Variable pitch gripper mechanism

Abstract

This utility model discloses a variable-distance gripper mechanism, including a gripper base with a guide rail below it. A first slider and a second slider are mounted on the guide rail. The first slider has a first suction position, and the second slider has a second suction position. A driving element on the gripper base connects to the first slider and drives it to move back and forth along the guide rail. The first slider has a central push block and a central pull rod, and the second slider has a movable pull plate. The central pull rod movably passes through the movable pull plate, and its end is limited by the movable pull plate. A central limiting mechanism in the middle of the gripper base restricts the travel of the second slider. The first slider pushes the second slider to a terminal position via the central push block to determine the minimum distance between them. The first slider moves in the opposite direction, pulling the second slider to another terminal position via the movable pull plate to determine the maximum distance between them. This variable-distance gripper mechanism has a simple structure, low cost, solves the problem of distance adjustment when gripping multi-specification steel backs, and is compatible with workpieces with different surface protrusions.

Description

Technical Field

[0001] This utility model relates to the field of automated handling equipment technology, specifically a variable-distance gripper mechanism, which is particularly suitable for gripping variable-distance operations of workpieces such as steel backs in the automotive parts industry. Background Technology

[0002] In the automated production process of brake pads, steel backings need to be sucked from the hopper into the positioning mechanism, where they undergo secondary positioning for rapid and accurate feeding onto the mold. However, due to the variety and quantity of steel backings supplied to the production line, the stacking distance between two piles of the same type of steel backings in the hopper is relatively small in order to save storage space. When the gripper simultaneously picks up two steel backings and feeds them to the positioning mechanism, the distance needs to be increased to ensure that the final accurate positioning distance matches the spacing of the cavities in the mold.

[0003] Therefore, the aforementioned technical problems need to be solved. Summary of the Invention

[0004] This utility model addresses the above-mentioned technical problems by providing a variable-distance gripper mechanism. It has a simple structure and low cost, solves the problem of spacing adjustment when gripping steel backs of various specifications, and is compatible with workpieces with different surface protrusions.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] A variable-distance gripper mechanism includes a gripper fixing seat, a guide rail below the gripper fixing seat, a first slider and a second slider on the guide rail, the first slider having a first suction position and the second slider having a second suction position;

[0007] The gripper mounting base is provided with a driving element that connects to the first slider and drives it to move back and forth along the guide rail;

[0008] The first slider is provided with a middle push block and a middle pull rod, and the second slider is provided with a movable pull plate; the middle pull rod moves through the movable pull plate, and the end of the middle pull rod is limited by the movable pull plate;

[0009] The gripper fixing seat is provided with an intermediate limiting mechanism in the middle to restrict the movement of the second slider;

[0010] The first slider moves in one direction, and the intermediate push block pushes the second slider to a terminal position to locate the minimum distance between them; the first slider moves in the opposite direction, and the moving pull plate pulls the second slider to another terminal position to locate the maximum distance between them, and the intermediate limiting mechanism locates the position of the second slider.

[0011] This variable-pitch gripper mechanism can grab two steel backs from the steel back hopper at a small gap, then increase the gap to the required gap to complete the secondary positioning before placing them into the positioning mechanism. This achieves the goal of grabbing various types of steel backs into the positioning mechanism according to needs in a simple structure and low-cost manner.

[0012] The minimum distance between the first and second sliders of this variable-pitch gripper mechanism is the distance between the two steel backs when gripping them from the steel back hopper. The maximum distance between the first and second sliders is the distance between them when they are placed into the positioning mechanism after secondary positioning. The distance between the two steel backs in the positioning mechanism is matched by controlling the length of the intermediate pull rod and adjusting the position of the intermediate limit mechanism. The structure is simple, the cost is low, and the positioning accuracy is high.

[0013] A further optimized solution also includes a lifting component connected to the gripper fixing seat, which drives the gripper fixing seat to move up and down;

[0014] The first and second suction positions are each equipped with a plurality of electromagnets, which attract the workpiece by magnetic attraction when energized.

[0015] The lifting assembly lowers the gripper base to the workpiece position. The electromagnets at the first and second suction positions are energized and attract the workpiece. The lifting assembly then rises to remove the workpiece.

[0016] In a further optimized design, the first and second suction positions are each equipped with a material-taking pressure plate and several buffer springs. The electromagnets pass through the material-taking pressure plates, and each buffer spring is mounted on a single electromagnet.

