Liftable clamp hand

Abstract

This utility model discloses a liftable gripper, which includes a first clamping mechanism and a second clamping mechanism. The first clamping mechanism includes a first clamping plate, a first mounting base, a first guide rod that is slidably disposed on the first mounting base along an oblique direction, and a first spring disposed on the first guide rod and used to give the first guide rod an oblique downward movement tendency. The first clamping plate is disposed at the lower end of the first guide rod. The first clamping plate has at least a first working state and a second working state. When the first clamping plate is in the first working state, the first clamping plate approaches the second clamping mechanism and clamps the workpiece. When the first clamping plate is in the second working state, the first clamping plate rises, and the second clamping mechanism cooperates with the first clamping plate to lift the workpiece. This utility model can complete the lifting and placement of the workpiece in the vertical direction with the drive of a robot that only moves in the horizontal direction, which can reduce the movement dimension of the robot and thus reduce the manufacturing cost of the robot.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing equipment, and specifically relates to a lifting gripper. Background Technology

[0002] In the stamping field, to achieve continuous mass production on a stamping press, it is often necessary to develop corresponding robotic arms to automatically grip and feed products. For example, a robotic arm disclosed in CN 107377800 A (hereinafter referred to as D1) and a robotic arm disclosed in CN204975079U (hereinafter referred to as D2) can only perform horizontal clamping. In order for the robotic arm in D2 to perform clamping, lifting, translation, and placement of products, the robotic arm in D1 needs to perform three-dimensional movement to achieve product transfer. However, the need to perform three-dimensional movement requires a more complex structure for the robotic arm in D1, resulting in higher costs. Summary of the Invention

[0003] The purpose of this invention is to provide a liftable gripper that can move a workpiece vertically under the action of an external force in the horizontal direction.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a height-adjustable gripper, comprising a first clamping mechanism and a second clamping mechanism. The first clamping mechanism is mounted on a robotic arm that moves horizontally in the left-right and front-back directions on a horizontal plane. The first clamping mechanism includes a first clamping plate, a first mounting base, a first guide rod slidably disposed on the first mounting base in an oblique direction, and a first spring disposed on the first guide rod and used to give the first guide rod an oblique downward movement tendency. The first clamping plate is disposed at the lower end of the first guide rod. The first clamping plate has at least a first working state and a second working state. When the first clamping plate is in the first working state, the first clamping plate is separated from the workpiece and the first clamping plate is at a first height. When the first clamping plate is in the second working state, the first clamping plate... The first clamping plate is pressed against the workpiece and, in conjunction with the second clamping mechanism, clamps and lifts the workpiece. At this point, the first clamping plate is at a second height, which is greater than the first height. The robot arm moves the first clamping mechanism toward the second clamping mechanism. After the first clamping plate and the second clamping mechanism clamp the workpiece between them, the robot arm continues to move the first clamping mechanism toward the second clamping mechanism. At this point, due to the workpiece's limitation, the first clamping plate cannot continue to move to the left, while the first mounting base will continue to move to the left. Under the action of the first guide rod, the first clamping plate moves upward. The second clamping mechanism, in conjunction with the upward movement of the first clamping plate, can lift the workpiece too high. Subsequently, the robot arm moves the first clamping mechanism and the second clamping mechanism forward, and then moves the first clamping mechanism and the second clamping mechanism in opposite directions. At this point, the workpiece will be gradually lowered (the action is the opposite of lifting), completing the workpiece transport.

[0005] In another embodiment, there are multiple sets of the first clamping mechanism and the second clamping mechanism, with the workpiece arranged in the front-back direction, and each set of the first clamping mechanism and the second clamping mechanism arranged sequentially in the front-back direction.

[0006] In another embodiment, the first clamping mechanism further includes a first fixing block fixed to the upper end of the first guide rod, and at least two first guide rods are disposed on the first mounting base in parallel to each other.

[0007] In another embodiment, the first spring is sleeved on the first guide rod and located between the first mounting base and the first clamping plate.

[0008] In another embodiment, the proximal end of the first clamping plate is fixedly connected to the first guide rod, and the distal end of the first clamping plate is provided with a V-shaped notch to facilitate clamping the workpiece.

