Material grabbing mechanism and material grabbing machine

Abstract

This application discloses a material gripping mechanism and a material gripping machine. The material gripping mechanism includes a shell and an inner core. The shell has a receiving cavity containing a compressible spring. A connector is mounted on the shell, with one end extending into the receiving cavity and connected to the compression spring. The inner core passes through the receiving cavity, with one end connected to a robotic arm and the other end equipped with a suction cup. When the suction cup presses against and picks up the target material, the shell moves axially along the inner core and compresses the compression spring. After the material is unloaded, the compression spring releases and drives the shell to return to its initial position. The material gripping mechanism provided by this application uses the shell as a spring cavity, providing an independent protective space for the compression spring. This effectively isolates external residues such as metal shavings and oil stains in the stamping automation workshop, preventing residues from entering the compression spring and causing the rod to jam. This ensures smooth movement of the inner core, reduces production line downtime caused by jamming, and improves the line's uptime and operational reliability.

Description

Technical Field

[0001] This application relates to the field of material gripping, and specifically to a material gripping mechanism and a material gripping machine. Background Technology

[0002] In the specific scenario of an automated stamping workshop, the material gripping mechanism, as a supporting structure related to the key execution component of the production line, needs to be adapted to the harsh environment in the workshop where metal scraps are constantly generated and oil stains are common, while meeting the production line's requirements for material handling efficiency and stability.

[0003] Currently, most mainstream material handling mechanisms use traditional integrated spring structures for their telescopic drive components. The spring is directly nested between the rod and the outer shell without independent protection, making it easy for metal shavings and oil residue to enter the spring gaps and sliding surfaces. This causes the mechanism to jam, extending response time, disrupting production rhythm, and even leading to production line downtime, reduced line uptime, and even material positioning deviations and product scrap. Furthermore, the outer shell and inner core components have complex irregular curved surfaces and high-precision mating surfaces designed to achieve their functions, requiring multiple precision machining processes. This results in long processing cycles, low yield rates, and the need for specialized tooling fixtures, significantly increasing manufacturing costs. The overall assembly uses welded or integrated threaded fastening structures, making disassembly difficult. When localized failures occur, such as spring fracture due to high-frequency extension fatigue or wear on the inner core sliding surface, the entire assembly must be scrapped. This wastes usable components and significantly increases maintenance and replacement costs, making it unsuitable for the high-efficiency, low-cost production demands of automated stamping workshops. Utility Model Content

[0004] To solve or at least partially solve the above-mentioned technical problems, this application provides a material gripping mechanism, including: a housing having a receiving cavity inside, a compressible spring being provided in the receiving cavity, and a connector being installed on the housing, one end of the connector extending into the receiving cavity and connected to the compression spring;

[0005] An inner core, inserted into the accommodating cavity, is connected at one end to a robotic arm and at the other end to a suction cup; wherein...

[0006] While the suction cup is pressing against and sucking up the target material, the outer shell moves along the inner core axis and compresses the compression spring; after the material is unloaded, the compression spring is released and drives the outer shell to return to its initial position.

[0007] Optionally, the connector includes a sleeve and a connecting rod, and the top of the outer shell is provided with a mating groove, which communicates with the receiving cavity;

[0008] The sleeve is fitted into the mating groove and engages with the compression spring; the connecting rod is used to connect external components.

[0009] Optionally, the sleeve is rotatably engaged with the inner core.

[0010] Optionally, the outer shell is provided with a first buffer and a second buffer at opposite ends, and the first buffer and the second buffer are respectively sleeved on the inner core and fastened to the outer shell.

[0011] Optionally, the first buffer and the second buffer are respectively detachably connected to the housing via threads.

[0012] Optionally, the first buffer and the second buffer are both copper sleeves.

[0013] Optionally, a sensor connection plate is further provided between the suction cup and the housing, and the sensor connection plate is used to install the detection sensor;

[0014] One end of the sensor connection plate is sleeved on the inner core and detachably connected to the inner core.

[0015] Optionally, the inner core is provided with a stop ring, one end of the sensor connecting plate abuts against the stop ring, and the other end is provided with a locking nut;

[0016] The locking nut is sleeved on the inner core and threadedly connected to the inner core, with one end of the locking nut pressing against the sensor connection plate.

[0017] Optionally, the sensor connection plate is provided with a mounting base on the side facing the suction cup, and the mounting base is used to install the detection sensor.

[0018] This application also proposes a material gripping machine, including a robotic arm and a material gripping mechanism as described above. The robotic arm is connected to the material gripping mechanism and is used to drive the material gripping mechanism to the material position and grip it, or to drive the material gripping mechanism to the unloading position to unload the material.

