Annular workpiece feeding and discharging hand claw structure and device
By combining a finger design with a sliding block structure and a displacement sensor, the problem of poor rigidity and positioning of ring-shaped workpieces is solved, achieving low-cost, high-rigidity, and highly adaptable workpiece gripping and positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YICHANG CHANGJIANG MASCH TECH CO LTD
- Filing Date
- 2025-07-04
- Publication Date
- 2026-07-07
AI Technical Summary
In the existing technology, the clamping rigidity of ring-shaped workpieces is poor, the purchase price is high, and the existing clamping equipment cannot meet the requirements of different inner diameter sizes and cannot achieve workpiece positioning.
The finger design, which uses a slanted hole sliding shaft structure to connect with the slider, combined with a displacement sensor, achieves a larger extension stroke and precise positioning. The slanted hole sliding shaft structure of the finger and the slider increases the clamping rigidity, and the displacement sensor detects the workpiece position to achieve precise positioning.
It improves clamping rigidity, reduces manufacturing costs, can adapt to workpieces with different inner diameters, and achieves stable gripping and precise positioning of workpieces, avoiding workpiece damage.
Smart Images
Figure CN224464248U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of workpiece gripping technology in machine tool processing, and in particular to a structure and device for loading and unloading annular workpieces. Background Technology
[0002] Ring-shaped workpieces are the most common type of workpiece in gear machining, such as gears, external gear rings, and internal gear rings. Traditionally, these ring-shaped workpieces are handled using pneumatic or hydraulic clamping finger components during loading, unloading, or transfer. While these components are standardized and easy to procure, they suffer from poor clamping rigidity and high procurement costs for our company's heavier ring-shaped workpieces. Furthermore, our ring-shaped workpieces have varying inner diameters, and the existing finger components have a short stroke, failing to meet the needs of different sizes. Additionally, existing pneumatic or hydraulic clamping finger components cannot be used for workpiece positioning. Utility Model Content
[0003] The technical problem this utility model aims to solve is to address the issues existing in the background art by providing a ring-shaped workpiece loading and unloading gripper structure and device. The fingers are connected to the slider via a slanted hole sliding shaft structure, resulting in better clamping rigidity, a simple structure, and the ability to be manufactured independently, leading to low operating costs. The ring-shaped workpiece loading and unloading gripper structure of this application has a larger extension stroke, thus meeting the needs of a wider range of different inner diameters. The ring-shaped workpiece loading and unloading gripper structure of this application also enables workpiece positioning.
[0004] To achieve the aforementioned technical features, the present invention aims to provide a ring-shaped workpiece loading and unloading gripper structure, comprising a gripper base, fingers, and a slider. The gripper base is ring-shaped, and at least three sliding holes are radially evenly distributed on its circumferential wall. Each sliding hole is into which a finger is inserted. The slider is installed inside the gripper base, and an extension plate is provided on the outer wall of the slider at the position corresponding to each finger. One end of each finger located inside the gripper base is slidably connected to the extension plate through a slanted hole sliding shaft structure. At least one end of the slider is provided with a connecting seat. When the fingers extend, they are used to grip the ring-shaped workpiece or to position the ring-shaped workpiece.
[0005] The oblique hole sliding shaft structure includes a limiting groove set on the finger, the limiting groove being located inside the claw seat, an extension plate extending into the limiting groove, an oblique elongated hole being provided on the extension plate, a sliding shaft being fixed inside the limiting groove, the sliding shaft passing through the oblique elongated hole, and the sliding shaft and the oblique elongated hole being slidably connected.
[0006] The upper end of the oblique elongated hole is far from the central axis of the claw seat, and the lower end is close to the central axis of the claw seat; or, the upper end of the oblique elongated hole is close to the central axis of the claw seat, and the lower end is far from the central axis of the claw seat.
[0007] The inner wall of the claw seat is provided with axial grooves at the positions corresponding to the protruding plates, and the protruding plates extend into the grooves.
[0008] The outer wall of the claw seat is fixed with a sliding sleeve at the position corresponding to each finger, and the finger slides through the sliding sleeve.