[0009] In another embodiment, the first fixing block is provided with a first adjusting rod that can be adjusted relative to the first fixing block. The first adjusting rod has at least a portion extending out of the first fixing block and the extended portion abutting against the first mounting base. The initial height of the first clamping plate is adjusted by the length of the lower end of the first adjusting rod extending out of the first fixing block, so that the initial height of the first clamping plate is adapted to the position of the workpiece. The first adjusting rod also serves as a downward limit for the first clamping plate.

[0010] In another embodiment, the first adjusting rod is threadedly connected to the first fixing block and passes through the first fixing block. The threaded connection method has a simple structure and is easy to process and manufacture.

[0011] In another embodiment, an upper limit block is provided below the first mounting base and on the moving path of the first clamping plate, the upper limit block being the upper limit of the first clamping plate.

[0012] In another embodiment, the first mounting base is provided with a waist-shaped hole to facilitate adjustment of the left and right positions of the first mounting base on the robot arm.

[0013] In another embodiment, the second clamping mechanism has the same structure as the first clamping mechanism and is symmetrically arranged about the axis of the workpiece.

[0014] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: This utility model can complete the lifting and placement of workpieces in the vertical direction under the drive of a robot arm that only moves in the horizontal direction, which can reduce the movement dimension of the robot arm and thus reduce the manufacturing cost of the robot arm. Attached Figure Description

[0015] Figure 1 This is a perspective view of the lifting gripper of this utility model when it is mounted on a robotic arm and not clamping a workpiece.

[0016] Figure 2 for Figure 1 Side view of the first and second clamping mechanisms in the current state;

[0017] Figure 3 This is a perspective view of the lifting gripper of this utility model when it is mounted on a robotic arm and clamps and lifts the workpiece.

[0018] Figure 4 for Figure 3 Side view of the first and second clamping mechanisms in the current state;

[0019] Figure 5 for Figure 1 A three-dimensional view of the first clamping mechanism in its current state;

[0020] Figure 6 for Figure 3 A three-dimensional view of the first clamping mechanism in its current state. Detailed Implementation

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

[0022] like Figure 1 , 3 As shown, the adjustable gripper includes a first clamping mechanism A and a second clamping mechanism B, as follows: Figure 2 , 4 As shown in Figures 5 and 6, the first clamping mechanism A is mounted on the robot arm C, which moves horizontally in the left-right and front-back directions on a horizontal plane. The first clamping mechanism A includes a first clamping plate 1, a first mounting base 2, a first guide rod 3 that is obliquely slidable on the first mounting base 2, and a first spring 9 that is mounted on the first guide rod 3 and is used to give the first guide rod 3 an oblique downward movement tendency. The first clamping plate 1 is located at the lower end of the first guide rod 3. The first clamping plate 1 has at least a first working state and a second working state. When the first clamping plate 1 is in the first working state, the first clamping plate 1 is separated from the workpiece 0 and the first clamping plate 1 is at a first height. When the first clamping plate 1 is in the second working state, the first clamping plate 1 is close to the workpiece 0 and cooperates with the second clamping mechanism B to clamp the workpiece 0 and lift the workpiece 0. At this time, the first clamping plate 1 is at a second height, which is greater than the first height.

[0023] There are multiple sets of first clamping mechanism A and second clamping mechanism B. The second clamping mechanism B has the same structure as the first clamping mechanism A and is symmetrically arranged about the axis connecting the workpiece 0. The workpiece 0 is arranged in the front-to-back direction. The sets of first clamping mechanism A and second clamping mechanism B are arranged sequentially in the front-to-back direction. The first clamping mechanism A also includes a first fixing block 4 fixed to the upper end of the first guide rod 3. There are at least two first guide rods 3, which are arranged parallel to each other on the first mounting base 2. The first spring 9 is sleeved on the first guide rod 3 and is located between the first mounting base 2 and the first clamping plate 1. The proximal end of the first clamping plate 1 is fixedly connected to the first guide rod 3, and the distal end of the first clamping plate 1 has a V-shaped notch 5 to facilitate clamping the workpiece 0. The first fixed block 4 is provided with an adjustable first adjusting rod 6, which is adjustable relative to the first fixed block 4. At least a portion of the first adjusting rod 6 extends out of the first fixed block 4 and abuts against the first mounting base 2. The initial height of the first clamping plate 1 is adjusted by the length of the lower end of the first adjusting rod 6 extending out of the first fixed block 4, thereby adapting the initial height of the first clamping plate 1 to the position of the workpiece 0. The first adjusting rod 6 also serves as a downward limit for the first clamping plate 1. The first adjusting rod 6 is threadedly connected to and passes through the first fixed block 4. The threaded connection method is simple in structure and easy to manufacture. An upper limit block 7 is provided below the first mounting base 2 and on the moving path of the first clamping plate 1. The upper limit block 7 serves as an upward limit for the first clamping plate 1. The first mounting base 2 is provided with a waist-shaped hole 8 to facilitate adjustment of the left and right positions of the first mounting base 2 on the robot arm C.

