A handling gripper

Abstract

The utility model discloses a kind of carrying gripper, belong to the technical field of automated mechanical equipment, comprising: automatic quick-change mechanism, automatic quick-change mechanism is connected with the execution end of mechanical arm;Suspension assembly, the fixed end of suspension device is connected with automatic quick-change mechanism;Gripper assembly, gripper assembly is connected with the execution end of suspension device, gripper assembly is used to cooperate with the workpiece to be grabbed;Wherein, execution end drives gripper assembly to swing in the preset displacement of preset direction.The utility model discloses a kind of carrying gripper, vertical direction floating compensation is realized by suspension assembly, can adapt to the grabbing of multiple shape parts, widely used in workpiece carrying projection welding, stamping sheet carrying feeding, key field such as stacking, and simple operation, stable operation, effectively reduce the labor intensity of operator and equipment failure rate, improve work efficiency and equipment stability.

Description

Technical Field

[0001] This utility model discloses a handling gripper, belonging to the field of automated mechanical equipment technology. Background Technology

[0002] In the field of workpiece handling, rigidly connected octagonal steel grippers are traditionally used for gripping and transferring various workpieces. Due to their rigid connection design, these grippers lack necessary buffering and adjustment mechanisms, resulting in several significant limitations in practical applications: Firstly, their gripping form is relatively fixed, offering poor adaptability to workpiece shapes and making it difficult to flexibly handle the gripping needs of parts with different sizes, contours, and surface features. This is especially true when handling irregularly shaped, curved, or fragile parts, where unstable gripping or even workpiece damage is highly likely. Secondly, their rigid structure limits their application scenarios, making it difficult to meet the operational requirements of complex conditions in diverse production environments, such as workpiece transfer in projection welding processes, sheet metal loading in stamping production lines, and automated palletizing. More importantly, due to the lack of effective floating compensation, the contact between the gripper and the workpiece / equipment during gripping and handling is often a rigid collision. This not only easily causes workpiece positioning deviations but also exacerbates wear and tear on the mechanical structure, leading to frequent equipment failures. This increases maintenance costs and severely impacts the stability of production cycles and overall work efficiency. Utility Model Content

[0003] The purpose of this invention is to solve the problems of poor adaptability of traditional rigid connection grippers, which cannot be applied to parts of various shapes and have a limited range of applications, as well as the high failure rate and low work efficiency caused by the lack of vertical floating compensation. The invention proposes a material handling gripper.

[0004] The problem to be solved by this utility model is achieved by the following technical solution:

[0005] A handling gripper includes: an automatic quick-change mechanism connected to the actuator end of a robotic arm; a suspension assembly connected to the fixed end of the suspension device; and a gripper assembly connected to the actuator end of the suspension device, the gripper assembly being used to cooperate with a workpiece to be gripped; wherein the actuator end drives the gripper assembly to swing at a preset displacement in a preset direction.

[0006] Furthermore, the gripper assembly includes: a gripper plate, which is spaced apart from the automatic quick-change mechanism and connected to the actuator; a pneumatic magnet, which is disposed on one side of the gripper plate and connected to the gripper plate, and spaced apart from the gripper assembly and the suspension device; multiple spherical joint supports, which are spaced apart and connected to the gripper plate, and spaced apart from the pneumatic magnet, the gripper assembly, and the suspension device; and multiple vacuum suction cups, which are correspondingly arranged with the multiple spherical joint supports, and each spherical joint support is connected to its corresponding vacuum suction cup.

[0007] Furthermore, the suspension component includes: a suspension support assembly connected to the automatic quick-change mechanism, the suspension support assembly and the gripper assembly being spaced apart; an elastic component, comprising multiple elastic components spaced apart, the fixed end of the elastic component connected to the suspension support assembly, and the actuating end of the elastic component connected to the gripper plate; a linear slide rail disposed on one side of the suspension support assembly, the fixed seat of the linear slide rail connected to the suspension support assembly, and the linear slide rail being spaced apart from the gripper assembly and the automatic quick-change mechanism; and a connecting plate, the actuating end of the linear slide rail connected to the gripper plate via the connecting plate, the connecting plate being spaced apart from the suspension support assembly and the elastic components.

