Flexible buckle material taking gripper

Abstract

The utility model discloses a kind of flexible buckle material taking gripper, including mounting plate, the side wall of mounting plate is fixedly connected with two side plates, two the side plate end away from mounting plate is fixedly connected with mounting seat, two the mounting seat is rotatably connected with rotating shaft, the side wall of mounting plate is fixedly connected with hydraulic rod, the output end of hydraulic rod is fixedly connected with lifting block, the side wall of lifting block is fixedly connected with sliding block, the side wall of sliding block is fixedly connected with rack plate, the outer wall of rotating shaft is fixedly connected with gear, rack plate is engaged with gear, rotating shaft is fixedly connected with rotating plate.The utility model moves rack plate by driving component, utilizes the engagement transmission of rack plate and gear, converts linear motion into the rotary motion of rotating shaft, and then realizes the angle adjustment of material taking gripper, reduces the dependence on mechanical hand overall posture adjustment, reduces control complexity, improves assembly accuracy.

Description

Technical Field

[0001] This utility model relates to the field of material handling gripper technology, and in particular to a flexible snap-fit ​​material handling gripper. Background Technology

[0002] In the field of automated production, the picking and assembly of workpieces often rely on mechanical grippers to achieve automated operation, so as to improve production efficiency and reduce labor costs.

[0003] Most material handling devices have fixed or limited angles for their actuators (such as grippers), making it impossible to adjust the angle according to the workpiece assembly requirements. When a workpiece needs to be inserted into the assembly position at a specific tilt angle, the overall posture of the robot arm must be adjusted, which not only increases the control complexity but also easily leads to assembly deviations due to insufficient adjustment accuracy. To solve the above problems, this application proposes a flexible snap-fit ​​material handling gripper. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a flexible snap-fit ​​material gripper. This gripper uses a drive component to move a rack plate, and utilizes the meshing transmission between the rack plate and gears to convert linear motion into rotational motion of a rotating shaft. This allows for adjustment of the gripper's angle, reduces reliance on overall robot posture adjustment, lowers control complexity, and improves assembly accuracy.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A flexible snap-fit ​​material gripper includes a mounting plate. Two side plates are fixedly connected to the side wall of the mounting plate. A mounting base is fixedly connected to the end of each side plate away from the mounting plate. The two mounting bases are rotatably connected to a rotating shaft. A hydraulic rod is fixedly connected to the side wall of the mounting plate. A lifting block is fixedly connected to the output end of the hydraulic rod. A slider is fixedly connected to the side wall of the lifting block. A rack plate is fixedly connected to the side wall of the slider. A gear is fixedly connected to the outer wall of the rotating shaft. The rack plate meshes with the gear. A rotating plate is fixedly connected to the rotating shaft. A material gripper is fixedly connected to the end of the rotating plate away from the rotating shaft.

[0006] Preferably, a robot arm connecting plate is fixedly connected to the end of the mounting plate away from the rotation axis, and a robot arm connecting plate is mounted on the side wall of the robot arm connecting plate.

[0007] Preferably, a guide rail is fixedly connected to the rear end of the front side plate, and a limiting groove is formed on the slider. The guide rail is located in the limiting groove and is slidably connected to it.

[0008] Preferably, the rack plate has a plurality of teeth at one end near the gear, and the plurality of teeth are distributed at equal intervals.

[0009] Preferably, two connecting blocks are fixedly connected to the outer wall of the rotating shaft, and both connecting blocks are fixedly connected to the side wall of the rotating plate.

[0010] Preferably, the picking claw has a groove, and a flexible picking plate is fixedly connected to the inner wall of the groove.

[0011] Compared with the prior art, the advantages of this utility model are as follows: 1. The rack plate is moved by the drive component. The linear motion is converted into the rotational motion of the rotating shaft by the meshing transmission between the rack plate and the gear. This enables the angle adjustment of the picking claw, reduces the dependence on the overall posture adjustment of the robot, reduces the control complexity, and improves the assembly accuracy.

