A welding material gripper

Abstract

A welding material gripper relates to the technical field of automation equipment, and its structure comprises a main frame, a grabbing mechanism, a driving mechanism and a anti-falling pressing mechanism arranged on the main frame. A flange plate for connecting with a mechanical arm is arranged on the main frame. The grabbing mechanism comprises two groups of mechanical claws arranged symmetrically, the upper end of the mechanical claw is rotationally connected with the main frame through a rotating shaft, and the lower end can rotate around the rotating shaft. The lower ends of the two groups of mechanical claws can approach or move away from each other to realize the grabbing or releasing of the welding material. The driving mechanism comprises a driving motor and a transmission assembly for driving the grabbing or releasing of the two groups of mechanical claws. The pressing mechanism is arranged between the two groups of mechanical claws and comprises a pressing plate and an elastic connecting rod. When the grabbing mechanism performs the grabbing action, the welding material to be grabbed can push the pressing plate to compress the elastic connecting rod to realize the pressing of the grabbed welding material. The application can solve the technical problem that the welding material is easy to fall off during the transfer after being grabbed by the existing mechanical gripper.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a welding material gripper. Background Technology

[0002] During the pretreatment of welding materials, the welding materials treated in the drying oven need to be transferred to the heat preservation box for heat preservation and storage at a high temperature. This transfer process usually needs to be completed by automated equipment.

[0003] Existing mechanical grippers for picking up welding materials simply use two opposing mechanical claws to grab bundles of welding materials. The welding materials are located within the area formed by the two mechanical claws, without any additional protective mechanisms. During the movement, due to external forces such as vibration and centrifugal force, the welding materials are prone to slipping off the grippers, causing production accidents. Utility Model Content

[0004] The purpose of this utility model is to provide a welding material gripper that can solve the technical problem that welding materials are easily detached during transportation after being gripped by existing mechanical grippers.

[0005] To achieve the above objectives, the present invention adopts the following technical solution.

[0006] A welding material gripper includes a main frame, on which a gripping mechanism for gripping welding material, a driving mechanism for driving the gripping mechanism to open and close, and a clamping mechanism for pressing the welding material onto the gripping mechanism to prevent it from falling off after gripping the welding material.

[0007] The main frame is equipped with flanges for connecting to the robotic arm.

[0008] The gripping mechanism includes two sets of symmetrically arranged mechanical claws. The upper end of the mechanical claw is provided with a rotating shaft and is rotatably connected to the main frame through the rotating shaft. The lower end of the mechanical claw can rotate around its respective rotating shaft. The lower ends of the two sets of mechanical claws can move closer or further apart to grasp or release the welding material.

[0009] The drive mechanism includes a drive motor and a transmission assembly. The drive motor can drive the two sets of mechanical grippers to grasp or release the objects through the transmission assembly.

[0010] The clamping mechanism is located between two sets of mechanical claws, including a clamping plate and an elastic link connecting the clamping plate and the main frame. When the gripping mechanism performs a gripping action, the gripped welding material can push the clamping plate to compress the elastic link to achieve clamping of the gripped welding material.

[0011] Furthermore, the transmission assembly includes a lead screw, a rack, and gears. A drive motor drives the lead screw to rotate. The two racks are slidably arranged with their sliding direction parallel to the axis of the lead screw. Both racks are threaded to the lead screw, and when the lead screw rotates, the racks can move closer to or further away from each other. The two gears are coaxially fixedly connected to the rotating shafts of the two sets of mechanical grippers. The two gears mesh with the two racks. Driven by the drive motor, the racks can move closer to or further away from each other, causing the gears to rotate in opposite directions, thus enabling the two sets of mechanical grippers to grasp or release.

[0012] Furthermore, the drive motor drives the transmission screw to rotate via a belt.

[0013] Furthermore, the elastic link includes a fixed end, a movable end, and a spring disposed between the fixed end and the movable end. The fixed end is fixedly connected to the main frame, and the movable end is fixedly connected to the pressure plate. The movable end and the fixed end are coaxially slidably engaged, and the spring is used to apply a clamping force to the pressure plate.

[0014] Furthermore, each set of mechanical grippers has two gripping fingers arranged side by side, and when the gripper is in a gripping state, the fingertips of the corresponding gripping fingers in the two sets of mechanical grippers are in contact with each other.

[0015] Furthermore, a transverse link is provided between the two gripping fingers of the mechanical claw to increase overall strength.

[0016] Furthermore, a baffle is provided between the two gripping fingers of the mechanical claw to increase the contact area with the welding material and prevent damage to the welding material during gripping and transfer.

[0017] Furthermore, a cover plate is also provided on the main frame for sealing the device and improving stability.

