Single-cylinder control multi-gripper mechanism

Abstract

The utility model discloses single cylinder control multi -claw mechanism relates to mechanical automation technical field, it is designed to solve the traditional multi -claw mechanism in the process of using, adopt the mode of independent drive of multiple power source, lead to the problem of high production cost, and high failure rate, including clamping subassembly, oil injection subassembly and oil recovery subassembly, oil injection subassembly sets up at the top of clamping subassembly, oil recovery subassembly sets up at the bottom of one side of clamping subassembly, clamping subassembly includes frame, one side of the bottom of frame is provided with cylinder, and the output of cylinder is provided with movable plate, the top of movable plate is provided with support plate, and support plate is located inside the frame. The utility model discloses through design clamping subassembly, not only greatly reduced hardware procurement cost, also reduced the arrangement of circuit and air pipe, make the whole structure of mechanism more simple, and the space occupancy rate reduces 30% or more, can nimble adaptation narrow production station.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, and more specifically, to a single-cylinder controlled multi-gripper mechanism. Background Technology

[0002] In fields such as automated production, logistics sorting, and precision assembly, multi-gripper mechanisms serve as core actuators for workpiece gripping, handling, and positioning. Their operating efficiency, structural complexity, and cost control directly impact the overall performance of the entire production line. As the manufacturing industry upgrades towards "flexibility" and "compactness," the demand for multi-gripper mechanisms has expanded from a single gripping function to diversified directions such as multi-station synchronous operation, equipment space optimization, and energy consumption reduction.

[0003] However, existing multi-gripper mechanisms employ a multi-power-source independent drive scheme, where each gripper is equipped with an independent cylinder, motor, or electric cylinder as a power source, and is individually controlled through corresponding solenoid valves and controllers. While this scheme allows for flexible adjustment of the action sequence of individual grippers, it has significant drawbacks: firstly, high equipment costs and space occupancy; secondly, complex control logic and high energy consumption; and thirdly, increased maintenance difficulty and failure rate. Based on these issues, we propose a single-cylinder controlled multi-gripper mechanism. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing technology, adapt to the needs of reality, and provide a single-cylinder controlled multi-claw mechanism to solve the problem that the traditional multi-claw mechanism adopts a multi-power source independent drive method, which leads to high production costs and high failure rate.

[0005] To solve the above technical problems, this utility model provides the following technical solution: a single-cylinder controlled multi-gripper mechanism, including a clamping assembly, an oil injection assembly, and an oil recovery assembly. The oil injection assembly is disposed on the top of the clamping assembly, and the oil recovery assembly is disposed on the bottom side of one side of the clamping assembly. The clamping assembly includes a frame, a cylinder is disposed on one side of the bottom of the frame, a movable plate is disposed at the output end of the cylinder, a support plate is disposed on the top of the movable plate and is located inside the frame, a gear plate is disposed on the top of the support plate, a rotating shaft is disposed on one side of the frame, a gear is disposed in the middle of the rotating shaft and meshes with the gear plate, a gripper is disposed at one end of the rotating shaft extending to the outside of the frame, and a cam is disposed at the other end of the rotating shaft. When the cylinder drives the movable plate to move, the movable plate drives the support plate and the gear plate to move synchronously, converting the linear motion of the cylinder into the rotational motion of multiple gears, which drives the gripper to open and close synchronously and in an orderly manner.

[0006] Preferably, the oil spraying assembly includes a mounting bracket disposed on the top of the frame, an oil reservoir disposed on the top of the mounting bracket, a press pump disposed at the bottom of the oil reservoir, a press pipe disposed at the bottom of the press pump and extending into the frame, an atomizing nozzle disposed on one side of the press pipe, and a pressure receiving block disposed at the bottom of the press pipe, wherein the pressure receiving block is located above the cam.

[0007] Preferably, the oil recovery assembly includes a collection tank located on one side of the bottom of the frame, a liquid guide pipe located on one side of the collection tank and extending into the interior of the frame, and a drain nozzle located at the bottom of the collection tank.

