A gripper mechanism compatible with multiple products

Abstract

This utility model discloses a clamping mechanism compatible with multiple products, including a fixed plate, a mounting base below the fixed plate, a drive structure mounted on one end of the mounting base, and a ball screw rotatably connected to the drive structure on the mounting base. The ball screw is a bidirectional ball screw, and each of its two nut seats is connected to a gripper assembly. The gripper assembly includes a connecting plate connected to the nut seats of the ball screw, a clamping plate connected to the inner side of the connecting plate, and a support plate protruding inward at the lower end of the clamping plate. A buffer is provided between the clamping plate and the connecting plate, and the buffer includes two horizontally arranged guide rods. The guide rods are fixedly connected to the clamping plate, and a linear bearing connected to the connecting plate is slidably connected to the guide rods. A spring is sleeved on the guide rod. The advantages of this utility model are: it achieves flexible clamping of products, ensures the stability of product clamping, and is compatible with clamping operations of different products.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a gripping mechanism compatible with multiple products. Background Technology

[0002] Brake pads, also known as brake discs, are the most critical safety component in a car's braking system. The effectiveness of braking depends entirely on the brake pads. Brake pads vary in structure and size depending on the vehicle.

[0003] Because brake pads come in various structures and sizes, a single clamping structure often cannot meet the requirements during brake pad production. Therefore, manual handling is generally used. However, manual handling is labor-intensive, time-consuming, and increases production costs. Furthermore, its low handling efficiency hinders production efficiency and increases overall product costs. Robotic handling is often limited to handling only a few types of brake pads with similar sizes and structures, resulting in limited applicability. Robots are also expensive and difficult to maintain. Mechanical structures are also used, but their clamping capabilities are limited, making them unsuitable for clamping brake pads of different structures and sizes. Additionally, their clamping stability is low. For example, a brake pad production clamping device disclosed in patent publication number CN211109861U uses a mechanical linkage structure to clamp brake pads via an electric push rod, movable block, first movable rod, second movable rod, and clamping plate. However, this clamping device can only clamp brake pads of specific sizes, and the clamping is rigid contact, resulting in low stability. Utility Model Content

[0004] The purpose of this invention is to provide a gripping mechanism that is compatible with a variety of products, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a clamping mechanism compatible with multiple products, including a fixed plate, a mounting base provided below the fixed plate, a drive structure mounted on one end of the mounting base, a ball screw rotatably connected to the drive structure on the mounting base, the ball screw being a bidirectional ball screw, and a gripper assembly connected to each of the two nut seats of the ball screw.

[0006] The gripper assembly includes a connecting plate connected to the nut seat of the ball screw. A clamping plate is connected to the inner side of the connecting plate. The lower end of the clamping plate is provided with an inwardly protruding support plate. A buffer is provided between the clamping plate and the connecting plate. The buffer includes two horizontally arranged guide rods. The guide rods are fixedly connected to the clamping plate. A linear bearing connected to the connecting plate is slidably connected to the guide rod. A spring is sleeved on the guide rod. The two ends of the spring abut against the clamping plate and the linear bearing, respectively.

[0007] Further optimization involves providing a stop block for the linear bearing at the end of the guide rod near the connecting plate, a connecting block on the side of the connecting plate, and a linear slide rail between the connecting block and the mounting base to ensure stable movement of the gripper assembly.

[0008] Further optimization involves providing a flexible pad on the inner side of the clamping plate to ensure effective clamping of the product, prevent the product from slipping, and provide protection for the product; the clamping plate is provided with a through hole, and a first sensor is provided in the through hole, which is used to detect the presence and position of the product.

[0009] Further optimization involves the ball screw comprising a lead screw, a positive thread nut seat, and a negative thread nut seat. The positive thread nut seat and the negative thread nut seat are respectively connected to the connecting plates of two gripper assemblies. The mounting base is provided with a support block for mounting the lead screw, and a bearing is provided between the support block and the lead screw. The mounting base is also provided with clearance holes for sliding of the connecting plates. The positive thread nut seat and the negative thread nut seat can move linearly in the opposite direction along the lead screw, driving the two gripper assemblies to move in the opposite direction, thus achieving the gripping or releasing action.

[0010] Further optimization involves a drive structure comprising a servo motor mounted on a mounting base, a first synchronous pulley connected to the output shaft of the servo motor, and a second synchronous pulley connected to a ball screw. A synchronous belt connects the first and second synchronous pulleys. The servo motor drives the first synchronous pulley to rotate, which in turn drives the second synchronous pulley to rotate via the synchronous belt, ultimately rotating the ball screw.

