Variable reach gripping mechanism

Abstract

The utility model provides a kind of variable distance grabbing mechanism belongs to machining technical field, to solve the problem of existing technology in which manipulator can only grab single part in single time, in the scene of large quantity of parts, the grabbing and transfer efficiency of manipulator is not high. To solve the problem of existing technology in which manipulator can only grab single part in single time, in the scene of batch, the grabbing and transfer efficiency is not high. It includes manipulator, manipulator one end is equipped with base, base is penetrated with the installation mouth along length direction, and distance adjusting device is installed inside;Base width direction both sides each are equipped with guide rail, and there are several toolings on guide rail along length direction interval, and tooling contains with guide rail sliding connection slide rail, and slide rail is equipped with plate body, and plate body is equipped with clamp;Distance adjusting device adjusts the distance between adjacent tooling. The utility model passes through distance adjusting device, guide rail and slidable tooling, and flexibly adjusts interval, improves versatility and efficiency, reduces equipment adjustment time.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, and specifically relates to a variable-distance gripping mechanism. Background Technology

[0002] As the manufacturing industry transforms towards large-scale and intensive production, the demand for batch processing of parts continues to grow. To improve processing efficiency, reduce manual intervention costs, and minimize human error, automated processing equipment has been widely adopted in various parts processing scenarios, including automotive parts, electronic components, and precision mechanical parts, becoming a core support for driving the upgrading of manufacturing production models.

[0003] Among these, the processing mode that uses robotic arms to grasp and transfer parts has gradually replaced traditional manual transfer methods and become one of the mainstream technical solutions for batch parts processing due to its advantages such as high degree of automation, strong operational stability, and ability to operate continuously for 24 hours. In this type of processing system, the parts to be processed are usually pre-arranged and placed in a dedicated pallet; the pallet, as a standardized carrier unit for the parts, can realize the centralized storage and unified transfer of multiple parts, while providing a basic positioning reference for the robotic arm to grasp them.

[0004] During the processing, the robotic arm needs to pick up the parts to be processed from the pallet according to a preset program and accurately transfer them to the processing stations such as CNC machine tools and stamping equipment to complete cutting, stamping, and grinding operations. After processing, the robotic arm then transfers the finished parts to a designated storage area, forming an automated closed loop of "loading-processing-unloading". However, in the existing technology, the robotic arm can only pick up a single part at a time, which requires it to perform high-frequency back-and-forth movements between the pallet and the processing station. The frequent back-and-forth operations prolong the overall processing cycle. Especially in scenarios with a large batch of parts, the picking and transfer efficiency of the robotic arm has become a key bottleneck restricting the overall production line capacity. Utility Model Content

[0005] In view of this, the present invention provides a variable-distance gripping mechanism to solve the problem that in the prior art, a robot arm can only grip a single part at a time, which requires it to perform high-frequency back-and-forth movements between the pallet and the processing station. The frequent back-and-forth operations prolong the overall processing cycle. Especially in scenarios with a large batch of parts, the gripping and transfer efficiency of the robot arm has become a key bottleneck restricting the overall production line capacity.

[0006] The technical solution adopted in this utility model is as follows: A variable-distance gripping mechanism includes a robotic arm. One end of the robotic arm has a base with a through-hole extending along its length. An adjustment device is located within the through-hole. Guide rails are provided on both sides of the base in its width direction. Several fixtures are mounted on the guide rails, spaced apart along their length. Each fixture includes a slide rail slidably connected to the guide rail, a plate on the slide rail, and a clamp on the plate. The adjustment device is used to adjust the distance between two adjacent fixtures.

[0007] After adopting the above technical solution, the robot arm moves the base to the part to be gripped, the fixture grips the part, the robot arm transfers the part to the machining position of the machine tool, the distance adjustment device adjusts the arrangement spacing of the parts according to the distance of the machining position of the machine tool, drives the tooling to slide along the guide rail, adjusts the distance between adjacent tooling, so that each fixture is aligned with each machining position.

[0008] Preferably, the adjusting device includes a double-headed cylinder, the middle part of which is fixed to the middle of the mounting port, and connecting plates are respectively provided on the piston rods at both ends of the double-headed cylinder; there are three toolings on each side guide rail of the base, two of which are connected to the two connecting plates respectively, and the plate of the other tooling is fixed to the middle of the base.