[0008] Preferably, the top of the support plate is provided with a liquid guiding groove, the liquid guiding groove is inclined downward on the side near the oil recovery component, one end of the liquid guiding pipe is connected to the collection box, and the other end of the liquid guiding pipe extends into the frame and connects to the liquid guiding groove. The liquid guiding pipe is made of corrugated pipe.

[0009] Preferably, the bottom of the pressure block is arc-shaped, and the cam includes a disk and a protrusion disposed on one side of the disk.

[0010] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model designs a clamping assembly that uses a single cylinder on one side of the bottom of the frame to provide power. The cylinder output drives the movable plate, support plate, and gear plate to move synchronously. Through the meshing transmission between the gear plate and the gears on the rotating shaft, the linear motion of the cylinder is converted into the rotational motion of multiple gears, thereby driving multiple sets of grippers to open and close synchronously and in an orderly manner. Compared with the existing "multi-power source independent drive" solution, it eliminates multiple cylinders, motors, and supporting components such as solenoid valves and controllers, which not only significantly reduces hardware procurement costs but also reduces the layout of wiring and air pipes, making the overall structure of the mechanism simpler and reducing the space occupancy rate by more than 30%, and can flexibly adapt to narrow production stations.

[0011] 2. This utility model also designs an oil spraying component and an oil recovery component. When the cam on the cam rotates to contact the pressure block of the oil spraying component, it can automatically lift the pressure block, triggering the press pump to press the oil in the oil storage tank into the press tube. Finally, the oil is atomized through the atomizing nozzle and sprayed onto the meshing part of the gear and the gear plate, avoiding the omission of manual timed lubrication. At the same time, the atomizing nozzle accurately points to the meshing transmission part, increasing the oil utilization rate to more than 80% and reducing oil waste. The liquid guide groove on the top of the support plate is inclined downwards near the oil recovery component at an angle of 15°-20°. After lubrication, the oil sprayed by the oil spraying component can flow smoothly into the corrugated pipe along the liquid guide groove and finally collect in the collection box on one side of the bottom of the frame, realizing the whole process recovery of lubricating oil, effectively avoiding oil pollution of workpieces or production sites, and reducing environmental pollution. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the clamping component structure of this utility model; Figure 3 This is a schematic diagram of the fuel injection assembly structure of this utility model; Figure 4 This is a schematic diagram of the connection structure between the oil spraying assembly and the clamping assembly of this utility model; Figure 5 This is a schematic diagram of the oil recovery component of this utility model.

[0013] The following are the labels in the diagram: 1. Clamping assembly; 101. Frame; 102. Cylinder; 103. Movable plate; 104. Support plate; 1041. Liquid guide groove; 105. Gear plate; 106. Rotating shaft; 107. Gear; 108. Gripper; 109. Cam; 2. Oil injection assembly; 201. Mounting bracket; 202. Oil storage tank; 203. Press pump; 204. Press pipe; 205. Atomizing nozzle; 206. Pressure block; 3. Oil recovery assembly; 301. Collection box; 302. Liquid guide pipe; 303. Drain nozzle. Detailed Implementation