[0008] Furthermore, the suspended support assembly includes: a vertical support plate, which is connected to an automatic quick-change mechanism and a fixed seat of a linear slide rail, and is spaced apart from a connecting plate and an elastic component; a first horizontal support plate, one end of which is connected to a first end of the vertical support plate and is connected to a first fixed end of the elastic component, and is spaced apart from the automatic quick-change mechanism and a gripper assembly; and a second horizontal support plate, one end of which is connected to a second end of the vertical support plate and is connected to a second fixed end of the elastic component, and is spaced apart from the automatic quick-change mechanism and the gripper assembly.

[0009] Furthermore, the elastic component includes: a fixed post, the first fixed end of which is connected to a first transverse support plate, and the second fixed end of which is connected to a second transverse support plate; a fixed sleeve, which is connected to a gripper plate and is fitted onto the fixed post, and is movably connected to the fixed post; a first spring, which is fitted onto the fixed post, the first end of which is connected to the first end of the fixed sleeve, and the second end of which is connected to the first transverse support plate; and a second spring, which is fitted onto the fixed post, the first end of which is connected to the second end of the fixed sleeve, and the second end of which is connected to the second transverse support plate.

[0010] The advantages of this invention compared to existing technologies are as follows:

[0011] This utility model discloses a handling gripper that achieves vertical floating compensation through a suspension component. It can adapt to the gripping of parts of various shapes and is widely used in key fields such as workpiece handling, projection welding, stamping sheet handling and feeding, and palletizing. It is simple to operate and runs smoothly, effectively reducing the labor intensity of operators and the equipment failure rate, and improving work efficiency and equipment stability. Attached Figure Description

[0012] Figure 1 This is an isometric side view of the first embodiment of a handling gripper according to the present invention.

[0013] Figure 2 This is a partial isometric side view of a second embodiment of a handling gripper according to the present invention.

[0014] Figure 3 This is a partial isometric side view of a third embodiment of a handling gripper of this utility model.

[0015] Among them, 10-automatic quick-change mechanism, 20-suspension component, 201-vertical support plate, 202-fixed sleeve, 203-first transverse support plate, 204-linear slide rail, 205-connecting plate, 206-first spring, 207-second spring, 208-second transverse support plate, 209-fixed column, 30-grip assembly, 301-grip plate, 302-pneumatic magnet, 303-spherical joint bracket, 304-vacuum suction cup, 40-workpiece to be gripped. Detailed Implementation

[0016] The following is based on the appendix Figure 1-3 Further explanation of this utility model:

[0017] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., 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 this utility model and simplifying the description, and do not 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 this utility model.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] like Figures 1-3 As shown, the first embodiment of this utility model provides a handling gripper based on the prior art, including: an automatic quick-change mechanism 10, which is connected to the execution end of a robotic arm; a suspension component 20, the fixed end of which is connected to the automatic quick-change mechanism 10; and a gripper assembly 30, which is connected to the execution end of the suspension component 20 and is used to cooperate with a workpiece 40 to be gripped; wherein, the execution end drives the gripper assembly 30 to swing in a preset displacement in a preset direction.

[0021] In this embodiment, the automatic quick-change mechanism 10 is connected to the robotic arm execution end to achieve rapid replacement. The suspension component 20 connects the automatic quick-change mechanism 10 and the gripper component 30, which can drive the gripper component 30 to swing in a preset direction. With the adaptation of the gripper component 30 and the workpiece 40 to be gripped, it can adapt to parts of various shapes and be applied to many key areas such as workpiece handling and projection welding, stamping sheet handling and feeding, and palletizing. The operation is simple and the operation is stable, which greatly reduces the labor intensity of the operator and improves work efficiency. At the same time, with the help of vertical floating compensation, equipment failure is reduced and equipment stability is enhanced.

[0022] In this embodiment, the gripper assembly 30 includes: a gripper plate 301, which is spaced apart from the automatic quick-change mechanism 10 and connected to the execution end; a pneumatic magnet 302, which is disposed on one side of the gripper plate 301 and connected to the gripper plate 301, and is spaced apart from the gripper assembly 30 and the suspension device 20; a ball joint bracket 303, which includes multiple ball joint brackets, which are spaced apart and connected to the gripper plate 301 respectively, and are spaced apart from the pneumatic magnet 302, the gripper assembly 30 and the suspension device 20 respectively; and a vacuum suction cup 304, which includes multiple vacuum suction cups, which are one-to-one corresponding to the multiple ball joint brackets 303, and each ball joint bracket 303 is connected to the corresponding vacuum suction cup 304.

