Multi-workpiece elastic clamping mechanical hand
By designing a multi-workpiece elastic clamping robot, the simultaneous grasping of multiple drill bits and appropriate clamping force are achieved, solving the problems of low efficiency and easy damage to drill bits in the existing technology, and improving the grasping efficiency and service life of the device.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DONGGUAN HAIHONG INTELLIGENT EQUIP CO LTD
- Filing Date
- 2025-08-22
- Publication Date
- 2026-07-14
Smart Images
Figure CN224489164U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of clamping robot technology, and more specifically, to a multi-workpiece elastic clamping robot. Background Technology
[0002] In the PCB manufacturing process, round holes need to be drilled on the board to fix electronic components, and drill bits are special tools used to drill these holes. After a specified period of use, the cutting edge of the drill bit wears down and needs to be resharpened. Before sharpening, it is necessary to clean the cutting edge and the chip removal grooves to remove sticky dust and tangled cutting chips. During the cleaning process, a robotic arm is usually needed to hold the drill bit for cleaning. Currently, most robotic arms on the market can only hold a single drill bit, which is inefficient. In addition, it is difficult to control the clamping force, which can easily damage the drill bit. Utility Model Content
[0003] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a multi-workpiece elastic clamping robot that can clamp multiple drill bits at once and avoid damage to the drill due to excessive clamping force.
[0004] To achieve the above objectives, this utility model provides a multi-workpiece elastic clamping robot, including a front side plate, a rear side plate, at least two sets of gripper assemblies, a left rotating shaft, a right rotating shaft, a clamping push block, and a push block driving assembly. The gripper assembly includes a left gripper, a right gripper, and a spring. The left end of the spring is connected to the upper part of the right side wall of the left gripper, and the right end of the spring is connected to the upper part of the left side wall of the right gripper. The middle part of the left gripper has a left insertion hole running forward and backward. The lower part of the left gripper extends downward and to the right to form a left clamping portion. The left rotating shaft... The shaft is fixedly inserted through the left insertion hole. A right insertion hole with a front-to-back orientation is provided in the middle of the right jaw. The lower part of the right jaw extends downwards and to the left to form a right clamping part. The right rotating shaft is fixedly inserted through the right insertion hole. The lower end of the left clamping part and the lower end of the right clamping part elastically abut against each other. The front side plate has a front left shaft hole and a front right shaft hole respectively facing the left and right rotating shafts. The rear side plate has a rear left shaft hole and a rear right shaft hole respectively facing the left and right rotating shafts. The front and rear ends of the left rotating shaft are rotatably inserted into the front left shaft hole. The front and rear ends of the right-hand rotating shaft are respectively rotatably inserted into the front right-hand shaft hole and the rear right-hand shaft hole in the shaft hole and the rear left shaft hole. The clamping push block includes a horizontally placed drive connecting block, a left push block extending from the left end of the drive connecting block downwards to the left, and a right push block extending from the right end of the drive connecting block downwards to the right. The push block drive assembly is fixedly installed between the upper end of the front side plate and the upper end of the rear side plate. The output end of the push block drive assembly extends downwards and connects with the drive connecting block. The right side wall of the left push block is connected to the left... The upper ends of the grippers abut against each other, the left side wall of the right push block abuts against the upper end of the right gripper, the right side wall of the left gripper protrudes to the right above the left insertion hole with a left limiting block, the left side wall of the right gripper protrudes to the left above the right insertion hole with a right limiting block, the right end of the left limiting block and the left end of the right limiting block are directly opposite each other, and a limiting gap is formed between the right end of the left limiting block and the left end of the right limiting block, the upper end of the left gripper is located on the right side of the left insertion hole, and the upper end of the right gripper is located on the left side of the right insertion hole.
[0005] Preferably, the push block drive assembly includes a drive cylinder and a cylinder mounting block. The front and rear ends of the cylinder mounting block are respectively fixedly connected to the upper end of the front side plate and the upper end of the rear side plate. The cylinder mounting block has a cylinder mounting hole that extends vertically through itself in the middle. The drive cylinder is fixedly mounted on the top of the cylinder mounting block, and the output shaft of the drive cylinder passes downward through the cylinder mounting hole and is fixedly connected to the top of the drive connecting block.