[0009] A support groove is provided on the upper side of the end of the finger located outside the claw base.
[0010] The finger is provided with a mounting groove at one end outside the claw base, and a displacement sensor is installed in the mounting groove. The measuring head of the displacement sensor extends a certain distance beyond the finger tip.
[0011] A connecting structure is provided at one end of the claw base.
[0012] A ring-shaped workpiece loading and unloading device includes a connecting arm and a telescopic rod, and also includes the ring-shaped workpiece loading and unloading gripper structure. One end of the connecting arm is fixedly connected to the gripper seat, and a telescopic rod is installed inside the connecting arm. The telescopic end of the telescopic rod is fixedly connected to the connecting seat. The sliding block is driven to move up and down by extending and retracting the telescopic rod.
[0013] The telescopic rod is a hydraulic cylinder or an electric cylinder.
[0014] Compared with the prior art, the present utility model adopting the above technical solution has the following characteristics:
[0015] 1. In this invention, the finger is connected to the slider via a slanted hole sliding shaft structure, resulting in better clamping rigidity, a simple structure, and the ability to be manufactured independently, leading to low operating costs. Furthermore, the finger and slider allow for a greater extension and retraction stroke, thus meeting the needs of a wider range of different inner diameters. In use, it can be used for gripping and positioning ring-shaped workpieces.
[0016] 2. This utility model features a displacement sensor installed at the fingertip. When lifting or lowering a workpiece, after the finger penetrates into the annular workpiece, it can quickly extend before the displacement sensor's measuring head contacts the inner wall of the workpiece. When the sensor's measuring head contacts the inner wall, the data changes, controlling the finger to extend slowly. This prevents damage to the workpiece's inner wall caused by placement errors. When positioning the annular workpiece, if the displacement sensor on one finger detects data, it indicates an off-center placement. An external mechanism, such as a robotic arm, adjusts the gripper structure based on the data until all finger displacement sensors detect data within a preset error range, indicating the gripper structure is essentially centered on the workpiece. This allows for stable gripping of the annular workpiece. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0018] Figure 1 This is a schematic diagram of the main structure of the ring-shaped workpiece loading and unloading gripper structure of this utility model.
[0019] Figure 2 This is a top view schematic diagram of the ring-shaped workpiece loading and unloading gripper structure of this utility model.
[0020] Figure 3 for Figure 1 A schematic diagram of the structure of section AA in the middle.
[0021] Figure 4 for Figure 1 A schematic diagram of the structure of the BB cross section.
[0022] Figure 5 This is a schematic diagram of the structure of the ring-shaped workpiece loading and unloading device of this utility model.
[0023] Figure 6 This is a diagram showing the state of the ring-shaped workpiece loading and unloading device of this utility model supported on the inner wall of the ring-shaped workpiece.
[0024] Figure 7 This is a diagram showing the state of the ring-shaped workpiece loading and unloading device of this utility model supported at the bottom of the ring-shaped workpiece.
[0025] Figure label:
[0026] Claw seat 10, sliding hole 11, sliding sleeve 12, sliding groove 13, connecting structure 14;
[0027] Finger 20, limiting groove 21, sliding shaft 22, support groove 24, roller 23, mounting groove 25, displacement sensor 26;
[0028] Slider 30, extension plate 31, oblique elongated hole 32, connecting seat 33;
[0029] Connecting arm 40, lower flange 41, upper flange 42, connecting plate 43;
[0030] Telescopic rod 50, connector 51;
[0031] 60 ring-shaped workpiece. Detailed Implementation
[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0033] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.
[0034] Example 1:
[0035] See Figures 1 to 7 A ring-shaped workpiece loading and unloading gripper structure includes a gripper base 10, fingers 20, and a slider 30. The gripper base 10 has a ring-shaped structure, and at least three sliding holes 11 are radially evenly distributed on the circumferential wall of the gripper base 10. Each sliding hole 11 is into which a finger 20 is inserted. The slider 30 is installed inside the gripper base 10, and an extension plate 31 is provided on the outer wall of the slider 30 at the position corresponding to each finger 20. One end of each finger 20 located inside the gripper base 10 is slidably connected to each extension plate 31 through a slanted hole sliding shaft structure. At least one end of the slider 30 is provided with a connecting seat 33. When the fingers 20 are extended, they are used to grip the ring-shaped workpiece 60 or to position the ring-shaped workpiece 60.