[0023] In this embodiment, the gripper plate 301 is spaced apart from and connected to the automatic quick-change mechanism 10, ensuring a reasonable overall structural layout and stable power transmission from the actuator, providing a solid foundation for subsequent gripping actions. The pneumatic magnet 302 is positioned on one side of the gripper plate 301 and connected to it, while also spaced apart from the gripper assembly 30 and the suspension device 20. This achieves stable adsorption of magnetic workpieces while avoiding interference with other components, broadening the range of workpiece types that can be gripped. Multiple spaced-apart ball joint supports 303 are connected to the gripper plate 301 and spaced apart from the pneumatic magnet 302, gripper assembly 30, and suspension device 20. This not only evenly distributes the gripping force but also allows for the smooth operation of the gripping mechanism. The flexible rotation characteristics of the spherical joints adapt to different angles and curvatures on the surface of the workpiece 40 to be gripped, improving the fit during gripping. Multiple vacuum suction cups 304 are connected one-to-one with multiple spherical joint supports 303, which further enhances the gripping stability by means of vacuum adsorption principle. Especially for non-magnetic or smooth workpieces, it can effectively prevent the workpiece from falling off during gripping. The combination of the dual gripping methods of pneumatic magnets 302 and vacuum suction cups 304, as well as the angle adjustment capability of spherical joint supports 303, allows the gripper assembly 30 to adapt to workpieces 40 of more shapes and materials, greatly improving the versatility and reliability of gripping. At the same time, the structural design with the components spaced apart also facilitates daily maintenance and repair, reducing subsequent use costs.

[0024] In one exemplary embodiment, the suspension component 20 includes: a suspension support assembly connected to the automatic quick-change mechanism 10, the suspension support assembly and the gripper assembly 30 being spaced apart; an elastic component, including multiple elastic components spaced apart, the fixed end of the elastic component being connected to the suspension support assembly, and the actuating end of the elastic component being connected to the gripper plate 301; a linear slide rail 204 disposed on one side of the suspension support assembly, the fixed seat of the linear slide rail 204 being connected to the suspension support assembly, and the linear slide rail 204 being spaced apart from the gripper assembly 30 and the automatic quick-change mechanism 10 respectively; and a connecting plate 205, the actuating end of the linear slide rail 204 being connected to the gripper plate 301 through the connecting plate 205, and the connecting plate 205 being spaced apart from the suspension support assembly and the elastic components.

[0025] In this embodiment, the suspended support assembly is connected to the automatic quick-change mechanism 10 and spaced apart from the gripper assembly 30. This allows for stable support of the forces transmitted by the automatic quick-change mechanism 10 while avoiding interference with the gripper assembly 30, providing a reasonable structural space for subsequent floating adjustments. Multiple spaced elastic components, with their fixed ends connected to the suspended support assembly and their actuating ends connected to the gripper plate 301, utilize their elastic properties to achieve vertical buffering and floating compensation, effectively mitigating the rigid impact between the workpiece and the gripper during gripping and handling, and reducing equipment wear. The linear slide rail 204 is located on one side of the suspended support assembly, with its fixed seat connected to the suspended support assembly and spaced apart from the gripper assembly 30 and the automatic quick-change mechanism 10, providing support for the gripper assembly 30. The movement of the linear guide 204 provides precise guidance, ensuring stable and smooth displacement and swing in the preset direction, avoiding deviation or jamming. The connecting plate 205 connects the execution end of the linear guide 204 to the gripper plate 301 and is spaced apart from the suspension bracket assembly and the elastic component. This not only achieves stable linkage between the linear guide 204 and the gripper plate 301, but also avoids movement interference with other components. Combined with the floating compensation of the elastic component and the precise guidance of the linear guide 204, the suspension component 20 can drive the gripper assembly 30 to flexibly adapt to the positional deviation of the workpiece 40 to be gripped, further improving the stability and accuracy of gripping. At the same time, it reduces the risk of equipment failure caused by poor movement or impact, extends the service life of the equipment, and ensures efficient operation of the handling operation.

[0026] Furthermore, the suspended support assembly includes: a vertical support plate 201, which is connected to the automatic quick-change mechanism 10 and the fixed seat of the linear slide rail 204; the vertical support plate 201 is spaced apart from the connecting plate 205 and the elastic component; a first horizontal support plate 203, one end of which is connected to the first end of the vertical support plate 201 and the first fixed end of the elastic component; the first horizontal support plate 203 is spaced apart from the automatic quick-change mechanism 10 and the gripper assembly 30; and a second horizontal support plate 208, one end of which is connected to the second end of the vertical support plate 201 and the second fixed end of the elastic component; the second horizontal support plate 208 is spaced apart from the automatic quick-change mechanism 10 and the gripper assembly 30.