[0006] Preferably, a front guide wheel and a rear guide wheel are rotatably mounted at the front and rear ends of the drive connecting block, respectively. A front guide hole is provided on the front side plate directly opposite the front guide wheel, extending through the plate and running vertically. The front guide wheel is placed inside the front guide hole, and the left and right edges of the front guide wheel slide against the left and right inner walls of the front guide hole, respectively. A rear guide hole is provided on the rear side plate directly opposite the rear guide wheel, extending through the plate and running vertically. The rear guide wheel is placed inside the rear guide hole, and the left and right edges of the rear guide wheel slide against the left and right inner walls of the rear guide hole, respectively.
[0007] Preferably, the gripper assembly further includes a left pulley, a right pulley, a left pulley shaft, and a right pulley shaft. The upper end of the left gripper has a left pulley shaft hole that extends through it from front to back. The upper end of the right gripper has a right pulley shaft hole that extends through it from front to back. The left pulley shaft is fixedly inserted through the left pulley shaft hole, and the left pulley is rotatably sleeved outside the left pulley shaft. The right pulley shaft is fixedly inserted through the right pulley shaft hole, and the right pulley is rotatably sleeved outside the right pulley shaft. The upper edge of the left pulley is located above the upper part of the left gripper, and the upper edge of the right pulley is located above the upper part of the right gripper. The upper edges of the left pulley and the right pulley are flush.
[0008] Preferably, the lower part of the right side wall of the left clamping part forms a vertically planar left clamping end face with a front-to-back orientation, and the left clamping end face is recessed to the left to form a left clamping groove that is narrower on the left and wider on the right. The lower part of the left side wall of the right clamping part forms a vertically planar right clamping end face with a front-to-back orientation, and the right clamping end face is recessed to the right to form a right clamping groove that is narrower on the right and wider on the left. The left clamping groove and the right clamping groove are directly opposite each other to form a drill bit clamping hole.
[0009] Preferably, the number of driving cylinders is two, and correspondingly, the number of cylinder mounting holes is also two.
[0010] Preferably, the right side wall of the left gripper has a left limiting block protruding to the right between the left insertion hole and the spring, and the left side wall of the right gripper has a right limiting block protruding to the left between the right insertion hole and the spring. The right end of the left limiting block and the left end of the right limiting block are directly opposite each other, and a limiting gap is formed between the right end of the left limiting block and the left end of the right limiting block.
[0011] Compared with the prior art, this utility model can drive multiple sets of gripper assemblies to open simultaneously by moving the gripping push block downwards, and drive multiple sets of gripper assemblies to close simultaneously by moving the gripping push block upwards, thereby being able to grab multiple drill bits at the same time, greatly improving the gripping efficiency. In addition, this utility model is initially in a gripping state, and it is easy to set the elasticity of the spring to maintain an appropriate gripping force, thereby avoiding the situation where the gripping force is too large and damages the drill bits. Attached Figure Description
[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0013] Figure 1 This is a structural diagram of the multi-workpiece elastic clamping robot of this utility model from one angle;
[0014] Figure 2 for Figure 1 A partial exploded view;
[0015] Figure 3 This is a partial view of the multi-workpiece elastic clamping robot of this utility model from one angle;
[0016] Figure 4 for Figure 3 Enlarged view of section A;
[0017] Figure 5 This is a partial view from another angle of the multi-workpiece elastic clamping robot of this utility model. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0019] Please refer to Figures 1 to 5 This utility model provides a multi-workpiece elastic clamping robot, including a front side plate 1, a rear side plate 2, at least two sets of gripper assemblies 3, a left rotating shaft 4, a right rotating shaft 5, a gripping push block 6, and a push block driving assembly 7. In this embodiment, the number of gripper assemblies 3 is ten.
[0020] The gripper assembly 3 includes a left gripper 31, a right gripper 32, and a spring 33. The left end of the spring 33 is connected to the upper part of the right side wall of the left gripper 31, and the right end of the spring 33 is connected to the upper part of the left side wall of the right gripper 32. The left gripper 31 has a left insertion hole (not shown) running forward and backward in its middle. The lower part of the left gripper 31 extends downward and to the right to form a left clamping part 311, through which the left rotating shaft 4 is fixedly inserted. The right gripper 32 has a right insertion hole (not shown) running forward and backward in its middle. The lower part of the right gripper 32 extends downward and to the left to form a right clamping part 321, through which the right rotating shaft 5 is fixedly inserted. The lower ends of the left clamping part 311 and the lower ends of the right clamping part 321 elastically abut against each other. The right end of the left gripper 31... A left limiting block 312 protrudes to the right from the left insertion hole and the spring 33 on the side wall. A right limiting block 322 protrudes to the left from the right insertion hole and the spring 33 on the left side wall of the right gripper 32. The right end of the left limiting block 312 and the left end of the right limiting block 322 are directly opposite each other, and a limiting gap 301 is formed between the right end of the left limiting block 312 and the left end of the right limiting block 322. The upper end of the left gripper 31 is located on the right side of the left insertion hole, and the upper end of the right gripper 32 is located on the left side of the right insertion hole.
