Multifunctional distance-adjusting gripper with magnetic attraction
Patent Information
- Application Number
- CN202522210049.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-20
- Publication Date
- 2026-09-18
- Estimated Expiration
- 2035-10-20
AI Technical Summary
[0004]本实用新型提供了一种兼带磁吸的多功能调距抓手，旨在解决现有技术中机械抓手对工件适配范围低的问题
[0022] This invention utilizes a movable clamping arm and a swinging clamping arm to clamp the workpiece. During clamping, the swinging clamping arm follows the swinging element to adapt to the workpiece's shape, improving clamping stability. Furthermore, this application also incorporates a magnetic suction component on the gripper frame to attract the workpiece, enabling this multi-functional adjustable-distance gripper to grasp workpieces of different types and shapes, thus broadening its applicability.
Smart Images
Figure CN224765459U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a multi-functional adjustable gripper with magnetic attraction. Background Technology
[0002] Industrial robots can replace manual labor for loading and unloading, effectively reducing cycle time, saving labor costs, and reducing the risk of worker injury. However, existing robot grippers typically clamp workpieces using two gripping arms, which presents a challenge in adaptability when dealing with irregular and diverse workpieces. Utility Model Content
[0003] (a) Technical problems to be solved
[0004] This invention provides a multi-functional adjustable gripper with magnetic attraction, aiming to solve the problem of low workpiece adaptability of existing mechanical grippers.
[0005] (II) Technical Solution
[0006] To solve the above problems, this utility model provides a multi-functional adjustable gripper with magnetic attraction. The multi-functional adjustable gripper includes: a gripper frame, a moving end clamping arm assembly, a swing end clamping arm assembly, and a magnetic attraction assembly.
[0007] The mobile end clamping arm assembly includes a mobile end clamping plate and a pair of mobile clamping arms. The mobile end clamping plate is slidably disposed on the gripper frame, and the mobile clamping arms are disposed on the mobile end clamping plate.
[0008] The swing end clamping arm assembly includes a swing element and a pair of swing clamping arms. The swing element is disposed on the gripper frame, and the swing clamping arms are disposed on the swing element. The swing element is used to drive the swing clamping arms to swing relative to the gripper frame. The movable clamping arm is used to move toward the swing clamping arms to clamp the workpiece.
[0009] The magnetic suction component is disposed on the gripper frame and is used to attract the workpiece.
[0010] Preferably, the oscillating element includes: an oscillating end base, a spindle, and an oscillating plate;
[0011] The swing end base is fixedly mounted on the gripper frame, and the mandrel is fixedly mounted on the swing end base; the swing plate is sleeved on the mandrel, and an axial limiting member is provided between the swing plate and the mandrel. The axial limiting member is used to limit the displacement of the swing plate along the axial direction of the mandrel, and there is a gap between the swing plate and the axial limiting member in the radial direction of the mandrel; the swing clamping arm is fixedly mounted on the swing plate.
[0012] Preferably, the axial limiting component includes a copper sleeve and a limiting buckle; the copper sleeve is fixedly sleeved on the mandrel, and the first end of the copper sleeve is provided with an annular protrusion; the limiting buckle is fixedly disposed on the mandrel, and the limiting buckle is disposed with the end face of the second end of the copper sleeve; the outer diameter of the limiting buckle is larger than the outer diameter of the copper sleeve.
[0013] The swing plate is sleeved on the copper sleeve, and the swing plate is located between the annular protrusion and the limiting buckle. There is a gap between the swing plate and the copper sleeve in the radial direction of the mandrel.
[0014] Preferably, the mobile end clamping arm assembly further includes a mobile end hydraulic cylinder, which is fixedly mounted on the gripper frame. The piston rod of the mobile end hydraulic cylinder is connected to the mobile end clamping plate, and the mobile end hydraulic cylinder is used to drive the mobile end clamping plate to move.
[0015] Preferably, the magnetic suction assembly includes: a rotating frame and a magnetic suction block;
[0016] The rotating frame is rotatably connected to the gripper frame, and the magnetic block is fixedly mounted on the rotating frame.
[0017] Preferably, the magnetic suction assembly further includes: a rotating cylinder;
[0018] One end of the rotating cylinder is hinged to the gripper frame, and the other end of the rotating cylinder is hinged to the rotating frame. The rotating cylinder is used to drive the rotating frame to rotate on the gripper frame.
[0019] Preferably, the rotating frame is provided with a pair of magnetic blocks.
[0020] Preferably, the gripper frame is further provided with a visual positioning component, which is used to locate the position of the workpiece.
[0021] (III) Beneficial Effects
[0022] This invention utilizes a movable clamping arm and a swinging clamping arm to clamp the workpiece. During clamping, the swinging clamping arm follows the swinging element to adapt to the workpiece's shape, improving clamping stability. Furthermore, this application also incorporates a magnetic suction component on the gripper frame to attract the workpiece, enabling this multi-functional adjustable-distance gripper to grasp workpieces of different types and shapes, thus broadening its applicability. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of the overall structure of the multi-functional adjustable gripper of this utility model;
[0024] Figure 2 This is a bottom view of the multi-functional adjustable gripper of this utility model;
[0025] Figure 3 This is a schematic diagram of the structure of the oscillating element in this utility model;
[0026] Figure 4 This is a cross-sectional view of the oscillating element in this utility model.