[0017] Each electromagnet is equipped with a buffer spring, allowing it to float independently and adapt to different steel backing surfaces. When an individual electromagnet comes into contact with a protrusion on the steel backing, it can retract, thus not affecting the attraction of other electromagnets to the steel backing.

[0018] When the first and second suction positions pick up the steel back, the material-picking pressure plate gradually approaches and contacts the steel back, compressing all the buffer springs of the electromagnets, so that the electromagnets can better contact the surface of the steel back, ensuring that the electromagnets adhere better to the surface of the steel back and the suction force is more stable.

[0019] The scheme is further optimized by providing a contact probe and a suction position sensor for the first and second suction positions, respectively.

[0020] As the material-taking plate approaches and contacts the steel back, the contact probe is simultaneously compressed. When the sensor detects the contact probe and stops, all the buffer springs of the electromagnets are compressed, allowing the electromagnets to better contact the surface of the steel back.

[0021] A further optimized solution involves using a rodless cylinder as the driving element. Rodless cylinders are small in size, making them easy to install and use.

[0022] A further optimized design includes a lifting assembly comprising a cylinder, with the gripper mounting base connected to the piston rod end of the cylinder. The gripper mounting base moves up and down via the cylinder, resulting in a simple structure that is easy to install and use.

[0023] In a further optimized design, the intermediate limiting mechanism is a mechanical stop. The mechanical stop has a simple structure and is easy to install and use.

[0024] In a further optimized design, the gripper fixing base is equipped with limit limiting mechanisms at both ends to position the two end positions of the first and second sliders.

[0025] A further optimized design includes six electromagnets arranged in a matrix at both the first and second suction positions. This matrix arrangement ensures stable suction of the steel backing; even if individual electromagnets fail to function due to contact with the protrusions on the steel backing, the others can still successfully suction the steel backing.

[0026] This utility model has the following technical advantages compared with the prior art:

[0027] 1. Low cost, requiring only rodless cylinders and cylinders for up-and-down movement to complete the entire working process;

[0028] 2. Good compatibility; the independent floating control of the electromagnet can adapt to different steel back surfaces.

[0029] 3. Precise pitch control: The length of the intermediate tie rod and the position of the intermediate limit mechanism are adjusted to match the distance between the two steel backs in the positioning mechanism, ensuring high pitch accuracy after pitch change.

[0030] 4. The structure is simple and compact, and the entire structure is integrated into a single linear guide system. Attached Figure Description

[0031] Figure 1 This is a perspective view of the variable-distance gripper of this utility model;

[0032] Figure 2 yes Figure 1 The main view;

[0033] Figure 3 yes Figure 2 The left view;

[0034] Figure 4 yes Figure 1 A stereoscopic view from another perspective;

[0035] Figure 5 yes Figure 4 The main view;

[0036] Figure 6 yes Figure 5 Top view.

[0037] In the diagram: 1. Handle fixing seat; 2. Guide rail; 3. First slider; 4. Second slider; 5. First suction position; 6. Second suction position; 7. Drive element; 8. Middle push block; 9. Middle pull rod; 10. Moving pull plate; 11. Middle limit mechanism; 12. Lifting assembly; 13. Electromagnet; 14. Material picking pressure plate; 15. Buffer spring; 16. Contact probe; 17. Suction position sensor; 18. Limit limit mechanism; 19. Pneumatic control element; 20. Fixing plate; 21. Magnet fixing shaft. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the embodiments shown in the accompanying drawings.

[0039] like Figures 1 to 6 As shown, this is a specific embodiment of the variable-distance gripper mechanism of the present invention.

[0040] like Figure 1 and Figure 4 As shown, the variable distance gripper mechanism of this embodiment includes a gripper fixing seat 1, a guide rail 2 is provided below the gripper fixing seat 1, a first slider 3 and a second slider 4 are provided on the guide rail 2, the first slider 3 is provided with a first suction position 5, and the second slider 4 is provided with a second suction position 6.

[0041] The gripper mounting base 1 is equipped with a driving element 7 that connects to the first slider 3 and drives it to move back and forth along the guide rail 2;

[0042] The first slider 3 is provided with a middle push block 8 and a middle pull rod 9, and the second slider 4 is provided with a movable pull plate 10; the middle pull rod 9 moves through the movable pull plate 10, and the end of the middle pull rod 9 is limited by the movable pull plate 10.