[0021] The front side plate 1 has a front left shaft hole 11 and a front right shaft hole 12 respectively, which are directly opposite to the left rotating shaft 4 and the right rotating shaft 5. The rear side plate 2 has a rear left shaft hole 21 and a rear right shaft hole 22 respectively, which are directly opposite to the left rotating shaft 4 and the right rotating shaft 5. The front and rear ends of the left rotating shaft 4 are respectively rotatably inserted into the front left shaft hole 11 and the rear left shaft hole 21. The front and rear ends of the right rotating shaft 5 are respectively rotatably inserted into the front right shaft hole 12 and the rear right shaft hole 22.
[0022] The clamping push block 6 includes a horizontally placed drive connecting block 61, a left push block 62 extending downwards and to the left from the left end of the drive connecting block 61, and a right push block 63 extending downwards and to the right from the right end of the drive connecting block 61. The right side wall of the left push block 62 abuts against the upper end of the left gripper 31, and the left side wall of the right push block 63 abuts against the upper end of the right gripper 32.
[0023] The push block drive assembly 7 is fixedly installed between the upper end of the front side plate 1 and the upper end of the rear side plate 2. The output end of the push block drive assembly 7 extends downward and connects to the drive connecting block 61. Specifically, the push block drive assembly 7 includes a drive cylinder 71 and a cylinder mounting block 72. The front and rear ends of the cylinder mounting block 72 are respectively fixedly connected to the upper end of the front side plate 1 and the upper end of the rear side plate 2. The cylinder mounting block 72 has a cylinder mounting hole 721 that extends vertically through itself in the middle. The drive cylinder 71 is fixedly installed on the top of the cylinder mounting block 72, and the output shaft of the drive cylinder 71 passes downward through the cylinder mounting hole 721 and is fixedly connected to the top of the drive connecting block 61. In this embodiment, there are two drive cylinders 71, and correspondingly, there are also two cylinder mounting holes 721.
[0024] Preferably, a front guide wheel 611 and a rear guide wheel 612 are rotatably mounted at the front and rear ends of the drive connecting block 61, respectively. A front guide hole 13, penetrating the front and rear and running vertically, is provided on the front side plate 1 opposite the front guide wheel 611. The front guide wheel 611 is placed within the front guide hole 13, and its left and right edges slide against the left and right inner walls of the front guide hole 13, respectively. A rear guide hole 23, penetrating the front and rear and running vertically, is provided on the rear side plate 2 opposite the rear guide wheel 612. The rear guide wheel 612 is placed within the rear guide hole 23, and its left and right edges slide against the left and right inner walls of the rear guide hole 23, respectively. The front guide wheel 611 can move vertically along the front guide hole 13, and the rear guide wheel 612 can move vertically along the rear guide hole 23.
[0025] Preferably, the gripper assembly 3 further includes a left pulley 34, a right pulley 35, a left pulley shaft 36, and a right pulley shaft 37. The upper end of the left gripper 31 has a through-hole 313 for the left pulley shaft, and the upper end of the right gripper 32 has a through-hole 37 for the right pulley shaft (not shown). The left pulley shaft 36 is fixedly inserted through the left pulley shaft hole 313, and the left pulley 34 is rotatably sleeved outside the left pulley shaft 36. The right pulley shaft 37 is fixedly inserted through the right pulley shaft hole, and the right pulley 35 is rotatably sleeved outside the right pulley shaft 37. The upper edge of the left pulley 31 is located above the upper part of the left gripper 31, and the upper edge of the right pulley 32 is located above the upper part of the right gripper 32. The upper edges of the left pulley 34 and the right pulley 35 are flush. In this embodiment, two adjacent left grippers 31 are arranged side-by-side and abut against each other. A left pulley receiving notch 314 is provided at the upper part of each left gripper 31. The width of the left pulley receiving notch 314 in the front-back direction is greater than the thickness of the left pulley 34 in the front-back direction, and the left pulley 34 is accommodated within the left pulley receiving notch 314. Similarly, two adjacent right grippers 32 are arranged side-by-side and abut against each other. A right pulley receiving notch 324 is provided at the upper part of each right gripper 32. The width of the right pulley receiving notch 324 in the front-back direction is greater than the thickness of the right pulley 35 in the front-back direction, and the right pulley 35 is accommodated within the left pulley receiving notch 324.