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments: This utility model relates to a single-cylinder controlled multi-claw mechanism, comprising a clamping assembly 1, an oil injection assembly 2, and an oil recovery assembly 3. The oil injection assembly 2 is fixedly connected to the top of the clamping assembly 1, and the oil recovery assembly 3 is fixedly connected to the bottom side of the clamping assembly 1. The clamping assembly 1 includes a frame 101, a cylinder 102 is fixedly connected to the bottom side of the frame 101, a movable plate 103 is fixedly connected to the output end of the cylinder 102, a support plate 104 is fixedly connected to the top of the movable plate 103, and the support plate 104 is located inside the frame 101. A toothed plate 105 is fixedly connected to the top of the support plate 104, and a rotating shaft 106 is rotatably connected to one side of the frame 101. The middle of the rotating shaft 106 is fixedly connected to... A gear 107 is connected and meshes with a gear plate 105. One end of a rotating shaft 106 extends to the outside of the frame 101 and is fixedly connected to a gripper 108. The other end of the rotating shaft 106 is fixedly connected to a cam 109. When the cylinder 102 drives the movable plate 103 to move, the movable plate 103 drives the support plate 104 and the gear plate 105 to move synchronously, converting the linear motion of the cylinder 102 into the rotational motion of multiple gears 107, which drives the gripper 108 to open and close synchronously and orderly. The frame 101 serves as the mounting foundation and support skeleton of the entire mechanism, providing fixing and positioning space for components such as the cylinder 102, rotating shaft 106, and support plate 104, ensuring the relative position stability of each component. Cylinder 102 provides the sole power source, driving the movable plate 103 to move linearly through the extension and retraction of its output end, thereby driving the subsequent transmission components. The movable plate 103 connects the output end of cylinder 102 to the support plate 104, transmitting the power of cylinder 102 to the support plate 104 to achieve synchronous linear movement of the support plate 104. The support plate 104 supports the gear plate 105 and the liquid guide groove 1041, serving as both the mounting carrier for the gear plate 105 and driving the gear plate 105 to move synchronously through its own movement. It also provides a guide channel for oil recovery. The gear plate 105, through meshing with gear 107, converts the linear movement of the support plate 104 into the linear movement of gear 107. The rotational motion is the core component for realizing the conversion of power direction. The rotating shaft 106 acts as a transmission medium, transmitting the rotational motion to the gripper 108 and the cam 109 to achieve multi-component linkage. The gear 107 is used to convert the linear motion of the gear plate 105 into its own rotational motion, thereby driving the rotating shaft 106 to rotate. The gripper 108 is used to directly perform the function of gripping or releasing the workpiece. The opening and closing action is realized through the rotation of the rotating shaft 106. Multiple grippers 108 can cooperate to grip multiple workpieces simultaneously. The cam 109 is used to rotate synchronously with the rotating shaft 106. Through the contact and cooperation between its own protrusion and the pressure block 206, it triggers the action of the press pump 203 of the oil injection assembly 2 to realize the linkage control of oil injection lubrication.This invention designs a clamping assembly 1, powered by a single cylinder 102 located on one side of the bottom of the frame 101. The output of the cylinder 102 drives the movable plate 103, support plate 104, and gear plate 105 to move synchronously. Through the meshing transmission between the gear plate 105 and the gears 107 on the rotating shaft 106, the linear motion of the cylinder 102 is converted into the rotational motion of multiple gears 107, thereby driving multiple sets of grippers 108 to open and close synchronously and orderly. Compared to the existing "multi-power source independent drive" solution, this invention eliminates the need for multiple cylinders 102, motors, and supporting solenoid valves, controllers, and other components. This significantly reduces hardware procurement costs and the layout of wiring and air pipes, resulting in a simpler overall structure and a space occupancy rate reduced by more than 30%. It can flexibly adapt to small production workstations.

[0015] Specifically, the oil injection assembly 2 includes a mounting bracket 201 fixedly connected to the top of the frame 101, an oil reservoir 202 fixedly connected to the top of the mounting bracket 201, a press pump 203 fixedly connected to the bottom of the oil reservoir 202, a press tube 204 inserted into the bottom of the press pump 203 and extending into the frame 101, an atomizing nozzle 205 inserted into one side of the press tube 204, and a pressure block 206 fixedly connected to the bottom of the press tube 204, with the pressure block 206 located above the cam 109. The mounting bracket 201 provides mounting support for the oil reservoir 202, press pump 203, and other oil injection assemblies 2, ensuring the stability of the oil injection components. The oil reservoir 202 is used to store lubricating oil. The press pump 203 provides a continuous oil supply to the oil injection assembly 2. It pressurizes the oil in the oil tank 202 and delivers it to the press pipe 204. It is the power component for oil injection. The press pipe 204 serves as an oil delivery channel, guiding the oil output by the press pump 203 to the atomizing nozzle 205. The atomizing nozzle 205 atomizes the oil delivered by the press pipe 204 and sprays it out, so that the oil evenly covers the meshing part of the gear 107 and the gear plate 105, improving the lubrication effect. The pressure block 206 is located above the cam 109. Its bottom arc surface cooperates with the cam 109 protrusion. It moves upward under the push of the cam 109 and presses the press pump 203. It is the key component for triggering the oil injection action.