[0011] Further optimization involves providing a vertical plate near the drive structure end of the mounting base, with a height-adjustable adjustment plate installed on the side of the vertical plate. The servo motor is fixed to the adjustment plate, facilitating height adjustment of the servo motor and its connected first synchronous pulley, thereby achieving tension adjustment of the synchronous belt.

[0012] Further optimization includes a limiting plate on the upright plate, which is located below the adjusting plate. The adjusting plate has several waist-shaped holes for height adjustment, enabling adjustment of the height position of the adjusting plate. The connecting plate has a clearance groove for the lead screw to pass through, and the side of the adjusting plate has a cover for the protection of the drive structure.

[0013] Further optimization involves providing several connecting rods above the mounting base that connect to the fixing plate, and a bracket in the middle of the mounting base, on which a second sensor is mounted to detect the presence or absence of the product.

[0014] Beneficial effects: The clamping mechanism of this utility model, which is compatible with multiple products, achieves the clamping or releasing action by driving two gripper assemblies in opposite directions through the structure of the drive structure and the bidirectional ball screw. Specifically, the first synchronous pulley is driven to rotate by the servo motor, which in turn drives the second synchronous pulley to rotate through the synchronous belt. The second synchronous pulley drives the ball screw to rotate, which in turn drives the positive and negative thread nut seats to move synchronously in opposite directions, thereby driving the two gripper assemblies to move towards or away from each other, thus clamping or releasing the product.

[0015] The buffer structure provides cushioning when the clamping plate grips the product, absorbing the recoil force and providing tension to achieve flexible gripping of the product, ensuring gripping stability and enabling gripping operations for different products.

[0016] This clamping mechanism has a simple structure, is easy to operate and maintain, and can be used in the automated clamping and handling of various brake pad products. It provides stable clamping of brake pad products, achieves automated operation, requires less manpower, has low labor costs, and has high operating efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the axial side structure of the clamping mechanism compatible with multiple products disclosed in the embodiments of this utility model.

[0018] Figure 2 This is a front view structural schematic diagram of a gripping mechanism compatible with multiple products disclosed in an embodiment of this utility model.

[0019] Figure 3 A schematic diagram of the axial side structure of the gripping mechanism for multiple products, which is compatible with the present utility model, without a cover, as disclosed in the embodiment of the present utility model.

[0020] Figure 4 This is a schematic diagram of the cooperation structure between the two gripper assemblies and the linear slide rail disclosed in the embodiment of this utility model;

[0021] Figure 5 This is a schematic diagram of the gripper assembly disclosed in the embodiments of this utility model;

[0022] Figure 6 This is a schematic diagram of the state structure of the gripping mechanism when it grips a product of a certain size, as disclosed in an embodiment of the present utility model.

[0023] Figure 7This is a schematic diagram of the state structure of the gripping mechanism when it grasps a product of another size, as disclosed in an embodiment of this utility model.

[0024] Figure 8 This is a schematic diagram of the state structure of the gripping mechanism when gripping a product of a third size, as disclosed in an embodiment of this utility model.

[0025] Figure Labels

[0026] 1-Fixed plate, 2-Mounting base, 21-Upright plate, 22-Adjusting plate, 23-Limiting plate, 24-Allowing hole, 25-Support block, 26-Connecting rod, 3-Drive structure, 31-Servo motor, 32-First synchronous pulley, 33-Second synchronous pulley, 34-Synchronous belt, 35-Cover, 4-Ball screw, 41-Screw, 42-Positive thread nut seat, 43-Negative thread nut seat, 5-Gripper assembly, 51-Connecting plate, 511-Allowing groove, 52-Clamping plate, 521-Support plate, 522-Through hole, 53-Pad plate, 54-Buffer, 541-Guide rod, 542-Linear bearing, 543-Spring, 544-Stop block, 6-Linear slider, 7-Bracket, 8-Second sensor, 9-Product. Detailed Implementation

[0027] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0028] like Figure 1-3 , Figure 5-8 As shown, a clamping mechanism compatible with multiple products includes a fixed plate 1, a mounting base 2 is provided below the fixed plate 1, a drive structure 3 is mounted on one end of the mounting base 2, a ball screw 4 connected to the drive structure 3 is rotatably connected to the mounting base 2, the ball screw 4 is a bidirectional ball screw, and a gripper assembly 5 is connected to each of the two nut seats of the ball screw 4.