[0026] Preferably, the lower part of the right side wall of the left clamping part 311 forms a vertically planar left clamping end face 3111, which is recessed to the left to form a left clamping groove 3112 that is narrower on the left and wider on the right. The lower part of the left side wall of the right clamping part 321 forms a vertically planar right clamping end face 3211, which is recessed to the right to form a right clamping groove 3212 that is narrower on the right and wider on the left. The left clamping groove 3112 and the right clamping groove 3212 are directly opposite each other to form a drill bit clamping hole 302. In this embodiment, both the left clamping groove 3112 and the right clamping groove 3212 are V-shaped.
[0027] In use, the jaw assembly 3 is initially in a closed state with elastic clamping. When the drill bit 200 needs to be clamped, the drive cylinder 71 is activated, causing the clamping push block 6 to move downward. This causes the left push block 62 to push the left jaw 31 downward against the elastic force of the spring 33, causing the upper part of the left jaw 31 to move downward. This causes the left jaw 31 to rotate clockwise around the left rotating shaft 4. At the same time, the right push block 63 pushes the right jaw 32 downward against the elastic force of the spring 33, causing the upper part of the right jaw 32 to move downward. This causes the right jaw 32 to rotate counterclockwise around the right rotating shaft 5, thereby opening the jaw assembly 3. Then, the drill bit 200 is moved between the left clamping groove 3111 and the right clamping groove 3211. Then, the drive cylinder 71 drives the clamping push block 6 to move upward and reset. The upper parts of the left jaw 31 and the upper parts of the right jaw 32 are reset under the restoring force of the spring 33, thereby clamping the drill bit 200. When the gripper assembly 3 opens a certain distance, the left limit block 312 and the right limit block 322 abut against each other, thus stopping the opening and preventing the spring 33 from being over-compressed, thereby extending the service life of the spring 33. The distance value of the limit gap 301 can be flexibly set according to the size of the drill bit 200.
[0028] This invention enables multiple sets of gripper assemblies to open simultaneously by moving the gripping push block downwards, and to close simultaneously by moving the gripping push block upwards, thereby enabling the simultaneous gripping of multiple drill bits and greatly improving gripping efficiency. In addition, this invention is initially in a gripping state, and the spring force can be easily set to maintain an appropriate gripping force, thereby avoiding damage to the drill bits due to excessive gripping force.
[0029] It should be noted that, in addition to being V-shaped, the left clamping groove 3112 and the right clamping groove 3212 can also be arc-shaped or other suitable shapes. The number of gripper assemblies 7 can be ten or other suitable quantities.
[0030] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.
Claims
1. A multi-workpiece elastic clamping robot, characterized in that: The device includes a front side plate (1), a rear side plate (2), at least two sets of gripper assemblies (3), a left rotating shaft (4), a right rotating shaft (5), a gripping push block (6), and a push block drive assembly (7). The gripper assembly (3) includes a left gripper (31), a right gripper (32), and a spring (33). The left end of the spring (33) is connected to the upper part of the right side wall of the left gripper (31), and the right end of the spring (33) is connected to the upper part of the left side wall of the right gripper (32). The left gripper (31) has a left insertion hole with a front-to-back orientation in the middle, and the lower part of the left gripper (31) extends downwards. The right extension forms a left clamping part (311), the left rotating shaft (4) is fixedly inserted through the left insertion hole, the right jaw (32) has a right insertion hole with a front-to-back orientation in the middle, the lower part of the right jaw (32) extends downward and to the left to form a right clamping part (321), the right rotating shaft (5) is fixedly inserted through the right insertion hole, the lower end of the left clamping part (311) and the lower end of the right clamping part (321) elastically abut against each other, the front side plate (1) has a front left shaft hole (11) and a front right shaft hole (12) respectively facing the left rotating shaft (4) and the right rotating shaft (5), the rear side plate (2) The left and right shafts (4 and 5) are respectively provided with a rear left shaft hole (21) and a rear right shaft hole (22). The front and rear ends of the left shaft (4) are respectively rotatably inserted into the front left shaft hole (11) and the rear left shaft hole (21), and the front and rear ends of the right shaft (5) are respectively rotatably inserted into the front right shaft hole (12) and the rear right shaft hole (22). The clamping push block (6) includes a horizontally placed drive connecting block (61), a left push block (62) extending from the left end of the drive connecting block (61) to the left and downward, and a push block (62) extending from the drive connecting block (61) to the left and downward. The right push block (63) extends downward to the right at the right end. The push block drive assembly (7) is fixedly installed between the upper end of the front side plate (1) and the upper end of the rear side plate (2). The output end of the push block drive assembly (7) extends downward and connects with the drive connection block (61). The right side wall of the left push block (62) abuts against the upper end of the left gripper (31). The left side wall of the right push block (63) abuts against the upper end of the right gripper (32). The upper end of the left gripper (31) is located on the right side of the left insertion hole, and the upper end of the right gripper (32) is located on the left side of the right insertion hole.