[0018] After adopting the above technical solution, the present invention has the following beneficial effects: 1. This solution uses a clamping mechanism to press the welded material onto the gripping mechanism when the gripper grabs it, which enhances the stability of the welded material on the gripper and can effectively prevent the welded material from falling off due to external force during the transfer process. 2. This solution uses a belt to connect the drive motor and the subsequent transmission components, which increases the flexibility of the transmission system and can achieve smooth transmission and overload protection. 3. This solution uses the same lead screw to drive two racks to move closer or further apart, thereby driving two sets of mechanical grippers to grasp or release. This ensures that the two sets of mechanical grippers move in strict synchronization, preventing grasping failures caused by asynchronous movements of the two sets of mechanical grippers. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the overall structure of this utility model.

[0020] Figure 2 This is a side view structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of this utility model (with the mask removed).

[0022] Figure 4 This is a schematic diagram of the overall structure of the final gripping mechanism and the driving mechanism of this utility model.

[0023] Figure 5 yes Figure 4 A diagram from another perspective.

[0024] Figure 6 This is a schematic diagram of the gripping mechanism of this utility model when it is open.

[0025] Figure descriptions: 1. Main frame; 11. Flange; 12. Cover plate; 13. Pull-out handle; 2. Gripping mechanism; 21. Mechanical claw; 211. Gripping finger; 212. Lateral connecting rod; 213. Baffle; 22. Rotating shaft; 3. Drive mechanism; 31. Drive motor; 311. Belt; 32. Transmission screw; 33. Transmission rack; 34. Transmission gear; 4. Clamping mechanism; 41. Clamping plate; 42. Elastic connecting rod. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the features and performance of a welding material gripper of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] Please see the appendix Figures 1-6 A welding material gripper includes a main frame 1, a gripping mechanism 2 for gripping welding material, a driving mechanism 3 for driving the gripping mechanism 2 to open and close, and a pressing mechanism 4 for pressing the welding material onto the gripping mechanism 2 to prevent it from falling off after gripping the welding material.

[0028] like Figure 1 As shown, the main frame 1 is provided with a flange 11 for connecting to the robotic arm. The main frame 1 is also provided with a cover plate 12 for sealing the device and improving stability.

[0029] like Figure 3 As shown, the gripping mechanism 2 includes two sets of mechanical claws 21 arranged symmetrically. The upper end of the mechanical claw 21 is provided with a rotating shaft 22 and is rotatably connected to the main frame 1 through the rotating shaft 22. The lower end of the mechanical claw 21 can rotate around its respective rotating shaft 22. The lower ends of the two sets of mechanical claws 21 can move closer or further apart to grasp or release the welding material.

[0030] Specifically, such as Figure 4 As shown, each set of mechanical grippers 21 has two gripping fingers 211 arranged side by side. When the gripper is in a gripping state, the fingertips of the corresponding gripping fingers 211 in the two sets of mechanical grippers 21 are in contact with each other. A transverse connecting rod 212 and a baffle 213 are provided between the two gripping fingers of the mechanical gripper. The transverse connecting rod 212 is used to increase the overall strength of the mechanical gripper, and the baffle 213 is used to increase the contact area with the welding material and prevent damage to the welding material during gripping and transfer.

[0031] like Figure 4 and 5 As shown, the drive mechanism 3 includes a drive motor 31 and a transmission assembly. The drive motor 31 can drive the two sets of mechanical claws 21 to grasp or release through the transmission assembly.

[0032] Specifically, the transmission assembly includes a lead screw 32, a rack 33, and gears 34. A drive motor 31 drives the lead screw 32 to rotate via a belt 311. The two racks 33 are slidably arranged with their sliding direction parallel to the axial direction of the lead screw 32. Both racks 33 are threaded into the lead screw 32, and when the lead screw 32 rotates, the two racks 33 can move closer to or further away from each other. The two gears 34 are coaxially and fixedly connected to the rotating shafts 22 of the two sets of mechanical grippers 21, respectively. The two gears 34 mesh with the two racks 33, and when driven by the drive motor 31, the racks 33 move closer to or further away from each other, causing the two gears 34 to rotate in opposite directions, thus enabling the two sets of mechanical grippers 21 to grasp or release.

[0033] like Figure 3 As shown, the clamping mechanism 4 is located between the two sets of mechanical claws 21, including a clamping plate 41 and an elastic connecting rod 42 connecting the clamping plate 41 and the main frame 1. When the gripping mechanism 2 performs the gripping action, the gripped welding material can push the clamping plate 41 to compress the elastic connecting rod 42 to achieve the clamping of the gripped welding material.

[0034] Specifically, the elastic link 42 includes a fixed end, a movable end, and a spring disposed between the fixed end and the movable end. The fixed end is fixedly connected to the main frame 1, and the movable end is fixedly connected to the pressing plate 41. The movable end and the fixed end are coaxially slidably engaged, and the spring is used to apply a pressing force to the pressing plate 41.