[0012] 2. The picking claw adapts to the shape of the workpiece through the groove. The flexible picking plate in the groove can conform to the surface of the workpiece by its own flexible deformation. This not only avoids the scratches caused by rigid contact to the workpiece, but also enhances the gripping friction and prevents the workpiece from falling off during the transfer process, effectively balancing stability and protection.

[0013] In summary, by driving the rack plate to move through the drive components, and utilizing the meshing transmission between the rack plate and the gears, linear motion is converted into rotational motion of the rotating shaft, thereby realizing the angle adjustment of the picking claw, reducing the dependence on the overall posture adjustment of the robot, reducing control complexity, and improving assembly accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the first structure of a flexible snap-on material-grabbing claw proposed in this utility model; Figure 2 This is a schematic diagram of the second structure of a flexible snap-on material-grabbing claw proposed in this utility model.

[0015] In the diagram: 1 Mounting plate, 2 Robotic arm connecting plate, 3 Side plate, 4 Mounting base, 5 Rotary shaft, 6 Hydraulic rod, 7 Lifting block, 8 Slider, 9 Guide rail, 10 Rack plate, 11 Gear, 12 Rotary plate, 13 Picking claw, 14 Flexible picking plate. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] Reference Figures 1-2A flexible snap-on gripper includes a mounting plate 1, which serves as the basic load-bearing component of the entire gripper. A robotic arm connecting plate 2 is fixedly connected to one end of the mounting plate 1 away from the rotation axis 5. A robotic arm is mounted on the side wall of the robotic arm connecting plate 2. The robotic arm connecting plate 2 is used to connect the gripper to an external robotic arm to achieve overall movement control of the gripper.

[0018] Two side plates 3 are fixedly connected to the side wall of the mounting plate 1. The two side plates 3 are symmetrically distributed and jointly support the mounting base 4 and maintain its relative position. The end of each side plate 3 away from the mounting plate 1 is fixedly connected to the mounting base 4. The mounting base 4 provides rotational support for the rotating shaft 5, ensuring the stable rotation of the rotating shaft 5. The two mounting bases 4 are rotatably connected to the rotating shaft 5. The rotating shaft 5 is made of high-strength alloy material. The rotating shaft 5 serves as the power transmission hub, driving the rotating plate 12 and the picking claw 13 to rotate synchronously. A hydraulic rod 6 is fixedly connected to the side wall of the mounting plate 1. The hydraulic rod 6 serves as the driving component, providing power for the angle adjustment of the gripper. The output end of the hydraulic rod 6 is fixed. A lifting block 7 is connected to the slider 8, which transmits the driving force of the hydraulic rod 6 to the slider 8, enabling the slider 8 to move linearly. The slider 8 is fixedly connected to the side wall of the lifting block 7. The slider 8 is also connected to the lifting block 7 and the rack plate 10, driving the rack plate 10 to move synchronously. A guide rail 9 is fixedly connected to the rear end of the front side plate 3. The axis of the hydraulic rod 6 is parallel to the extension direction of the guide rail 9. The guide rail 9 cooperates with the limiting groove of the slider 8, restricting the slider 8 to move only in a linear direction to ensure movement accuracy. A limiting groove is opened on the slider 8, and the guide rail 9 is located in the limiting groove and slidably connected to it. The rack plate 10 is fixedly connected to the side wall of the slider 8, and the rack plate 10 interacts with the slider 8 through teeth. Gear 11 meshes, converting linear motion into rotational motion. Gear 11 is fixedly connected to the outer wall of rotating shaft 5. Gear 11 rotates synchronously with rotating shaft 5, transmitting the power of rack plate 10 to rotating shaft 5. Rack plate 10 has multiple teeth near the end of gear 11, with evenly distributed teeth ensuring smooth meshing and transmission with gear 11. The teeth are evenly spaced. Rack plate 10 meshes with gear 11. Rotating shaft 5 is fixedly connected to rotating plate 12, which transmits the rotational motion of rotating shaft 5 to picking claw 13, enabling angle adjustment of picking claw 13. Two connecting blocks are fixedly connected to the outer wall of rotating shaft 5. Each connecting block is fixedly connected to the side wall of the rotating plate 12. A picking claw 13 is fixedly connected to the end of the rotating plate 12 away from the rotating shaft 5. The picking claw 13 directly contacts the workpiece and uses a groove to cooperate with the flexible picking plate 14 to grasp the workpiece. The picking claw 13 has a groove that adapts to the shape of the workpiece and provides installation space for the flexible picking plate 14. The flexible picking plate 14 is fixedly connected to the inner wall of the groove. The flexible picking plate 14 is bonded to the inner wall of the groove with food-grade silicone adhesive and has a positioning protrusion added to the edge to prevent displacement. The flexible picking plate 14 conforms to the surface of the workpiece through its own flexible deformation, avoiding damage to the workpiece during grasping and enhancing the grasping stability.