[0043] A middle limiting mechanism 11 is provided in the middle of the gripper fixing seat 1 to limit the movement stroke of the second slider 4;

[0044] The first slider 3 moves in one direction and pushes the second slider 4 to a terminal position through the middle push block 8 to locate the minimum distance between the two; the first slider 3 moves in the opposite direction and pulls the second slider 4 to another terminal position through the moving pull plate 10 to locate the maximum distance between the two, and the middle limiting mechanism 11 locates the position of the second slider 4.

[0045] like Figure 1 As shown, the drive element 7 is a rodless cylinder. Rodless cylinders are small in size and easy to install and use.

[0046] This variable-pitch gripper mechanism can grab two steel backs from the steel back hopper at a small gap, then increase the gap to the required gap to complete the secondary positioning before placing them into the positioning mechanism. This achieves the goal of grabbing various types of steel backs into the positioning mechanism according to needs in a simple structure and low-cost manner.

[0047] The minimum distance between the first slider 3 and the second slider 4 of the variable-pitch gripper mechanism is the distance between the two steel backs when gripping them from the steel back hopper. The maximum distance between the first slider 3 and the second slider 4 is the distance between them when they are placed in the positioning mechanism after the secondary positioning is completed. The distance between the two steel backs in the positioning mechanism is matched by controlling the length of the intermediate pull rod 9 and adjusting the position of the intermediate limit mechanism 11. The structure is simple, the cost is low, and the positioning accuracy is high.

[0048] like Figure 1 and Figure 4 As shown, the variable-pitch gripper mechanism also includes a lifting assembly 12, which is connected to the gripper fixing seat 1. The lifting assembly 12 drives the gripper fixing seat 1 to move up and down. The lifting assembly 12 includes a cylinder connected to the fixing plate 20, and the gripper fixing seat 1 is connected to the piston rod end of the cylinder. The gripper fixing seat 1 can be moved up and down by the cylinder, which is simple in structure and convenient for installation and use.

[0049] like Figure 1 As shown, a pneumatic control element 19 is provided on the upper part of the cylinder on the fixed plate 20 to control the operation of pneumatic components such as the cylinder and the rodless cylinder. The variable-pitch gripper mechanism can be fixed to other parts by connecting the fixed plate 20.

[0050] like Figure 2 As shown, the first suction position 5 and the second suction position 6 are respectively provided with a number of electromagnets 13. Each electromagnet 13 is connected to the lower end of the magnet fixing shaft 21. When the electromagnet 13 is energized, it attracts the workpiece through magnetism.

[0051] The lifting assembly 12 drives the gripper fixing seat 1 to descend to the workpiece position. The electromagnets 13 of the first suction position 5 and the second suction position 6 are energized to attract the workpiece. The lifting assembly 12 rises to remove the workpiece.

[0052] like Figure 2 As shown, the first suction position 5 and the second suction position 6 are respectively provided with a material-taking pressure plate 14 and a number of buffer springs 15. The electromagnet 13 is installed through the material-taking pressure plate 14, and each buffer spring 15 passes through the fixed shaft of a single electromagnet 13 and is supported on the electromagnet 13.

[0053] Each electromagnet 13 is equipped with a buffer spring 15. The electromagnet 13 is in an independent floating state and can adapt to different steel back surfaces. When an individual electromagnet 13 contacts the steel back protrusion, it can retract, thus not affecting the other electromagnets 13 from attracting the steel back.

[0054] When the first suction position 5 and the second suction position 6 pick up the steel back, the material picking pressure plate 14 gradually approaches and contacts the steel back. The buffer springs 15 of all electromagnets 13 are compressed, so that the electromagnets 13 can better contact the surface of the steel back, ensuring that the electromagnets 13 adhere better to the surface of the steel back and the suction force is more stable.

[0055] like Figure 2 and Figure 3 As shown, the first suction position 5 and the second suction position 6 are respectively provided with a contact probe 16 and a suction position sensor 17.

[0056] As the material-taking platen 14 approaches and contacts the steel back, the contact probe 16 is simultaneously compressed. When the pick-up sensor 17 detects the contact probe 16, it stops. At this time, the buffer springs 15 of all electromagnets 13 are compressed, and the electromagnets 13 can better contact the surface of the steel back.