[0035] In practice, the drive motor 31 rotates in both directions, driving the transmission screw 32 to rotate in the forward and reverse directions via the belt 311, thereby driving the axial movement of the transmission rack 33. The transmission screw 32 is a ball screw, and it is equipped with an axial limit to restrict the extreme positions of the transmission rack 33, thus limiting the extreme opening and closing angles of the mechanical gripper 21. The transmission gear 34 and the rotating shaft 22 of the mechanical gripper 21 are coaxially and fixedly connected, thus completing the transmission mechanism and forming a mechanical transmission system in which the drive motor 31 drives and controls the two sets of mechanical grippers 21 to grasp and release.

[0036] Flange 11 has two rings of mounting flange holes, inner and outer. The inner ring flange holes correspond to the dimensions of the robotic arm flange and are used for connecting the gripper to the robotic arm. The outer ring flange holes are used for fixing flange 11 to the main frame 1.

[0037] The main frame 1 is also equipped with a pull-out handle 13, such as Figure 2 As shown, when grabbing welding materials from the drying box, the material frame inside the drying box is pulled out or pushed back into the drying box by pulling the handle 13 to grab the welding materials in the material frame.

[0038] During the gripping process, the robotic arm moves the gripper above the material frame containing the welding material to be gripped. The drive motor 31 is started to separate the two robotic claws 21 from each other. The gripper is moved downward until the fingertips of the gripping fingers 211 pass through the corresponding hollow slots on the material frame (the gripping fingers 211 at the corresponding positions of the two sets of robotic claws 21 are located in the same hollow slot). During this process, the welding material to be gripped will press upward against the clamping plate 41.

[0039] The drive motor 31 is started to rotate in the opposite direction, causing the two mechanical claws 21 to move closer to each other until the corresponding fingertips make contact and grasp. At this time, the clamping plate 41 and the two sets of mechanical claws 21 together hold the grasped welding material tightly.

[0040] The robotic arm moves the gripper to the designated position, and the drive motor 31 is started to release the robotic claw 21, thus completing the feeding process.

[0041] It should be noted that the parts not described in detail in this solution are all prior art. The above embodiments are only used to illustrate the present utility model, but the present utility model is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A welding material gripper, comprising a main frame (1), characterized in that: The main frame (1) is provided with a gripping mechanism (2) for gripping welding materials, a driving mechanism (3) for driving the gripping mechanism (2) to open and close, and a pressing mechanism (4) for pressing the welding materials onto the gripping mechanism (2) after gripping to prevent them from falling off. The main frame (1) is provided with a flange (11) for connecting to the robotic arm. The gripping mechanism (2) includes two sets of symmetrically arranged mechanical claws (21). The upper end of each mechanical claw (21) is provided with a rotating shaft (22) and is rotatably connected to the main frame (1) through the rotating shaft (22). The lower end of each mechanical claw (21) can rotate around its respective rotating shaft (22). The lower ends of the two sets of mechanical claws (21) can move closer or further apart to grasp or release the welding material. The drive mechanism (3) includes a drive motor (31) and a transmission assembly. The drive motor (31) can drive the two sets of mechanical claws (21) to grasp or release through the transmission assembly. The clamping mechanism (4) is located between two sets of mechanical claws (21), including a clamping plate (41) and an elastic link (42) connecting the clamping plate (41) and the main frame (1). When the gripping mechanism (2) performs the gripping action, the gripped welding material can push the clamping plate (41) to compress the elastic link (42) to achieve the clamping of the gripped welding material.

2. The welding material gripper as described in claim 1, characterized in that: The transmission assembly includes a lead screw (32), a rack (33), and a gear (34). The drive motor (31) drives the lead screw (32) to rotate. The two racks (33) are slidably arranged and the sliding direction is parallel to the axis of the lead screw (32). The two racks (33) are engaged with the lead screw (32) through a threaded pair. When the lead screw (32) rotates, the two racks (33) can move closer or further away from each other. The two gears (34) are coaxially fixedly connected to the rotating shaft (22) of the two sets of mechanical claws (21). The two gears (34) mesh with the two racks (33). Under the drive of the drive motor (31), the two racks (33) can move closer or further away from each other, which can drive the two gears (34) to rotate in opposite directions, so as to realize the gripping or releasing of the two sets of mechanical claws (21).

3. The welding material gripper as described in claim 1, characterized in that: The elastic link (42) includes a fixed end, a movable end and a spring located between the fixed end and the movable end. The fixed end is fixedly connected to the main frame (1), and the movable end is fixedly connected to the pressure plate (41). The movable end and the fixed end are coaxially slidingly engaged. The spring is used to apply a pressure force to the pressure plate (41).

4. The welding material gripper as described in claim 1, characterized in that: Each set of mechanical grippers (21) has two gripping fingers (211) arranged side by side, and when the gripper is in a gripping state, the fingertips of the gripping fingers (211) at the corresponding positions in the two sets of mechanical grippers (21) are in contact with each other.

5. A welding material gripper as described in claim 1, characterized in that: The main frame (1) is also provided with a cover plate (12) for sealing the device and improving stability.

Images