[0029] The gripper assembly 5 includes a connecting plate 51 connected to the nut seat of the ball screw 4. A clamping plate 52 is connected to the inner side of the connecting plate 51. The lower end of the clamping plate 52 is provided with an inwardly protruding support plate 521. A buffer 54 is provided between the clamping plate 52 and the connecting plate 51. The buffer 54 includes two horizontally arranged guide rods 541. The guide rods 541 are fixedly connected to the clamping plate 52. A linear bearing 542 connected to the connecting plate 51 is slidably connected to the guide rods 541. A spring 543 is sleeved on the guide rods 541. The two ends of the spring 543 abut against the clamping plate 52 and the linear bearing 542, respectively.

[0030] In this application, the gripping mechanism is used to grip product 9, specifically to grip automotive brake pads (i.e., product 9). Through the connection between the gripping mechanism and the conveying mechanism, the gripping and handling of product 9 are achieved, realizing automated production of product 9. Specifically, the fixing plate 1 connects the gripping mechanism to the conveying mechanism, and the mounting base 2 is used to mount the drive structure 3 and the ball screw 4. The drive structure 3 drives the ball screw 4 to move the gripper assembly 5. Through the bidirectional ball screw 4, the two gripper assemblies 5 move in opposite directions, allowing them to move away from or towards each other, ultimately gripping or releasing product 9. Furthermore, through the action of the ball screw 4, the two gripper assemblies 5 can grip products 9 of different widths, thus being compatible with gripping different products and having wide applicability.

[0031] In this application, the gripper assembly 5 includes a connecting plate 51 and a clamping plate 52. The clamping plate 52 is connected to the nut seat of the ball screw 4 via the connecting plate 51. The linear movement of the nut seat of the ball screw 4 drives the connecting plate 51 and the clamping plate 52 connected to the connecting plate 51 to move synchronously, thereby realizing the opposite movement of the two corresponding clamping plates 52 of the two gripper assemblies 5, realizing the gripping or unloading action of the gripper assembly 5. Among them, the lower end of the clamping plate 52 is connected to a support plate 521 to support the product 9, ensuring that the product 9 gripped by the clamping plate 52 will not fall, ensuring the effectiveness and safety of gripping.

[0032] In this application, the buffer 54 provided between the clamping plate 52 and the connecting plate 51 can play a buffering and tensioning role, and can absorb the impact force between the clamping plate 52 and the product 9 during clamping, so that the clamping plate 52 clamps the product 9 in a flexible manner, which protects the clamped product 9 and ensures the firmness of the clamping. Specifically, the buffer component 54 includes a guide rod 541, a linear bearing 542, and a spring 543. The guide rod 541 connects the clamping plate 52 and the connecting plate 51. The linear bearing 542 connects to the connecting plate 51, allowing the connecting plate 51 to slide along the guide rod 541 via the linear bearing 542. This allows the clamping plate 52 to move relative to the connecting plate 51. The spring 543 absorbs the force between the clamping plate 52 and the connecting plate 51. When the two connecting plates 51 of the two gripper assemblies 5 move relative to each other under the action of the ball screw 4 and clamp the product 9, the clamping plate 52 stops moving when it comes into contact with the product 9. At this time, the connecting plate 51 continues to move toward the clamping plate 52, and the spring 543 is compressed. The spring 543 absorbs the force between the connecting plate 51 and the clamping plate 52, and provides a buffer for the stopping of the connecting plate 51. The spring 543 also adjusts the tension between the connecting plate 51 and the clamping plate 52, ensuring that the clamping plate 52 can clamp the product 9. Therefore, the buffer 54 enables the clamping plate 52 to grip the product 9 flexibly, which not only protects the product but also makes it suitable for gripping products 9 of different sizes, thus enabling it to be compatible with the gripping and handling of multiple different brake pad products.

[0033] Please refer to Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of this application, the guide rod 541 is provided with a stop block 544 for the linear bearing 542 stop at the end near the connecting plate 51, the side of the connecting plate 51 is provided with a connecting block 55, and a linear slide rail 6 is provided between the connecting block 55 and the mounting base 2.

[0034] In this embodiment, by providing a stop 544 at the end of the guide rod 541 away from the clamping plate 52, the linear bearing 542, when moved to that position, can be blocked, preventing the linear bearing 542 from separating from the guide rod 541. This ensures that when the gripper assembly 5 is not gripping the product 9, the linear bearing 542 will not fall off the guide rod 541 under the action of the spring 543. The linear slide rail 6 guides the movement of the gripper assembly 5, ensuring that the gripper assembly 5 can move smoothly and steadily left and right under the action of the ball screw 4, thus ensuring the stability of the overall structure.

[0035] Please refer to Figure 3 and Figure 5 As shown, in another embodiment of this application, a flexible pad 53 is provided on the inner side of the clamping plate 52, and a through hole 522 is provided on the clamping plate 52, and a first sensor 56 is provided in the through hole 522.