[0019] In this invention, an external robotic arm can move the device to one side of the workpiece. The picking claw 13 and the flexible picking plate 14 are then inserted into the slot of the workpiece. After the flexible picking plate 14 grips the workpiece, the external robotic arm moves the workpiece until it reaches the corresponding insertion position. During the movement of the workpiece, the hydraulic rod 6 is activated. The output end of the hydraulic rod 6 drives the lifting block 7 and the rack plate 10 to move. The movement of the rack plate 10 drives the gear 11, the rotating shaft 5, the rotating plate 12, the picking claw 13, and the flexible picking plate 14 to rotate around the rotating shaft 5 as the rotation center, thereby adjusting the angle of the workpiece to facilitate subsequent installation. The external robotic arm then inserts the workpiece into the corresponding position to complete the workpiece picking and installation operation.

Claims

1. A flexible snap-fit ​​material gripper, comprising a mounting plate (1), characterized in that, The mounting plate (1) has two side plates (3) fixedly connected to its side wall. The two side plates (3) are fixedly connected to a mounting base (4) at the end away from the mounting plate (1). The two mounting bases (4) are rotatably connected to a rotating shaft (5). The mounting plate (1) has a hydraulic rod (6) fixedly connected to its side wall. The output end of the hydraulic rod (6) is fixedly connected to a lifting block (7). The side wall of the lifting block (7) is fixedly connected to a slider (8). The side wall of the slider (8) is fixedly connected to a rack plate (10). The outer wall of the rotating shaft (5) is fixedly connected to a gear (11). The rack plate (10) meshes with the gear (11). The rotating shaft (5) is fixedly connected to a rotating plate (12). The end of the rotating plate (12) away from the rotating shaft (5) is fixedly connected to a material-picking claw (13).

2. The flexible snap-on material gripper according to claim 1, characterized in that, The mounting plate (1) is fixedly connected to a robotic arm connecting plate (2) at one end away from the rotation axis (5), and a robotic arm is installed on the side wall of the robotic arm connecting plate (2).

3. The flexible snap-on material gripper according to claim 1, characterized in that, The rear end of the front side plate (3) is fixedly connected to a guide rail (9), and a limit groove is opened on the slider (8). The guide rail (9) is located in the limit groove and is slidably connected to it.

4. The flexible snap-on material gripper according to claim 1, characterized in that, The rack plate (10) has a plurality of teeth at one end near the gear (11), and the plurality of teeth are distributed at equal intervals.

5. The flexible snap-on material gripper according to claim 1, characterized in that, Two connecting blocks are fixedly connected to the outer wall of the rotating shaft (5), and both connecting blocks are fixedly connected to the side wall of the rotating plate (12).

6. The flexible snap-fit ​​material gripper according to claim 1, characterized in that, The picking claw (13) has a groove, and a flexible picking plate (14) is fixedly connected to the inner wall of the groove.

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