[0019] The material gripping mechanism provided in this application uses the outer shell as a spring cavity to provide an independent protective space for the compression spring. This effectively isolates external residues such as metal shavings and oil stains in the stamping automation workshop, preventing residues from entering the compression spring and causing the rod to jam. This ensures the smooth movement of the inner core, reduces production line downtime caused by jamming, and improves the line's uptime and operational reliability. Attached Figure Description

[0020] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0021] Figure 1 This is an isometric drawing of the material gripping mechanism of this application;

[0022] Figure 2 This is a front view of the material gripping mechanism of this application from one angle;

[0023] Figure 3 for Figure 2 A cross-sectional view at angle AA;

[0024] Figure 4 This is another front view of the material gripping mechanism in this application;

[0025] Figure 5 for Figure 4 A cross-sectional view at the BB angle.

[0026] 1. Outer shell; 11. Receiving cavity; 12. Compression spring; 13. Connector; 14. Sleeve; 15. Connecting rod; 16. Mating groove; 17. First buffer component; 18. Second buffer component;

[0027] 2. Inner core; 21. Suction cup; 22. Stop ring;

[0028] 3. Sensor connection plate; 31. Locking nut; 32. Mounting base. Detailed Implementation

[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0031] The following flowchart illustrates the operations performed to improve the safety performance of a vehicle. It should be understood that, depending on the actual situation, the preceding or following operations may not be performed precisely in sequence. Other operations may be added to these processes, or one or more operations may be removed from them.

[0032] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0033] like Figures 1 to 5As shown, this utility model provides a material gripping mechanism, including: a shell 1 and an inner core 2. The shell 1 has a receiving cavity 11, and a compressible spring 12 is provided in the receiving cavity 11. A connector 13 is installed on the shell 1, and one end of the connector 13 extends into the receiving cavity 11 and is connected to the compression spring 12. The inner core 2 passes through the receiving cavity 11, and one end of the inner core 2 is connected to a robot arm, while the other end is provided with a suction cup 21. When the suction cup 21 presses against and picks up the target material, the shell 1 moves axially along the inner core 2 and compresses the compression spring 12. After the material is unloaded, the compression spring 12 is released and drives the shell 1 to return to its initial position.

[0034] As described above, this application uses the accommodating cavity 11 as an independent installation space for the compression spring 12. The accommodating cavity 11 can isolate external metal debris, oil stains and other residues, preventing the compression spring 12 from getting stuck due to impurities, and ensuring the smooth operation of the gripping mechanism.

[0035] By utilizing the elastic extension and contraction characteristics of the compression spring 12, the suction cup 21 can be buffered by moving the outer shell 1 when pressing against the material, avoiding hard contact damage to the material or the suction cup 21. At the same time, it can automatically reset after the material is unloaded, without the need for an additional drive structure, which simplifies the overall design, reduces energy consumption, and improves the automation efficiency of gripping and resetting.

[0036] For example, you can refer to Figures 2 to 3 When the suction cup 21 is in a free state and not gripping the material, the outer shell 1 is positioned on top of the inner core 2 under the constraint of the external components, and the compression spring 12 is in a free state. When the suction cup 21 contacts the material, as it applies suction towards the material, the external components constrain the position of the outer shell 1, causing the inner core 2 to slide relative to the outer shell 1 and compress the compression spring 12. The state of the compression spring 12 can be referenced... Figure 4 and Figure 5 .

[0037] After the robotic arm transports the gripping mechanism to the target position, the suction cup 21 unloads the material. After unloading, the compression spring 12 releases its elastic force and further drives the inner core 2 to move relative to the outer shell 1 until it returns to the initial position. Figure 2 ).

[0038] Please continue to refer to Figure 1 The connector 13 includes a sleeve 14 and a connecting rod 15. The top of the outer shell 1 is provided with a mating groove 16, which communicates with the accommodating cavity 11. The sleeve 14 is fitted into the mating groove 16 and engages with the compression spring 12. The connecting rod 15 is used to connect external components.

[0039] The connector 13 is divided into a sleeve 14 and a connecting rod 15. The fitting structure of the sleeve 14 and the mating groove 16 can stably engage the compression spring 12, preventing the compression spring 12 from shifting or falling off during the extension and retraction process, and ensuring the driving stability of the compression spring 12 on the outer shell 1.