[0027] The suspension bracket assembly, as the core support structure of the suspension assembly 20, has a vertical support plate 201 connected at one end to the automatic quick-change mechanism 10 and at the other end to the fixed seat of the linear slide rail 204. This not only securely receives the power transmitted by the automatic quick-change mechanism 10 and transfers it to the entire suspension assembly 20, but also provides a reliable mounting base for the linear slide rail 204, ensuring its stability during operation. Furthermore, the vertical support plate 201 is spaced apart from the connecting plate 205 and the elastic component, effectively preventing interference with other parts during movement and ensuring independent and smooth operation of each component. One end of the first transverse support plate 203 is connected to the first end of the vertical support plate 201 and to the first fixed end of the elastic component, providing symmetrical and stable mounting points for the elastic component. This ensures uniform force distribution on the elastic component, better utilizing its vertical buffering and floating compensation functions. The first transverse support plate 203 is connected to the automatic quick-change mechanism 10 and the gripper assembly. The spacing of components 30 further avoids collisions and interference between structures. One end of the second horizontal support plate 208 is connected to the second end of the vertical support plate 201 and to the second fixed end of the elastic component, forming a symmetrical support structure with the first horizontal support plate 203. This not only enhances the overall structural strength and load-bearing capacity of the suspended support assembly, but also works with the first horizontal support plate 203 to keep the elastic component balanced during operation, avoiding floating deviation caused by uneven force. At the same time, the spacing of the second horizontal support plate 208 with the automatic quick-change mechanism 10 and the gripper assembly 30 also ensures the safety and smoothness of the overall structure operation. Overall, the suspended support assembly, through the reasonable layout and connection of the vertical support plate 201, the first horizontal support plate 203 and the second horizontal support plate 208, provides solid support for the elastic compensation and linear guidance functions of the suspended component 20, further improving the stability and reliability of the handling gripper.

[0028] Further, the elastic component includes: a fixed post 209, the first fixed end of which is connected to the first transverse support plate 203, and the second fixed end of which is connected to the second transverse support plate 208; a fixed sleeve 202, which is connected to the gripper plate 301 and is sleeved on the fixed post 209, and is movably connected to the fixed post 209; a first spring 206, which is sleeved on the fixed post 209, the first end of which is connected to the first end of the fixed sleeve 202, and the second end of which is connected to the first transverse support plate 203; and a second spring 207, which is sleeved on the fixed post 209, the first end of which is connected to the second end of the fixed sleeve 202, and the second end of which is connected to the second transverse support plate 208.

[0029] In this embodiment, the first fixed end of the fixed column 209 is connected to the first transverse support plate 203, and the second fixed end is connected to the second transverse support plate 208. This allows the first transverse support plate 203 and the second transverse support plate 208 to form a stable installation foundation, providing reliable support for the entire elastic component. The fixed sleeve 202 is connected to the gripper plate 301 and is sleeved on and movably connected to the fixed column 209, enabling the gripper plate 301 to move flexibly along the fixed column 209, providing structural conditions for subsequent floating adjustment. The first spring 206 is sleeved on the fixed column 209, with its first end connected to the first end of the fixed sleeve 202 and its second end connected to the first transverse support plate 203. Similarly, the second spring 207 is sleeved on the fixed column 209, with its first end connected to the second end of the fixed sleeve 202 and its second end connected to the second transverse support plate 208. When the gripper assembly 30 is subjected to external force during gripping or transport, the first spring... The first spring 206 and the second spring 207 can generate a reverse elastic force through their own expansion and contraction deformation. On the one hand, they can buffer the rigid impact when the gripper assembly 30 contacts the workpiece, avoiding damage to the workpiece and wear on the equipment. On the other hand, they can achieve vertical floating compensation. Even if there is a slight positional deviation in the workpiece 40 to be gripped, the elastic adjustment of the spring can make the gripper assembly 30 accurately fit the workpiece, improving gripping stability. At the same time, the guiding effect of the fixed column 209 on the fixed sleeve 202, the first spring 206 and the second spring 207 ensures the linear accuracy of the elastic component during movement, avoiding deviation or jamming. Overall, through the coordinated cooperation of the fixed column 209, the fixed sleeve 202, the first spring 206 and the second spring 207, the elastic component not only provides reliable elastic buffering and floating compensation functions for the handling gripper, but also further enhances the stability of equipment operation, reduces the risk of failure, and ensures the efficient operation of handling operations.