[0024] The principle of this utility model is as follows: The robot arm C drives the first clamping mechanism A to move towards the second clamping mechanism B, that is, the first clamping mechanism A moves to the left and the second clamping mechanism B moves to the right. After the first clamping plate 1 and the second clamping mechanism B clamp the workpiece 0 between them, the robot arm C continues to drive the first clamping mechanism A to move towards the second clamping mechanism B. At this time, due to the limitation of the workpiece 0, the first clamping plate 1 cannot continue to move to the left, while the first mounting base 2 will continue to move to the left. Under the action of the first guide rod 3, the first clamping plate 1 moves up, and the second clamping mechanism B moves up in coordination with the first clamping plate 1, so that the workpiece 0 can be raised too high. Then the robot arm C drives the first clamping mechanism A and the second clamping mechanism B to move forward, and then drives the first clamping mechanism A and the second clamping mechanism B to move in opposite directions. At this time, the workpiece 0 will be gradually lowered (the action is the opposite of the lifting), completing the conveying of the workpiece 0.

[0025] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A liftable gripper, comprising a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism is mounted on a robotic arm that moves horizontally in the left-right and front-back directions on a horizontal plane, characterized in that: The first clamping mechanism includes a first clamping plate, a first mounting base, a first guide rod slidably disposed on the first mounting base along an oblique direction, and a first spring disposed on the first guide rod and used to give the first guide rod an oblique downward movement tendency. The first clamping plate is disposed at the lower end of the first guide rod. The first clamping plate has at least a first working state and a second working state. When the first clamping plate is in the first working state, the first clamping plate is separated from the workpiece and the first clamping plate is at a first height. When the first clamping plate is in the second working state, the first clamping plate is close to the workpiece, cooperates with the second clamping mechanism to clamp the workpiece and lift the workpiece. At this time, the first clamping plate is at a second height, which is greater than the first height.

2. The liftable clamp hand of claim 1, wherein: There are multiple sets of the first clamping mechanism and the second clamping mechanism.

3. The liftable clamp hand of claim 1, wherein: The first clamping mechanism further includes a first fixing block fixed to the upper end of the first guide rod, and at least two first guide rods are arranged parallel to each other on the first mounting base.

4. The liftable clamp hand of claim 1, wherein: The first spring is sleeved on the first guide rod and located between the first mounting base and the first clamping plate.

5. The liftable clamp hand of claim 1, wherein: The proximal end of the first clamping plate is fixedly connected to the first guide rod, and the distal end of the first clamping plate has a V-shaped notch.

6. The liftable clamp hand of claim 3, wherein: The first fixing block is provided with a first adjusting rod that can be adjusted relative to the first fixing block. The first adjusting rod has at least a portion extending out of the first fixing block and the extended portion abutting against the first mounting base.

7. The liftable clamp hand of claim 6, wherein: The first adjusting rod is threadedly connected to the first fixing block and passes through the first fixing block.

8. The liftable clamp hand of claim 1, wherein: An upper limit block is provided below the first mounting base and on the moving path of the first clamping plate.

9. The liftable clamp hand of claim 1, wherein: The first mounting base is provided with a waist-shaped hole.

10. The liftable clamp hand of any one of claims 1-9, wherein: The second clamping mechanism has the same structure as the first clamping mechanism and is symmetrically arranged.

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