[0036] In this embodiment, the pad 53 achieves flexible contact with the product 9, preventing damage to the product 9. Simultaneously, the pad 53 is fixed to the clamping plate 52 with bolts, allowing for clamping adaptation to products 9 of different heights and shapes by replacing the pad 53. A first sensor 56, a photoelectric sensor, is installed on the clamping plate 52. It is installed within a through hole 522, facilitating the passage of the light beam from the first sensor 56 for position detection of the product 9 to be clamped, ensuring accurate clamping of the product 9.

[0037] Please refer to Figure 3 As shown, in another embodiment of this application, the ball screw 4 includes a screw 41, a positive thread nut seat 42 and a negative thread nut seat 43. The positive thread nut seat 42 and the negative thread nut seat 43 are respectively connected to the connecting plates 51 of the two gripper assemblies 5. The mounting base 2 is provided with a support block 25 for mounting the screw 41. A bearing is provided between the support block 25 and the screw 41. The mounting base 2 is provided with a clearance hole 24 for sliding of the connecting plate 51.

[0038] In this embodiment, the ball screw 4 consists of a screw 41, a positive thread nut seat 42, and a negative thread nut seat 43. The positive thread nut seat 42 and the negative thread nut seat 43 can move in opposite directions along the screw 41. That is, when the positive thread nut seat 42 moves to the left along the screw 41, the negative thread nut seat 43 moves synchronously to the right along the screw 41. The connecting plate 51 drives the two gripper assemblies 5 to move synchronously towards each other, realizing the gripping action. When the positive thread nut seat 42 moves to the right along the screw 41, the negative thread nut seat 43 moves synchronously to the left along the screw 41. The connecting plate 51 drives the two gripper assemblies 5 to move synchronously away from each other, realizing the releasing action. The mounting base 2 is provided with a support block 25 for supporting the screw 41, and a bearing is provided at the support position to ensure smooth rotation of the screw 41. The clearance hole 24 is used for sliding clearance of the connecting plate 51 to ensure that the connecting plate 51 can move left and right with the nut seat of the ball screw 4.

[0039] Please refer to Figure 3 As shown, based on the above scheme, in another embodiment of this application, the drive structure 3 includes a servo motor 31 mounted on the mounting base 2, a first synchronous pulley 32 connected to the output shaft of the servo motor 31, and a second synchronous pulley 33 connected to the lead screw 41. A synchronous belt 34 is connected between the first synchronous pulley 32 and the second synchronous pulley 33.

[0040] In this embodiment, the drive structure 3 includes a servo motor 31, a first synchronous pulley 32, a second synchronous pulley 33, and a synchronous belt 34. The servo motor 31 can drive the first synchronous pulley 32 to rotate, and the first synchronous pulley 32 can drive the second synchronous pulley 33 to rotate through the synchronous belt 34. The second synchronous pulley 33 drives the lead screw 41 of the ball screw 4 to rotate, and the rotation of the lead screw 41 is converted into the linear motion of the nut seat. That is, the drive structure 3 realizes the transmission of the ball screw 4.

[0041] Please refer to Figure 1 and Figure 3 As shown, based on the above scheme, in another embodiment of this application, a vertical plate 21 is provided at the end of the mounting base 2 near the drive structure 3, and a height-adjustable adjustment plate 22 is installed on the side of the vertical plate 21. The servo motor 31 is fixed on the adjustment plate 22. The adjustment plate 22 is used for mounting the servo motor 31, and the vertical plate 21 is used for connecting and fixing the adjustment plate 22 to the mounting base 2. The vertical plate 21 supports and adjusts the height of the adjustment plate 22, thereby adjusting the height of the servo motor 31 and the first synchronous pulley 32, ultimately adjusting the distance between the first synchronous pulley 32 and the second synchronous pulley 33, driving the tension adjustment of the synchronous belt 34, and ensuring efficient power transmission of the drive structure 3.

[0042] Furthermore, a limiting plate 23 is provided on the upright plate 21, located below the adjusting plate 22. The adjusting plate 22 has several oblong holes for height adjustment, and the connecting plate 51 has a clearance groove 511 for the lead screw 41 to pass through. A cover 35 for protecting the drive structure 3 is provided on the side of the adjusting plate 22. The limiting plate 23 limits the lower position of the adjusting plate 22, preventing it from sliding down too far, which would reduce the gap between the first synchronous pulley 32 and the second synchronous pulley 33, causing the synchronous belt 34 to become too loose, ultimately leading to a decrease in power transmission efficiency or even failure, resulting in the gripper assembly 5 failing to grip. The clearance groove 511 is for the lead screw 41 to pass through, facilitating the connection between the ball screw 4 and the connecting plate 51. The cover 35 protects the output end of the servo motor 31, the first synchronous pulley 32, the second synchronous pulley 33, and the synchronous belt 34, serving functions such as dust prevention.