2. The multi-workpiece elastic clamping robot according to claim 1, characterized in that: The push block drive assembly (7) includes a drive cylinder (71) and a cylinder mounting block (72). The front and rear ends of the cylinder mounting block (72) are fixedly connected to the upper end of the front side plate (1) and the upper end of the rear side plate (2), respectively. The cylinder mounting block (72) has a cylinder mounting hole (721) that runs through itself from top to bottom in the middle. The drive cylinder (71) is fixedly installed on the top of the cylinder mounting block (72), and the output shaft of the drive cylinder (71) passes down through the cylinder mounting hole (721) and is fixedly connected to the top of the drive connecting block (61).
3. The multi-workpiece elastic clamping robot according to claim 1, characterized in that: The front and rear ends of the drive connecting block (61) are respectively rotatably mounted with a front guide wheel (611) and a rear guide wheel (612). The front side plate (1) has a front guide hole (13) that runs through itself from front to back and is oriented vertically at the front guide wheel (611). The front guide wheel (611) is placed in the front guide hole (13). The left and right edges of the front guide wheel (611) slide against the left and right inner walls of the front guide hole (13) respectively. The rear side plate (2) has a rear guide hole (23) that runs through itself from front to back and is oriented vertically at the rear guide wheel (612). The rear guide wheel (612) is placed in the rear guide hole (23). The left and right edges of the rear guide wheel (612) slide against the left and right inner walls of the rear guide hole (23) respectively.
4. The multi-workpiece elastic clamping robot according to claim 1, characterized in that: The gripper assembly (3) further includes a left pulley (34), a right pulley (35), a left pulley shaft (36), and a right pulley shaft (37). The upper end of the left gripper (31) has a left pulley shaft hole (313) that extends through itself from front to back. The upper end of the right gripper (32) has a right pulley shaft hole that extends through itself from front to back. The left pulley shaft (36) is fixedly inserted through the left pulley shaft hole (313). The left pulley (34) is rotatably sleeved on the left pulley shaft (35). Outside of the pulley shaft (36), the right pulley shaft (37) is fixedly inserted through the right pulley shaft hole, and the right pulley (35) is rotatably sleeved outside the right pulley shaft (37). The upper edge of the left pulley (34) is located above the upper part of the left jaw (31), and the upper edge of the right pulley (35) is located above the upper part of the right jaw (32). The upper edge of the left pulley (34) is flush with the upper edge of the right pulley (35).
5. The multi-workpiece elastic clamping robot according to claim 1, characterized in that: The lower part of the right side wall of the left clamping part (311) forms a left clamping end face (3111) in a vertical plane with a front-to-back orientation. The left clamping end face (3111) is recessed to the left to form a left clamping groove (3112) that is narrow on the left and wide on the right. The lower part of the left side wall of the right clamping part (321) forms a right clamping end face (3211) in a vertical plane with a front-to-back orientation. The right clamping end face (3211) is recessed to the right to form a right clamping groove (3212) that is narrow on the right and wide on the left. The left clamping groove (3112) and the right clamping groove (3212) are directly opposite each other to form a drill bit clamping hole (302).
6. The multi-workpiece elastic clamping robot according to claim 1, characterized in that: A left limiting block (312) protrudes to the right from the left insertion hole and the spring (33) on the right side wall of the left gripper (31), and a right limiting block (322) protrudes to the left from the right insertion hole and the spring (33) on the left side wall of the right gripper (32). The right end of the left limiting block (312) and the left end of the right limiting block (322) are directly opposite each other, and a limiting gap (301) is formed between the right end of the left limiting block (312) and the left end of the right limiting block (322).