[0027] [Explanation of Labels in the Attached Image]
[0028] 1: Handle frame;
[0029] 2: Mobile clamping arm assembly; 21: Mobile clamping plate; 22: Mobile clamping arm; 23: Mobile hydraulic cylinder;
[0030] 3: Swing end clamping arm assembly; 31: Swing element; 32: Swing clamping arm; 33: Swing end base; 34: Mandrel; 35: Swing plate; 36: Copper sleeve; 37: Limit buckle; 38: Annular protrusion;
[0031] 4: Magnetic suction assembly; 41: Rotating frame; 42: Magnetic suction block; 43: Rotating cylinder. Detailed Implementation
[0032] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0033] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.
[0034] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0036] This utility model provides a multi-functional adjustable-distance gripper with magnetic attraction. The multi-functional adjustable-distance gripper includes: a gripper frame 1, a movable end clamping arm assembly 2, a swing end clamping arm assembly 3, and a magnetic attraction assembly 4. The movable end clamping arm assembly 2 includes a movable end clamping plate 21 and a pair of movable clamping arms 22. The movable end clamping plate 21 is slidably mounted on the gripper frame 1, and the movable clamping arms 22 are mounted on the movable end clamping plate 21. The swing end clamping arm assembly 3 includes a swinging element 31 and a pair of swinging clamping arms 32. The swinging element 31 is mounted on the gripper frame 1, and the swinging clamping arms 32 are mounted on the swinging element 31. The swinging element 31 is used to drive the swinging clamping arms 32 to swing relative to the gripper frame 1; the movable clamping arms 22 are used to move towards the swinging clamping arms 32 to clamp the workpiece. The magnetic attraction assembly 4 is mounted on the gripper frame 1 and is used to attract the workpiece.
[0037] In the technical solution of this utility model, the movable clamping arm 22 and the swinging clamping arm 32 are used to clamp the workpiece. When clamping the workpiece, the swinging clamping arm 32 can swing with the swinging element 31 to adapt to the shape of the workpiece and improve the stability of clamping. In addition, this application also provides a magnetic suction component 4 on the gripper frame 1 to attract the workpiece, so that the multi-functional adjustable distance gripper of this application can grip workpieces of different types and shapes, and has a wide range of applications.
[0038] Further, the swing element 31 includes: a swing end base 33, a spindle 34, and a swing plate 35. The swing end base 33 is fixedly mounted on the gripper frame 1, and the spindle 34 is fixedly mounted on the swing end base 33. The swing plate 35 is sleeved on the spindle 34, and an axial limiting member is provided between the swing plate 35 and the spindle 34. The axial limiting member is used to limit the displacement of the swing plate 35 along the axial direction of the spindle 34, and there is a gap between the swing plate 35 and the axial limiting member in the radial direction of the spindle 34. The swing clamping arm 32 is fixedly mounted on the swing plate 35. In the above scheme, since there is a gap between the swing plate 35 and the spindle 34 in the radial direction of the spindle 34, the swing plate 35 and the swing clamping arm 32 swing together, thereby making the swing clamping arm 32 fit more closely to the surface of the workpiece and achieving a more secure gripping. In addition, the swing end base 33 is provided with a through hole for connecting with the gripper frame 1, and the swing end base 33 is detachably connected to the gripper frame 1 by fasteners.
[0039] In a preferred embodiment, the axial limiting component includes a copper sleeve 36 and a limiting buckle 37. The copper sleeve 36 is fixedly sleeved on the mandrel 34, and a first end of the copper sleeve 36 is provided with an annular protrusion 38. The limiting buckle 37 is fixedly sleeved on the mandrel 34, and the limiting buckle 37 is aligned with the end face of the second end of the copper sleeve 36. The outer diameter of the limiting buckle 37 is larger than the outer diameter of the copper sleeve 36. A swing plate 35 is sleeved on the copper sleeve 36, and the swing plate 35 is located between the annular protrusion 38 and the limiting buckle 37. There is a gap between the swing plate 35 and the copper sleeve 36 in the radial direction of the mandrel 34. The swing end clamping arm has a swing range of ±15°, and spring return assemblies are symmetrically provided on both sides of the swing shaft according to the swing shaft.
[0040] Furthermore, the mobile end clamping arm assembly 2 also includes a mobile end hydraulic cylinder 23, which is fixedly mounted on the gripper frame 1. The piston rod of the mobile end hydraulic cylinder 23 is connected to the mobile end clamping plate 21, and the mobile end hydraulic cylinder 23 is used to drive the mobile end clamping plate 21 to move.
[0041] In addition, the magnetic attraction component 4 includes a rotating frame 41 and magnetic blocks 42. The rotating frame 41 is rotatably connected to the gripper frame 1, and the magnetic blocks 42 are fixedly mounted on the rotating frame 41. By mounting the magnetic blocks 42 on the rotating frame 41, the rotation of the rotating frame 41 is used to avoid the moving clamping arm 22. Pairs of magnetic blocks 42 are provided on the rotating frame 41. The magnetic blocks 42 can be electromagnets, meaning they only have magnetic attraction when energized and do not have magnetic attraction when de-energized.
