Elastic inner support fixing robot gripper

Abstract

The utility model relates to a kind of elastic inner support fixing robot gripper, the robot gripper has at least three elastic fingers, driving rod is installed in the robot gripper, the driving rod is located between each elastic finger, the driving rod is contacted with each elastic finger, contact surface is wedge surface, the driving rod is connected with driving device;Each elastic finger head is inserted in the gripping hole set on workpiece, the driving device drives driving rod to move, makes each elastic finger head open or close, and tightens workpiece;The contact surface is located at the front end of each elastic finger head or across the front and back of each elastic finger head.The contact surface of driving rod in each elastic finger is located at the front end of each elastic finger or across the front and back of each elastic finger, so that each elastic finger tightens workpiece, driving rod constitutes the inner support of each elastic finger, so that workpiece can be kept stable when processing, and processing precision is improved.

Description

Technical Field

[0001] This utility model relates to the automated grinding and processing of claw hammer heads, specifically to an elastic internal support fixing robot gripper. Background Technology

[0002] The existing automatic processing equipment for claw hammer heads does not produce claw hammer heads with sufficient precision and cannot meet the requirements for high-precision processing. Our research on existing automated claw hammer head processing equipment revealed that the low precision is due to the robotic gripper. The robotic gripper is a one-piece metal component with at least two elastic fingers, driven by a push rod. The push rod is located between the elastic fingers, and the contact surface between the push rod and each elastic finger is a wedge surface. The contact point between the push rod and each elastic finger is located at the base of each elastic finger. This location means that when the claw hammer head is tightened, each elastic finger is suspended in the air, making it impossible to guarantee the stability of the claw hammer head during processing, thus affecting the processing accuracy. Utility Model Content

[0003] In view of the above, this utility model proposes an elastic internal support fixed robot gripper.

[0004] The technical solution of this utility model: A flexible, internally supported, fixed robot gripper has at least three elastic fingers. A drive rod is installed inside the gripper, positioned between the elastic fingers. The drive rod contacts each elastic finger, with the contact surface being a wedge. The drive rod is connected to a drive device. Each elastic finger is inserted into a gripping hole on a workpiece. The drive device drives the drive rod to move, causing the elastic fingers to open or close and tighten the workpiece (under the action of the wedge). The contact surface is located at the front end of each elastic finger or spans the front and back of each elastic finger. Further refining the above technical solution, the robot gripper is a one-piece molded metal part.

[0005] Considering that the push rod design makes it difficult to machine the wedge surfaces inside each elastic finger, such as a conical surface which can only be machined into multiple inclined surfaces, the resulting wedge surfaces have low fit, making it difficult to achieve precise control over the opening or closing of each elastic finger and easily damaging the workpiece; the above technical solution is further refined so that the drive rod is a pull rod; the wedge surfaces inside each elastic finger are easy to machine, the resulting wedge surfaces have high fit, and can achieve precise control over the opening or closing of each elastic finger.

[0006] Further refining the above technical solution, the wedge surface is a conical surface.

[0007] To further refine the above technical solution, the driving device is a cylinder.

[0008] Further refining the above technical solution, the cylinder and the drive rod are at an angle and connected by a connecting rod; the robot gripper and the cylinder share a support, the connecting rod is hinged to the support, one end of the connecting rod is movably connected to the cylinder, and the other two ends are movably connected to the drive rod; the connecting rod acts as a lever, which amplifies the pulling force applied by the cylinder; the applied pulling force can be adjusted by replacing the connecting rod (with different torques) without moving the cylinder.

[0009] Further refining the above technical solution, the angle is 90°; the connecting rod is an L-shaped connecting rod.

[0010] The above technical solution is further refined by providing anti-slip teeth on the outer periphery of each flexible finger.

[0011] Further refining the above technical solution, the workpiece is a claw hammer head, which is provided with a hammer handle mounting hole. The hammer handle mounting hole has a protrusion, and the hammer handle mounting hole is also a gripping hole. The presence of the protrusion reduces the effective contact area between each elastic finger and the claw hammer head. Each elastic finger is provided with a groove to avoid the protrusion, thereby increasing the effective contact area between each elastic finger and the claw hammer head.

[0012] The advantages of this utility model are that it has a reasonable design and simple structure. The contact surface of the drive rod with each elastic finger is located at the front end of each elastic finger or spans across the front and back of each elastic finger. In this way, when each elastic finger tightens the workpiece, the drive rod forms an inner support for each elastic finger, so that the workpiece can remain stable during processing and the processing accuracy is improved. Attached Figure Description

[0013] Figure 1 This is a schematic diagram (3D) of the structure of a claw hammer head.

[0014] Figure 2 This is a schematic diagram of the claw hammer head structure (front view).

[0015] Figure 3 yes Figure 2 Schematic diagram of cross section in the AA direction.

[0016] Figure 4 This is a 3D schematic diagram of the installation of a robot gripper with elastic internal support.