[0030] Although embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for this utility model. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and examples shown and described herein.

Claims

1. A handling gripper, characterized in that, include: An automatic quick-change mechanism (10) is connected to the execution end of a robotic arm; a suspension assembly (20) has its fixed end connected to the automatic quick-change mechanism (10); a gripper assembly (30) is connected to the execution end of the suspension assembly (20) and is used to cooperate with the workpiece (40) to be gripped; wherein the execution end drives the gripper assembly (30) to swing in a preset displacement in a preset direction; The gripper assembly (30) includes: a gripper plate (301), which is spaced apart from the automatic quick-change mechanism (10) and connected to the actuator end; a pneumatic magnet (302), which is disposed on one side of the gripper plate (301) and connected to the gripper plate (301), and is spaced apart from the gripper assembly (30) and the suspension assembly (20); and a ball joint bracket (303), which includes multiple ball joint brackets. The ball joint brackets (303) are spaced apart, and multiple ball joint brackets (303) are respectively connected to the gripper plate (301). Multiple ball joint brackets (303) are respectively spaced apart from the pneumatic magnet (302), the gripper assembly (30), and the suspension assembly (20). Vacuum suction cups (304) are included in multiples. Multiple vacuum suction cups (304) are respectively arranged in correspondence with multiple ball joint brackets (303). Each ball joint bracket (303) is respectively connected to the corresponding vacuum suction cup (304).

2. The handling gripper according to claim 1, characterized in that, The suspension component (20) includes: a suspension support assembly connected to the automatic quick-change mechanism (10), the suspension support assembly and the gripper assembly (30) being spaced apart; an elastic component, the elastic component including multiple elastic components, the multiple elastic components being spaced apart, the fixed end of the elastic component being connected to the suspension support assembly, the actuating end of the elastic component being connected to the gripper plate (301); a linear slide rail (204), the linear slide rail (204) being disposed on one side of the suspension support assembly, the fixed seat of the linear slide rail (204) being connected to the suspension support assembly, the linear slide rail (204) being spaced apart from the gripper assembly (30) and the automatic quick-change mechanism (10); and a connecting plate (205), the actuating end of the linear slide rail (204) being connected to the gripper plate (301) through the connecting plate (205), the connecting plate (205) being spaced apart from the suspension support assembly and the elastic component.

3. The handling gripper according to claim 2, characterized in that, The suspended support assembly includes: a vertical support plate (201), which is connected to the automatic quick-change mechanism (10) and the fixed seat of the linear slide rail (204), and is spaced apart from the connecting plate (205) and the elastic component; a first horizontal support plate (203), one end of which is connected to the first end of the vertical support plate (201), and is connected to the fixed seat of the linear slide rail (204); the vertical support plate (201) is spaced apart from the connecting plate (205) and the elastic component; and a first horizontal support plate (203), one end of which is connected to the first end of the vertical support plate (201), and the first horizontal support plate (203) is connected to the connecting plate (205) and the elastic component. The first fixed end of the elastic component is connected, and the first transverse support plate (203) is spaced apart from the automatic quick-change mechanism (10) and the gripper assembly (30); the second transverse support plate (208) has one end connected to the second end of the vertical support plate (201), and the second transverse support plate (208) is connected to the second fixed end of the elastic component. The second transverse support plate (208) is spaced apart from the automatic quick-change mechanism (10) and the gripper assembly (30).

4. The handling gripper according to claim 3, characterized in that, The elastic component includes: a fixed post (209), the first fixed end of which is connected to the first transverse support plate (203), and the second fixed end of which is connected to the second transverse support plate (208); a fixed sleeve (202), which is connected to the gripper plate (301), and is sleeved on the fixed post (209), and is movably connected to the fixed post (209); and a first spring (206). 206) is sleeved on the fixed post (209), the first end of the first spring (206) is connected to the first end of the fixed sleeve (202), and the second end of the first spring (206) is connected to the first transverse support plate (203); the second spring (207) is sleeved on the fixed post (209), the first end of the second spring (207) is connected to the second end of the fixed sleeve (202), and the second end of the second spring (207) is connected to the second transverse support plate (208).

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