[0040] The connecting rod 15 provides a convenient connection interface between the gripping mechanism and external components, such as equipment brackets and auxiliary positioning structures, which can expand its application scenarios without modifying the main body of the mechanism, thus improving structural adaptability and installation flexibility.

[0041] Furthermore, the sleeve 14 is rotatably fitted with the inner core 2.

[0042] That is, the rotating fit design of the sleeve 14 and the inner core 2 allows the outer shell 1 to be flexibly adjusted around the axis of the inner core 2, which facilitates installation and debugging.

[0043] Moreover, when grasping materials at different positions and angles, there is no need to move the entire robotic arm. The material posture can be adapted simply by rotating the outer shell 1. This reduces the difficulty of adjusting the robotic arm and the range of motion, reduces the grasping and positioning time, and helps to improve work efficiency. At the same time, it can also avoid stress damage to the mechanical components caused by forcibly adjusting the angle.

[0044] In one embodiment, the outer shell 1 is provided with a first buffer 17 and a second buffer 18 at opposite ends, and the first buffer 17 and the second buffer 18 are respectively sleeved on the inner core 2 and fastened to the outer shell 1.

[0045] In other words, by setting buffers at both ends of the outer shell 1, the collision impact between the outer shell 1 and the inner core 2 can be buffered respectively, avoiding wear of components caused by hard friction, thereby extending the service life of the inner core 2 and the outer shell 1.

[0046] Meanwhile, the buffer can fill the gap between the outer shell 1 and the inner core 2, reduce shaking during movement, improve the operational stability of the gripping mechanism, and ensure the positioning accuracy when gripping materials.

[0047] Specifically, the first buffer 17 and the second buffer 18 are respectively threadedly and detachably connected to the outer casing 1.

[0048] As can be seen, the threaded detachable structure between the buffer component and the outer shell 1 allows the buffer component to be replaced individually without disassembling the entire gripping mechanism when it becomes worn or aged, simplifying the maintenance process and thus shortening maintenance time. Furthermore, buffer components of different materials and hardness can be replaced according to different operating scenarios, improving the adaptability of the gripping mechanism to different working conditions.

[0049] Optionally, the first buffer 17 and the second buffer 18 are copper sleeves.

[0050] It should be noted that copper sleeve material is selected because it has excellent wear resistance and self-lubricating properties, which helps to reduce the frictional resistance when the outer shell 1 and inner core 2 move relative to each other, reduce the wear rate of the components, and thus extend the service life of the buffer and inner core 2.

[0051] Moreover, the copper sleeve has good thermal conductivity, which can dissipate the heat generated by motion friction in a timely manner, avoiding component deformation or performance degradation caused by local overheating. At the same time, the copper sleeve has a relatively low cost, which can reduce the overall manufacturing cost of the gripping mechanism while ensuring performance.

[0052] Please continue to refer to Figure 1 and Figure 2 A sensor connection plate 3 is also provided between the suction cup 21 and the outer shell 1. The sensor connection plate 3 is used to install the detection sensor. One end of the sensor connection plate 3 is sleeved on the inner core 2 and is detachably connected to the inner core 2.

[0053] Specifically, the sensor connection plate 3 is used to install the detection sensor, which can accurately monitor the contact state between the suction cup 21 and the material, such as whether the material is firmly sucked up or whether the material is falling off, so as to avoid material falling or production accidents caused by gripping failure and improve the safety and reliability of gripping operation.

[0054] The detachable connection between the connecting plate and the inner core 2 facilitates the installation, debugging, and replacement of the detection sensor. At the same time, the position of the sensor connecting plate 3 can be adjusted according to the material type to adapt to the detection range requirements of different sensors.

[0055] Optionally, the detection sensor can be a distance sensor, a photoelectric sensor, etc., and there is no limitation here.

[0056] Furthermore, the inner core 2 is provided with a stop ring 22, one end of the sensor connecting plate 3 abuts against the stop ring 22, and the other end is provided with a locking nut 31; the locking nut 31 is sleeved on the inner core 2 and threadedly connected to the inner core 2, and one end of the locking nut 31 abuts against the sensor connecting plate 3.

[0057] It can be seen that the mating structure of the stop ring 22 and the locking nut 31 can adjust the position of the locking nut 31 by thread, so as to realize the rapid positioning and fastening of the sensor connecting plate 3 on the inner core 2, avoid the connecting plate from shifting during the movement of the mechanism, and ensure the accuracy of the sensor detection position.

[0058] Moreover, the threaded connection method allows for fine-tuning of the installation height of the connecting plate according to actual needs, thereby adapting to the detection requirements of different sized suction cups 21 or materials. It is also easy to disassemble, reducing the operational difficulty of sensor maintenance and adjustment.