[0017] Figure 5 This is a side view of the installation diagram of the elastic internal support fixed robot gripper.

[0018] Figure 6 yes Figure 5 Schematic diagram of cross section in the middle BB direction.

[0019] Figure 7 This is a schematic diagram of a 3D robot gripper structure with elastic internal support. Figure 8This is a schematic diagram (3D) of the elastic internal support structure of the robot gripper that holds the head of the claw hammer in place.

[0020] The diagram shows the following components: hammer head 1, hammer handle mounting hole 1-1, protrusion 1-2, robot gripper 2, elastic finger 2-1, anti-slip teeth 2-2, groove 2-3, pull rod 3, cylinder 4, bracket 5, L-shaped connecting rod 6, and wedge surface 7. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings.

[0022] like Figure 1-3 As shown, the hammer head 1 of the claw hammer is provided with a hammer handle mounting hole 1-1, and there is a protrusion 1-2 inside the hammer handle mounting hole 1-1; the hammer handle mounting hole 1-1 is also known as the gripping hole. like Figure 4-7 As shown, an elastic internal support fixed robot gripper is disclosed. The robot gripper 2 is a one-piece molded metal part with four elastic fingers 2-1. A pull rod 3 is installed inside the robot gripper 2, located between each elastic finger 2-1. The pull rod 3 contacts each elastic finger 2-1, and the contact surface is a wedge surface 7, which spans the front and back of each elastic finger 2-1. The wedge surface 7 is a conical surface. A cylinder 4 shares a support 5 with the robot gripper 2. The cylinder 4 is at a 90° angle to the pull rod 3 and is connected by an L-shaped connecting rod 6. The L-shaped connecting rod 6 is hinged to the support 5. One end of the L-shaped connecting rod 6 is movably connected to the cylinder 4, and the other two ends are movably connected to the pull rod 3. Anti-slip teeth 2-2 are distributed on the outer periphery of each elastic finger 2-1, and grooves 2-3 are provided on each elastic finger 2-1 to avoid protrusions 1-2. like Figure 8 As shown, the above-mentioned elastic internal support fixing robot 2 grippers grasp the claw hammer head 1: the elastic internal support fixing robot gripper 2 moves (at this time, each elastic finger 2-1 closes), so that the head of each elastic finger 2-1 is inserted into the hammer handle mounting hole 1-1 (grabbing hole) on the claw hammer head 1; the cylinder 4 drives the pull rod 3 to move, and under the action of the wedge surface 7, each elastic finger 2-1 opens, and the tensioning part tightens the claw hammer head 1 (at this time, the pull rod 3 constitutes the internal support of each elastic finger 2-1); the grasping of the claw hammer head 1 is completed.

[0023] The above embodiments are only for illustrating the technical concept and features of the utility model, and are intended to enable those skilled in the art to understand the content of the utility model and implement it accordingly. They should not be construed as limiting the scope of protection of the utility model. All equivalent changes or modifications made in accordance with the spirit and essence of the utility model should be covered within the scope of protection of the utility model.

Claims

1. A flexible internal support fixed robot gripper, the robot gripper having at least three flexible fingers, a drive rod installed inside the robot gripper, the drive rod being located between each flexible finger, the drive rod contacting each flexible finger with a wedge-shaped contact surface, the drive rod being connected to a drive device; each flexible finger is inserted into a gripping hole provided on a workpiece, the drive device driving the drive rod to move, causing each flexible finger to open or close, tightening the workpiece; characterized in that... The contact surface is located at the front end of each elastic finger or spans the front and back of each elastic finger.

2. The elastic internal support fixed robot gripper according to claim 1, characterized in that, The robot gripper is a one-piece molded metal part.

3. The elastic internal support fixed robot gripper according to claim 2, characterized in that, The drive rod is a pull rod.

4. The elastic internal support fixed robot gripper according to claim 1, characterized in that, The wedge surface is a conical surface.

5. The elastic internal support fixed robot gripper according to claim 1, characterized in that, The driving device is a cylinder.

6. The elastic internal support fixed robot gripper according to claim 5, characterized in that, The cylinder is at an angle to the drive rod and is connected by a connecting rod; The robot gripper and cylinder share a support frame, and the connecting rod is hinged to the support frame. One end of the connecting rod is movably connected to the cylinder, and the other two ends are movably connected to the drive rod.

7. The elastic internal support fixed robot gripper according to claim 6, characterized in that, The angle is 90°; the connecting rod is an L-shaped connecting rod.

8. The elastic internal support fixed robot gripper according to claim 1, characterized in that, Anti-slip teeth are distributed around the outer periphery of each flexible finger.

9. The elastic internal support fixed robot gripper according to claim 1, characterized in that, The workpiece is a claw hammer head with a hammer handle mounting hole. The hammer handle mounting hole has a protrusion inside, and the hammer handle mounting hole is also a gripping hole. Each elastic finger has a groove to avoid the protrusion.

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