[0036] In this invention, the finger 20 is slidably connected to the slider 30 via a slanted hole sliding shaft structure, thereby supporting and clamping the annular workpiece 60 within its inner hole. This results in better clamping rigidity and stability, a simple structure, and the ability to be manufactured independently, leading to low operating costs. Furthermore, the finger 20 and slider 30 can have a greater extension and retraction stroke, thus meeting the needs of a wider range of different inner diameters. In use, it can be used to grip and position the annular workpiece 60.
[0037] The number of fingers 20 can be set to 3, 4, 5, 6, or 8 as needed. In this embodiment, 4 fingers are provided.
[0038] In this embodiment, see Figure 4The oblique hole sliding shaft structure includes a limiting groove 21 provided on the finger 20. The limiting groove 21 is located inside the claw seat 10. The protruding plate 31 extends into the limiting groove 21. An oblique elongated hole 32 is provided on the protruding plate 31. A sliding shaft 22 is fixed in the limiting groove 21. The sliding shaft 22 passes through the oblique elongated hole 32 and is slidably connected to the oblique elongated hole 32.
[0039] The upper end of the oblique elongated hole 32 is far from the central axis of the claw seat 10, and the lower end is close to the central axis of the claw seat 10; or, the upper end of the oblique elongated hole 32 is close to the central axis of the claw seat 10, and the lower end is far from the central axis of the claw seat 10.
[0040] In this embodiment, see Figure 4 The upper end of the oblique elongated hole 32 is far from the central axis of the claw seat 10, and the lower end is close to the central axis of the claw seat 10. When the slider 30 is lifted, the finger 20 retracts; when the slider 30 is pushed down, the finger 20 extends.
[0041] See Figure 2 , 4 The inner wall of the claw seat 10 is provided with axial grooves 13 at the positions corresponding to the protruding plate 31, and the protruding plate 31 extends into the grooves 13. The grooves 13 limit and guide the protruding plate 31, so that the slider 30 can only move along the axial direction of the claw seat 10, and there is no tendency to rotate, thus improving the accuracy of movement.
[0042] In this embodiment, see Figure 4 A roller 23 is also movably mounted on the slide shaft 22 within the limiting groove 21, which improves the flexibility of the finger 20 and the slider 30 in sliding.
[0043] Furthermore, a sliding sleeve 12 is fixedly provided on the outer wall of the claw base 10 at the position corresponding to each finger 20, and the finger 20 slides through the sliding sleeve 12. Figure 4 In the middle, the sliding sleeve 12 extends outward a certain distance, supporting the finger 20 and improving the stability and accuracy of the extension and sliding of the finger 20. It can prevent the deformation of the sliding hole 11 and the finger 20 due to the small force-bearing area of the sliding hole 11.
[0044] Furthermore, a support groove 24 is provided on the upper side of the end of the finger 20 located outside the claw base 10. For heavy-duty annular workpieces 60, the finger 20 can penetrate deep into the bottom of the annular workpiece 60, such as... Figure 7 As shown, the inner edge of the lower end of the annular workpiece 60 is supported in the support groove 24, and the support groove 24 limits the position of the annular workpiece 60.
[0045] See Figure 4 A connecting structure 14 is provided at one end of the claw seat 10. The connecting structure 14 is used to connect with the connecting arm 40. In this embodiment, the connecting structure 14 is a flange structure.
[0046] Example 2:
[0047] Based on Example 1, see Figure 4 A mounting groove 25 is provided at the end of the finger 20 located outside the claw base 10. A displacement sensor 26 is installed in the mounting groove 25, and the measuring head of the displacement sensor 26 extends a certain distance beyond the end of the finger 20. In this embodiment, the displacement sensor 26 is a spring-loaded LVDT type micro-displacement sensor.