[0059] Furthermore, the sensor connection plate 3 is provided with a mounting base 32 on the side facing the suction cup 21, and the mounting base 32 is used to install the detection sensor.

[0060] In other words, the design of the mounting base 32 can accurately position and fix the detection sensor, preventing the sensor from shifting due to mechanical vibration or external impact, and ensuring the stability and accuracy of the detection signal.

[0061] Meanwhile, the mounting base 32 can provide a certain degree of protection for the sensor, reducing the contamination or damage to the sensor by impurities such as metal debris and oil, extending the sensor's service life, and reducing the risk of equipment failure and maintenance costs.

[0062] For example, mounting holes can be made on the mounting base 32 to install the sensor. The mounting holes can isolate metal debris and oil stains to a certain extent, thereby improving the service life of the sensor.

[0063] This utility model also proposes a material gripping machine, including a robotic arm and the material gripping mechanism as described above. The robotic arm is connected to the material gripping mechanism and is used to drive the material gripping mechanism to the material position and grip it, or to drive the material gripping mechanism to the unloading position to unload the material.

[0064] This application combines a material gripping mechanism with a robotic arm, which can fully leverage the gripping mechanism's advantages of impurity resistance, ease of maintenance, and high precision, enabling the material gripping machine to operate stably in harsh environments such as stamping automation workshops, and reducing downtime caused by gripping mechanism failures.

[0065] Moreover, the flexible adaptability of the gripping mechanism can be combined with the robotic arm to achieve efficient gripping and unloading of diverse materials, thereby improving the working range and automation level of the material gripper and thus improving the overall operating efficiency.

[0066] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different obstacle objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0067] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0068] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0069] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation", "connection", "joining", and "fixing" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can also refer to mechanical connections. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0070] While this application discloses preferred embodiments as described above, it is not intended to limit the scope of this application. Any changes and modifications can be made by those skilled in the art without departing from the spirit and scope of this application. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall fall within the protection scope defined by the claims of this application.

Claims

1. A material gripping mechanism, characterized in that, include: The outer shell has a receiving cavity inside, and a compressible spring is provided in the receiving cavity. A connector is installed on the outer shell, and one end of the connector extends into the receiving cavity and is connected to the compression spring. An inner core, inserted into the accommodating cavity, is connected at one end to a robotic arm and at the other end to a suction cup; wherein... While the suction cup is pressing against and sucking up the target material, the outer shell moves along the inner core axis and compresses the compression spring; after the material is unloaded, the compression spring is released and drives the outer shell to return to its initial position.

2. The material gripping mechanism according to claim 1, characterized in that, The connector includes a sleeve and a connecting rod, and the top of the outer shell is provided with a mating groove, which communicates with the receiving cavity; The sleeve is fitted into the mating groove and engages with the compression spring; the connecting rod is used to connect external components.

3. The material gripping mechanism according to claim 2, characterized in that, The sleeve is rotatably fitted with the inner core.

4. The material gripping mechanism according to claim 1, characterized in that, The outer shell is provided with a first buffer and a second buffer at opposite ends, and the first buffer and the second buffer are respectively sleeved on the inner core and fastened to the outer shell.

5. The material gripping mechanism according to claim 4, characterized in that, The first buffer and the second buffer are respectively detachably connected to the outer shell via threads.

6. The material gripping mechanism according to claim 4, characterized in that, The first buffer and the second buffer are both copper sleeves.

7. The material gripping mechanism according to claim 1, characterized in that, A sensor connection plate is also provided between the suction cup and the outer shell, and the sensor connection plate is used to install the detection sensor; One end of the sensor connection plate is sleeved on the inner core and detachably connected to the inner core.

8. The material gripping mechanism according to claim 7, characterized in that, The inner core is provided with a stop ring, and one end of the sensor connecting plate abuts against the stop ring, while the other end is provided with a locking nut; The locking nut is sleeved on the inner core and threadedly connected to the inner core, with one end of the locking nut pressing against the sensor connection plate.

9. The material gripping mechanism according to claim 7, characterized in that, The sensor connection plate has a mounting base on the side facing the suction cup, and the mounting base is used to install the detection sensor.

10. A material gripping machine, characterized in that, It includes a robotic arm and a material gripping mechanism as described in any one of claims 1-9, wherein the robotic arm is connected to the material gripping mechanism and is used to drive the material gripping mechanism to the material position and grip it, or to drive the material gripping mechanism to the unloading position to unload the material.

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