[0057] like Figure 2 and Figure 5 As shown, the intermediate limiting mechanism 11 is a mechanical stop. The mechanical stop has a simple structure and is easy to install and use.

[0058] like Figure 2 and Figure 5 As shown, the gripper fixing base 1 is provided with limit limiting mechanisms 18 at both ends to position the two end positions of the first slider 3 and the second slider 4.

[0059] like Figure 1 and Figure 4 As shown, the first absorption position 5 and the second absorption position 6 are each equipped with six electromagnets 13 arranged in a matrix. The six electromagnets 13 arranged in a matrix can ensure stable absorption of the steel back. Even if some electromagnets 13 come into contact with the protrusions on the steel back and cannot function, the other electromagnets 13 can still absorb the steel back.

[0060] This variable-pitch gripper mechanism has a simple structure and low cost, solves the problem of spacing adjustment when gripping steel backs of various specifications, and is compatible with workpieces with different surface protrusions.

[0061] In summary, as described in the specification and figures, this utility model has been manufactured into actual samples and subjected to multiple use tests. The test results demonstrate that this utility model achieves its intended purpose, and its practicality is beyond doubt. The embodiments described above are merely for illustrative purposes and are not intended to limit the scope of this utility model. Any equivalent embodiments made by those with common knowledge in the relevant technical field, utilizing the technical content disclosed in this utility model, without departing from the scope of the technical features and similar features disclosed in this utility model, are all within the protection scope of this utility model.

Claims

1. A variable-pitch gripper mechanism, characterized in that: Includes a gripper fixing seat (1), a guide rail (2) is provided below the gripper fixing seat (1), a first slider (3) and a second slider (4) are provided on the guide rail (2), a first suction position (5) is provided on the first slider (3), and a second suction position (6) is provided on the second slider (4); The gripper fixing seat (1) is provided with a driving element (7) that connects to the first slider (3) and drives it to move back and forth along the guide rail (2); The first slider (3) is provided with a middle push block (8) and a middle pull rod (9), and the second slider (4) is provided with a movable pull plate (10); the middle pull rod (9) moves through the movable pull plate (10), and the end of the middle pull rod (9) is limited by the movable pull plate (10); The gripper fixing seat (1) is provided with an intermediate limiting mechanism (11) in the middle to limit the movement of the second slider (4); The first slider (3) moves in one direction and pushes the second slider (4) to a terminal position through the intermediate push block (8) to locate the minimum distance between the two; the first slider (3) moves in the opposite direction and pulls the second slider (4) to another terminal position through the moving pull plate (10) to locate the maximum distance between the two; the intermediate limiting mechanism (11) locates the position of the second slider (4).

2. The variable-pitch gripper mechanism according to claim 1, characterized in that, It also includes a lifting assembly (12), which is connected to the gripper fixing seat (1), and the lifting assembly (12) drives the gripper fixing seat (1) to move up and down; The first absorption position (5) and the second absorption position (6) are respectively provided with a plurality of electromagnets (13), and the electromagnets (13) are energized to absorb the workpiece through magnetism.

3. The variable-pitch gripper mechanism according to claim 2, characterized in that, The first suction position (5) and the second suction position (6) are respectively provided with a material-taking pressure plate (14) and a number of buffer springs (15). The electromagnet (13) is arranged through the material-taking pressure plate (14), and each buffer spring (15) is arranged on a single electromagnet (13).

4. The variable-pitch gripper mechanism according to claim 3, characterized in that, The first suction position (5) and the second suction position (6) are respectively provided with a contact probe (16) and a suction position sensor (17).

5. The variable-pitch gripper mechanism according to claim 1, characterized in that, The driving element (7) is a rodless cylinder.

6. The variable-pitch gripper mechanism according to claim 2, characterized in that, The lifting assembly (12) includes a cylinder, and the gripper fixing seat (1) is connected to the piston rod end of the cylinder.

7. The variable-pitch gripper mechanism according to claim 1, characterized in that, The intermediate limiting mechanism (11) is a mechanical stop.

8. The variable-pitch gripper mechanism according to claim 1, characterized in that, The gripper fixing seat (1) is provided with limit limiting mechanisms (18) at both ends to position the two end positions of the first slider (3) and the second slider (4).

9. The variable-pitch gripper mechanism according to claim 2, characterized in that, The first absorption position (5) and the second absorption position (6) are respectively provided with six electromagnets (13) arranged in a matrix.

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