larger, the spring 521 will be compressed, allowing the gripper body 41 to expand slightly outward and reduce the gripping force. If the product size is slightly smaller, the spring 521 will extend, causing the gripper body 41 to contract inward and increase the gripping force. This allows the gripper body 41 to automatically adapt to slight differences in the size of the incoming material, ensuring that products of different sizes can be stably gripped. It also avoids scratches on the product surface caused by excessive gripping force, ensuring product quality.

[0043] In addition, both the gripper assembly 4 and the spring 521 assembly adopt a modular assembly method, which makes the spring 521 assembly and the gripper assembly 4 easier to maintain and replace, significantly reducing the maintenance cost and time of this gripping device and improving the maintenance efficiency of the equipment.

[0044] The implementation principle of the gripping device with elastic limiting function in this application embodiment is as follows: When a product needs to be gripped, the finger cylinder 1 drives the gripping fingers to close, causing the mounting block 2 and the gripper assembly 4 to move closer to the product. After the gripper body 41 contacts the product, if there is a slight change in the product size, the spring 521 in the elastic mechanism will generate a corresponding elastic deformation according to the change, so that the gripper body 41 automatically adapts to the slight difference in the size of the incoming material, ensuring that products of different sizes can be stably gripped. It can also avoid scratches on the product surface caused by excessive clamping force, ensuring product quality.

[0045] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gripping device with elastic limiting function, characterized in that: The device includes a finger cylinder (1) fixed on a robotic arm. Each of the two clamping fingers of the finger cylinder (1) is fitted with a mounting block (2). The clamping fingers of the finger cylinder (1) are fixed to the mounting block (2) by bolts. The mounting block (2) has a mounting groove (3) inside. The mounting groove (3) is provided with a gripper assembly (4). Both sets of gripper assemblies (4) are provided with an elastic mechanism on the opposite side. The elastic mechanism is also provided inside the mounting block (2).

2. The clamping device with elastic limiting function according to claim 1, characterized in that: The mounting slot (3) includes two first slots (31) formed on the mounting block (2) and a second slot (32) formed on the mounting block (2). The second slot (32) is located between the two first slots (31) and is connected to the two first slots (31).

3. The clamping device with elastic limiting function according to claim 1, characterized in that: The gripper assembly (4) includes two gripper bodies (41) disposed in the mounting groove (3), and mounting rods (42) are threadedly connected to the two gripper bodies (41).

4. The clamping device with elastic limiting function according to claim 3, characterized in that: The two gripper bodies (41) are respectively arranged in the two first slots (31), and the mounting rod (42) is arranged on the second slot (32).

5. The clamping device with elastic limiting function according to claim 4, characterized in that: The size of the first groove (31) is slightly larger than the size of the gripper body (41), and the size of the second groove (32) is slightly larger than the size of the mounting rod (42).

6. The clamping device with elastic limiting function according to claim 4, characterized in that: The elastic mechanism includes two sets of elastic structures (5). The elastic structure (5) includes a receiving groove (51) opened on the mounting block (2) and an elastic component (52) disposed inside the receiving groove (51). The receiving groove (51) is perpendicular to the first groove (31) and the receiving groove (51) is connected to the first groove (31).

7. The clamping device with elastic limiting function according to claim 6, characterized in that: The elastic component (52) includes a spring (521) disposed in the receiving groove (51) and a limiting rod (522) threadedly connected to the receiving groove (51). One end of the spring (521) abuts against the limiting rod (522), and the other end of the spring (521) abuts against the gripper body (41).

8. The clamping device with elastic limiting function according to claim 5, characterized in that: A flexible buffer layer (6) is provided on the contact surface between the gripper body (41) and the product.

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