[0016] More specifically, the oil recovery assembly 3 includes a collection box 301 fixedly connected to one side of the bottom of the frame 101, a liquid guide pipe 302 inserted into one side of the collection box 301 and extending into the inside of the frame 101, and a drain nozzle 303 fixedly installed at the bottom of the collection box 301. The collection box 301 is used to collect the oil flowing in from the liquid guide pipe 302, realizing centralized storage of the oil for subsequent recycling and reuse. The liquid guide pipe 302 is used to connect the liquid guide tank 1041 and the collection box 301 as a channel for transporting the oil. The drain nozzle 303 is used to discharge the oil recovered in the collection box 301, facilitating the reuse or treatment of the oil.

[0017] It is worth noting that a liquid guide groove 1041 is provided on the top of the support plate 104. The liquid guide groove 1041 is inclined downward on the side near the oil recovery component 3. The liquid guide groove 1041 is used to receive the oil dripping after lubrication. Its inclined structure guides the oil flow to the liquid guide pipe 302, providing guidance for oil recovery. One end of the liquid guide pipe 302 is connected to the collection box 301, and the other end of the liquid guide pipe 302 extends into the frame 101 and connects to the liquid guide groove 1041. The liquid guide pipe 302 is made of corrugated pipe. The corrugated pipe material can adapt to the movement of the support plate 104 and avoid damage to the pipe.

[0018] It is worth mentioning that the bottom of the pressure block 206 is arc-shaped, and the cam 109 includes a disc and a protrusion on one side of the disc. The arc-shaped bottom of the pressure block 206 and the protrusion of the cam 109 form a smooth contact, reducing friction and wear when they are in contact, and ensuring smooth and stable pressing action. This utility model also designs an oil injection assembly 2 and an oil recovery assembly 3. When the protrusion on the cam 109 rotates to contact the pressure block 206 of the oil injection assembly 2, it can automatically lift the pressure block 206, triggering the pressing pump 203 to press the oil in the oil tank 202 into the pressing tube 204. Finally, the oil is atomized by the atomizing nozzle 205 and sprayed onto the gear 107 and gear teeth. The meshing of the plate 105 avoids the oversight of manual timed lubrication. At the same time, the atomizing nozzle 205 is precisely aimed at the meshing transmission part, increasing the oil utilization rate to over 80% and reducing oil waste. The liquid guide groove 1041 on the top of the support plate 104 is inclined downwards on the side near the oil recovery component 3 at an angle of 15°-20°. After lubrication, the oil sprayed by the oil spraying component 2 can flow smoothly into the corrugated pipe 302 along the liquid guide groove 1041 and finally collect in the collection box 301 on the bottom side of the frame 101, realizing the full-process recovery of lubricating oil, effectively avoiding oil contamination of workpieces or production sites, and reducing environmental pollution.