[0042] The magnetic suction assembly 4 also includes a rotating cylinder 43. One end of the rotating cylinder 43 is hinged to the gripper frame 1, and the other end of the rotating cylinder 43 is hinged to the rotating frame 41. The rotating cylinder 43 is used to drive the rotating frame 41 to rotate on the gripper frame 1. In this solution, the rotating cylinder 43 is used to drive the rotating frame 41 to rotate.
[0043] Finally, a vision positioning component is also installed on the gripper frame 1. This component is used to locate the position of the workpiece. Vision positioning allows the workpiece to be placed in a non-uniform orientation, reducing the requirements for incoming workpieces.
[0044] It should be understood that the above description of the specific embodiments of this utility model is only for illustrating the technical route and features of this utility model, and its purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. However, this utility model is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of this utility model should be covered by the protection scope of this utility model.
Claims
1. A multi-functional adjustable gripper with magnetic attraction, characterized in that, The multi-functional adjustable gripper includes: a gripper frame (1), a moving end clamping arm assembly (2), a swing end clamping arm assembly (3), and a magnetic suction assembly (4); The mobile end clamping arm assembly (2) includes a mobile end clamping plate (21) and a pair of mobile clamping arms (22). The mobile end clamping plate (21) is slidably disposed on the gripper frame (1), and the mobile clamping arms (22) are disposed on the mobile end clamping plate (21). The swing end clamping arm assembly (3) includes a swing element (31) and a pair of swing clamping arms (32). The swing element (31) is disposed on the gripper frame (1), and the swing clamping arms (32) are disposed on the swing element (31). The swing element (31) is used to drive the swing clamping arms (32) to swing relative to the gripper frame (1). The movable clamping arm (22) is used to move toward the swing clamping arms (32) to clamp the workpiece. The magnetic suction component (4) is disposed on the gripper frame (1) and is used to attract the workpiece.
2. The multi-functional adjustable gripper with magnetic attraction as described in claim 1, characterized in that, The swing element (31) includes: a swing end base (33), a spindle (34), and a swing plate (35); The swing end base (33) is fixedly mounted on the gripper frame (1), and the spindle (34) is fixedly mounted on the swing end base (33); the swing plate (35) is sleeved on the spindle (34), and an axial limiting member is provided between the swing plate (35) and the spindle (34). The axial limiting member is used to limit the displacement of the swing plate (35) along the axial direction of the spindle (34), and there is a gap between the swing plate (35) and the axial limiting member in the radial direction of the spindle (34); the swing clamping arm (32) is fixedly mounted on the swing plate (35).
3. The multifunctional distance-adjustable gripper with magnetic attraction according to claim 2, characterized in that, The axial limiting component includes a copper sleeve (36) and a limiting buckle (37); the copper sleeve (36) is fixedly sleeved on the mandrel (34), and the first end of the copper sleeve (36) is provided with an annular protrusion (38); the limiting buckle (37) is fixedly disposed on the mandrel (34), and the limiting buckle (37) is disposed with the end face of the second end of the copper sleeve (36); the outer diameter of the limiting buckle (37) is larger than the outer diameter of the copper sleeve (36). The swing plate (35) is sleeved on the copper sleeve (36), and the swing plate (35) is located between the annular protrusion (38) and the limiting buckle (37). There is a gap between the swing plate (35) and the copper sleeve (36) in the radial direction of the mandrel (34).
4. The multi-functional adjustable gripper with magnetic attraction as described in any one of claims 1-3, characterized in that, The mobile end clamping arm assembly (2) also includes a mobile end cylinder (23), which is fixedly mounted on the gripper frame (1). The piston rod of the mobile end cylinder (23) is connected to the mobile end clamping plate (21), and the mobile end cylinder (23) is used to drive the mobile end clamping plate (21) to move.
5. The multi-functional adjustable gripper with magnetic attraction as described in any one of claims 1-3, characterized in that, The magnetic suction assembly (4) includes: a rotating frame (41) and a magnetic suction block (42); The rotating frame (41) is rotatably connected to the gripper frame (1), and the magnetic block (42) is fixedly mounted on the rotating frame (41).
6. The multi-functional adjustable gripper with magnetic attraction as described in claim 5, characterized in that, The magnetic suction assembly (4) further includes: a rotating cylinder (43); One end of the rotating cylinder (43) is hinged to the gripper frame (1), and the other end of the rotating cylinder (43) is hinged to the rotating frame (41). The rotating cylinder (43) is used to drive the rotating frame (41) to rotate on the gripper frame (1).
7. The multi-functional adjustable gripper with magnetic attraction as described in claim 5, characterized in that, The rotating frame (41) is provided with a pair of magnetic blocks (42).
8. The multifunctional distance-adjustable gripper with magnetic attraction according to any one of claims 1-3, characterized in that, The gripper frame (1) is also provided with a visual positioning component, which is used to locate the position of the workpiece.