[0048] The purpose of installing displacement sensor 26 is as follows:
[0049] Firstly, when loading and unloading workpieces, after the finger 20 is inserted into the annular workpiece 60, it can quickly extend before the measuring head of the displacement sensor 26 contacts the inner wall of the annular workpiece 60. When the measuring head of the displacement sensor 26 contacts the inner wall of the annular workpiece 60, the data changes, which can control the finger 20 to extend slowly, preventing damage to the inner wall of the annular workpiece 60 caused by the placement error of the annular workpiece 60 due to a single finger hitting the inner wall of the annular workpiece 60.
[0050] Secondly, when positioning the annular workpiece 60, fingers 20 are inserted into and extended from the workpiece. When the displacement sensor 26 on one finger 20 detects data, it indicates that the annular workpiece 60 is misaligned. An external mechanism, such as a robotic arm, adjusts the position of the gripper structure based on the data from the displacement sensor 26 until all displacement sensors 26 on the fingers 20 detect data within a preset error range. This indicates that the gripper structure is essentially centered on the annular workpiece 60. This allows for stable gripping of the annular workpiece 60.
[0051] Example 3:
[0052] Based on Example 1 or 2, see Figure 5 A ring-shaped workpiece loading and unloading device includes a connecting arm 40 and a telescopic rod 50, as well as a ring-shaped workpiece loading and unloading gripper structure. One end of the connecting arm 40 is fixedly connected to a gripper seat 10. The telescopic rod 50 is installed inside the connecting arm 40, and its telescopic end is fixedly connected to a connecting seat 33. The telescopic rod 50's extension and retraction drives a slider 30 to move up and down. The connecting arm 40 allows for connection to external mechanisms, such as a robotic arm. The telescopic rod 50 is installed inside the connecting arm 40, resulting in a compact structure. The extension and retraction of the telescopic rod 50 drives the slider 30 to move up and down.
[0053] In this embodiment, the telescopic rod 50 can be an electric cylinder or a hydraulic cylinder.
[0054] Specifically, Figure 5In the middle, the connecting arm 40 is a hollow tube structure. The lower end of the connecting arm 40 is fixed with a lower flange 41, and the upper end is fixed with an upper flange 42. The upper end of the connecting arm 40 is fixed with a connecting plate 43. The telescopic rod 50 is installed on the connecting plate 43. The upper side of the connecting plate 43 has space, and the installation of threads does not affect the connection between the upper flange 42 and the robotic arm.
[0055] The connecting seat 33 on the slider 30 can be either a screw structure or an internally threaded hole structure. When the connecting seat 33 is a screw structure, the telescopic end of the telescopic rod 50 is connected to the connecting seat 33 through the connecting piece 51, which is a nut sleeve. When the connecting seat 33 is an internally threaded hole structure, the telescopic end of the telescopic rod 50 can be screwed and fixed into the internally threaded hole.
[0056] The method of using this utility model is as follows:
[0057] The method of using the ring-shaped workpiece loading and unloading device includes the steps of loading and unloading workpieces and the steps of positioning workpieces.
[0058] The steps for loading and unloading workpieces are as follows:
[0059] By controlling the extension or retraction of the telescopic rod 50, the slider 30 is driven to move downward or upward, and the finger 20 retracts towards the claw seat 10.
[0060] The ring-shaped workpiece loading and unloading device is moved by an external mechanism, so that the claw seat 10 extends into the center of the ring-shaped workpiece 60.
[0061] The control telescopic rod 50 reverses its movement, driving the finger 20 to extend away from the claw seat 10, so that the finger 20 presses firmly against the inner wall of the annular workpiece 60, as... Figure 6 As shown. Alternatively, extend finger 20 to the bottom of the annular workpiece 60, as shown. Figure 7 As shown;
[0062] Then, the external mechanism lifts and moves the ring-shaped workpiece loading and unloading device to perform loading and unloading operations on the ring-shaped workpiece 60.
[0063] The workpiece positioning steps are as follows:
[0064] With the finger 20 retracted towards the claw seat 10, the claw seat 10 is inserted into the annular workpiece 60 by an external mechanism. At this time, the central axis of the claw seat 10 is located at the center of the pre-positioned annular workpiece 60.