[0043] Please refer to Figure 1-3As shown, in another embodiment of this application, a plurality of connecting rods 26 connected to the fixing plate 1 are provided above the mounting base 2, and a bracket 7 is provided in the middle of the mounting base 2, on which a second sensor 8 is mounted. The connecting rods 26 facilitate the connection between the fixing plate 1 and the mounting base 2; and the use of connecting rods 26 of different lengths facilitates the installation of the clamping mechanism. The bracket 7 is used to mount the second sensor 8, which can detect whether there is a product 9 below the middle of the two nut seats of the ball screw 4, ensuring the effectiveness of each clamping of the product 9 by the clamping mechanism.

[0044] pass Figure 6-8 As shown, the clamping mechanism can grip different products, including those with different widths, heights, and shapes, demonstrating strong compatibility and wide applicability.

[0045] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A multi-product compatible gripping mechanism comprising a fixed plate (1), a mounting seat (2) is arranged below the fixed plate (1), characterized in that: One end of the mounting base (2) is provided with a drive structure (3), and a ball screw (4) connected to the drive structure (3) is rotatably connected to the mounting base (2). The ball screw (4) is a bidirectional ball screw, and a gripper assembly (5) is connected to each of the two nut seats of the ball screw (4). The gripper assembly (5) includes a connecting plate (51) connected to the nut seat of the ball screw (4). A clamping plate (52) is connected to the inner side of the connecting plate (51). The lower end of the clamping plate (52) is provided with an inwardly protruding support plate (521). A buffer (54) is provided between the clamping plate (52) and the connecting plate (51). The buffer (54) includes two horizontally arranged guide rods (541). The guide rods (541) are fixedly connected to the clamping plate (52). A linear bearing (542) connected to the connecting plate (51) is slidably connected to the guide rods (541). A spring (543) is sleeved on the guide rods (541). The two ends of the spring (543) abut against the clamping plate (52) and the linear bearing (542) respectively.

2. The multi-product compatible gripping mechanism according to claim 1, wherein: The guide rod (541) is provided with a stop block (544) for the linear bearing (542) at the end near the connecting plate (51), and a connecting block (55) is provided on the side of the connecting plate (51). A linear slide rail (6) is provided between the connecting block (55) and the mounting base (2).

3. The multi-product compatible gripping mechanism according to claim 1, wherein: The clamping plate (52) has a flexible pad (53) on its inner side, and a through hole (522) is provided on the clamping plate (52). A first sensor (56) is provided in the through hole (522).

4. The multi-product compatible gripping mechanism according to claim 1, wherein: The ball screw (4) includes a screw (41), a positive thread nut seat (42) and a negative thread nut seat (43). The positive thread nut seat (42) and the negative thread nut seat (43) are respectively connected to the connecting plates (51) of the two gripper assemblies (5). The mounting base (2) is provided with a support block (25) for mounting the screw (41). A bearing is provided between the support block (25) and the screw (41). The mounting base (2) is provided with a clearance hole (24) for sliding of the connecting plate (51).

5. A multi-product compatible gripping mechanism according to claim 4, wherein: The drive structure (3) includes a servo motor (31) mounted on a mounting base (2), a first synchronous pulley (32) connected to the output shaft of the servo motor (31), and a second synchronous pulley (33) connected to a lead screw (41). A synchronous belt (34) is connected between the first synchronous pulley (32) and the second synchronous pulley (33).

6. A multi-product compatible gripping mechanism according to claim 5, wherein: The mounting base (2) has a vertical plate (21) near the drive structure (3), and a height-adjustable adjustment plate (22) is installed on the side of the vertical plate (21). The servo motor (31) is fixed on the adjustment plate (22).

7. A multi-product compatible gripping mechanism according to claim 6, wherein: The upright plate (21) is provided with a limiting plate (23), which is located below the adjusting plate (22). The adjusting plate (22) is provided with a plurality of waist-shaped holes for height adjustment. The connecting plate (51) is provided with a clearance groove (511) for the lead screw (41) to pass through. The side of the adjusting plate (22) is provided with a cover (35) for protecting the drive structure (3).

8. The multi-product compatible gripping mechanism of claim 1, wherein: The mounting base (2) has several connecting rods (26) connected to the fixing plate (1) on its upper part. The mounting base (2) has a bracket (7) in the middle, and a second sensor (8) is installed on the bracket (7).

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