[0019] Working Principle: This embodiment provides a single cylinder 102 controlling a multi-jaw gripper 108 mechanism. In use, when a workpiece needs to be gripped, the cylinder 102 is activated, and its output end extends, driving the movable plate 103 to move. The movable plate 103 simultaneously drives the top support plate 104 and the gear plate 105 to move. Since the gear plate 105 meshes with the gear 107 on the rotating shaft 106, the linear motion of the gear plate 105 is converted into the rotational motion of the gear 107. The gear 107 drives the rotating shaft 106 to rotate, and the gripper 108 at one end of the rotating shaft 106 rotates synchronously with the rotating shaft 106. Multiple grippers 108 retract inward simultaneously, achieving synchronous gripping of multiple workpieces. During the rotation of the rotating shaft 106, the cam 109 at the other end of the rotating shaft 106 also rotates. When the protrusion on the cam 109 rotates to contact the pressure block 206, the protrusion pushes up the pressure block 206, causing the pressure block 206 to move upward and... Pressing the press pump 203 draws oil from the oil storage tank 202 and forces it into the press tube 204. The oil is then transported through the press tube 204 to the atomizing nozzle 205. The atomizing nozzle 205 atomizes the oil and sprays it onto the meshing point between the gear 107 and the gear plate 105 to lubricate the transmission components and reduce frictional wear between them. After lubricating the transmission components, some of the oil sprayed from the atomizing nozzle 205 drips onto the fluid guide on the top of the support plate 104. Inside the tank 1041, since the side of the liquid guiding tank 1041 near the oil recovery component 3 is inclined downward, the oil flows along the liquid guiding tank 1041 to the liquid guiding pipe 302 under the action of gravity, and then flows into the collection tank 301 through the liquid guiding pipe 302, thereby realizing the recovery of oil. When the oil in the collection tank 301 reaches a certain amount, the valve on the drain nozzle 303 is opened to discharge the recovered oil. After filtration, it can be poured back into the oil storage tank 202 for recycling.

[0020] The embodiments disclosed herein are preferred embodiments, but are not limited thereto. Those skilled in the art can readily grasp the spirit of this utility model based on the above embodiments and make different extensions and variations. However, as long as they do not depart from the spirit of this utility model, they are all within the protection scope of this utility model.

Claims

1. A single-cylinder controlled multi-gripper mechanism, characterized in that, The assembly includes a clamping component (1), an injection component (2), and an oil recovery component (3). The injection component (2) is located on the top of the clamping component (1), and the oil recovery component (3) is located on the bottom side of one side of the clamping component (1). The clamping component (1) includes a frame (101), a cylinder (102) is located on the bottom side of the frame (101), a movable plate (103) is located at the output end of the cylinder (102), and a support plate (104) is located on the top of the movable plate (103). The support plate (104) is located inside the frame (101). A toothed plate (105) is provided on the top of the support plate (104). A rotating shaft (106) is provided on one side of the frame (101). A gear (107) is provided in the middle of the rotating shaft (106), and the gear (107) meshes with the toothed plate (105). One end of the rotating shaft (106) extends to the outside of the frame (101) and is provided with a gripper (108). The other end of the rotating shaft (106) is provided with a cam (109). When the cylinder (102) drives the movable plate (103) to move, the movable plate (103) drives the support plate (104) and the gear plate (105) to move synchronously, converting the linear motion of the cylinder (102) into the rotational motion of multiple gears (107), which drives the gripper (108) to open and close synchronously and in an orderly manner.

2. The single-cylinder controlled multi-gripper mechanism according to claim 1, characterized in that, The oil spraying assembly (2) includes a mounting bracket (201) on top of the frame (101), an oil reservoir (202) on top of the mounting bracket (201), a press pump (203) at the bottom of the oil reservoir (202), a press tube (204) at the bottom of the press pump (203) and extending into the frame (101), an atomizing nozzle (205) on one side of the press tube (204), and a pressure block (206) at the bottom of the press tube (204), with the pressure block (206) located above the cam (109).

3. The single-cylinder controlled multi-gripper mechanism according to claim 2, characterized in that, The oil recovery assembly (3) includes a collection tank (301) located on one side of the bottom of the frame (101), a liquid guide pipe (302) located on one side of the collection tank (301) and extending into the frame (101), and a drain nozzle (303) located at the bottom of the collection tank (301).

4. The single-cylinder controlled multi-gripper mechanism according to claim 3, characterized in that, The top of the support plate (104) is provided with a liquid guide groove (1041). The liquid guide groove (1041) is inclined downward on the side near the oil recovery component (3). One end of the liquid guide pipe (302) is connected to the collection box (301), and the other end of the liquid guide pipe (302) extends into the frame (101) and is connected to the liquid guide groove (1041). The liquid guide pipe (302) is a corrugated pipe.

5. The single-cylinder controlled multi-gripper mechanism according to claim 4, characterized in that, The bottom of the pressure block (206) is arc-shaped, and the cam (109) includes a disk and a protrusion on one side of the disk.

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