[0065] By controlling the telescopic rod 50 to retract or extend, the slider 30 is driven to move up or down. While ensuring that the annular workpiece loading and unloading device is fixed, the finger 20 extends. Since the center of the annular workpiece 60 is not at the center of the predetermined position at this time, some of the fingers 20 first contact the inner wall of the annular workpiece 60 to push the annular workpiece 60 to move. Under the pushing force of the outward extension of the fingers 20, the annular workpiece 60 is moved to the predetermined position.
[0066] When the displacement sensor 26 is installed at the end of the finger 20, the displacement sensor 26 is electrically connected to the controller. When the ring workpiece 60 is pushed to move, the measuring head of the displacement sensor 26 at the end of the finger 20 retracts and measures the maximum value. When the displacement sensor 26 at the other end and the displacement sensors 26 on both sides measure the same value, it means that the finger has moved to the predetermined position.
[0067] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Any modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A ring-shaped workpiece loading and unloading gripper structure, characterized in that: The device includes a claw seat (10), fingers (20), and a slider (30). The claw seat (10) has a ring structure. At least three sliding holes (11) are radially evenly distributed on the circumferential wall of the claw seat (10). Each sliding hole (11) is used to insert a finger (20). The slider (30) is installed inside the claw seat (10). The outer wall of the slider (30) is provided with an extension plate (31) at the position corresponding to each finger (20). One end of each finger (20) located inside the claw seat (10) is slidably connected to each of the extension plates (31) through a slanted hole sliding shaft structure. At least one end of the slider (30) is provided with a connecting seat (33). When the finger (20) extends, it is used to grasp the ring workpiece (60) or to position the ring workpiece (60).
2. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: The oblique hole sliding shaft structure includes a limiting groove (21) set on the finger (20), the limiting groove (21) is located inside the claw seat (10), the extension plate (31) extends into the limiting groove (21), the extension plate (31) is provided with an oblique elongated hole (32), the sliding shaft (22) is fixed in the limiting groove (21), the sliding shaft (22) passes through the oblique elongated hole (32), and the sliding shaft (22) and the oblique elongated hole (32) are slidably connected.
3. The ring-shaped workpiece loading and unloading gripper structure according to claim 2, characterized in that: The upper end of the oblique elongated hole (32) is far away from the central axis of the claw seat (10), and the lower end is close to the central axis of the claw seat (10); or, the upper end of the oblique elongated hole (32) is close to the central axis of the claw seat (10), and the lower end is far away from the central axis of the claw seat (10).
4. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: The inner wall of the claw seat (10) is provided with axial grooves (13) at the positions corresponding to the extension plate (31), and the extension plate (31) extends into the grooves (13).
5. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: The outer wall of the claw seat (10) is fixed with a sliding sleeve (12) at the position corresponding to each finger (20), and the finger (20) slides through the sliding sleeve (12).
6. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: A support groove (24) is provided on the upper side of the end of the finger (20) located outside the claw base (10).
7. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: The finger (20) is provided with a mounting groove (25) at one end outside the claw base (10). A displacement sensor (26) is installed in the mounting groove (25), and the measuring head of the displacement sensor (26) extends a distance beyond the end of the finger (20).
8. The ring-shaped workpiece loading and unloading gripper structure according to claim 1, characterized in that: A connecting structure (14) is provided at one end of the claw seat (10).
9. A ring-shaped workpiece loading and unloading device, characterized in that: It includes a connecting arm (40) and a telescopic rod (50), and also includes a ring-shaped workpiece loading and unloading gripper structure as described in any one of claims 1 to 8. The connecting arm (40) is fixedly connected to one end of the gripper seat (10). The telescopic rod (50) is installed inside the connecting arm (40). The telescopic end of the telescopic rod (50) is fixedly connected to the connecting seat (33). The slider (30) is driven to move up and down by the extension and retraction of the telescopic rod (50).
10. The annular workpiece loading and unloading device according to claim 9, characterized in that: The telescopic rod (50) is a hydraulic cylinder or an electric cylinder.