[0009] After adopting the above technical solution, when adjusting the spacing, the piston rod of the double-headed cylinder extends and retracts, driving the tooling on both sides to slide along the guide rail through the connecting plate; since the middle tooling is fixed, the tooling on both sides moves away from or towards the middle tooling respectively (the piston rod extension time increases and the retraction time decreases), realizing the synchronous adjustment of the spacing between adjacent tooling.

[0010] Preferably, a mounting block is provided between two adjacent slide rails, the mounting block is fixed on the base, and a first buffer rod is provided on the mounting block. The first buffer rod is arranged along the length direction of the base, and the two ends of the first buffer rod are respectively facing the two adjacent slide rails.

[0011] After adopting the above technical solution, the mounting block is fixed on the base to provide mounting support for the first buffer rod; the first buffer rod is set along the length of the base, with both ends facing the adjacent slide rail, which is used to block and prevent the two adjacent tooling from colliding directly when the slide rails are close together.

[0012] Preferably, the two ends of the mounting port are provided with second buffer rods, which face the two connecting plates respectively.

[0013] After adopting the above technical solution, the second buffer rod is installed at both ends of the mounting port, facing the connecting plate, to block the connecting plate when it moves to the extreme position, so as to avoid direct collision between the connecting plate and the base or the end of the mounting port.

[0014] Preferably, the base has two guide rails on each side, with the two guide rails located on the upper and lower sides of the mounting opening, respectively.

[0015] By adopting the above technical solution, the dual-rail design improves the stability and guiding accuracy of the tooling sliding, reduces the shaking of the tooling during movement and gripping, ensures that the fixture is accurately aligned with the parts, and improves the reliability of gripping, which is especially suitable for gripping high-precision parts.

[0016] Preferably, the plate is further provided with a detection sensor for detecting parts.

[0017] After adopting the above technical solution, before gripping, the detection sensor detects whether there is a part at the gripping position to ensure that the gripping action is effective; after gripping, the detection sensor detects whether there is a part on the fixture to determine whether the gripping is successful. If the part is not gripped, a feedback signal is sent to make the robot arm operate again.

[0018] Preferably, the plate body is further provided with a base plate, the base plate is fixed on the plate body, the base plate is provided with a fixing plate, the included angle between the fixing plate and the base plate is an acute angle, and the detection sensor is mounted on the fixing plate.

[0019] After adopting the above technical solution, the acute angle design of the fixing plate and the base plate makes the detection direction of the detection sensor tilted, which can more accurately align with the side or specific part of the part, avoid detection blind spots caused by improper installation angle, and ensure accurate detection of whether the part exists or is being grasped.

[0020] Preferably, the connection between the fixing plate and the base plate is an arc-shaped portion, which is made of an elastic material.

[0021] After adopting the above technical solution, when there is a slight displacement in the position of the part or the sensor is subjected to a slight collision, the arc-shaped part made of elastic material will deform, causing the fixing plate and the detection sensor to adjust their angle, thus avoiding damage to the parts from hard collisions.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: In this invention, by setting an adjustable distance device, guide rail, and sliding tooling, the spacing between adjacent tooling can be flexibly adjusted. After gripping the products closely arranged on the material tray, they can be placed on the processing equipment with a wider spacing. This reduces the size of the material tray and the overall equipment footprint, saving production space, improving the versatility and efficiency of gripping, reducing equipment adjustment time, and the tooling on both sides of the base can realize the simultaneous gripping of products to be processed and processed products, completing the loading and unloading of a batch of products in one cycle. Attached Figure Description

[0023] This utility model will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the base of this utility model; Figure 3 This is a three-dimensional structural diagram of the base of this utility model without tooling. Figure 4 This is a three-dimensional structural diagram of the base of this utility model without a double-headed cylinder. Figure 5 This is a three-dimensional structural diagram of the plate body of this utility model; Wherein: 100-robotic arm, 200-base, 201-guide rail, 202-mounting port, 203-second buffer rod, 300-tooling, 301-slide rail, 302-plate, 303-clamp, 304-base plate, 305-fixing plate, 306-arc part, 307-detection sensor, 400-double-headed cylinder, 401-connecting plate, 500-mounting block, 501-first buffer rod. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. Example

[0030] like Figures 1-5As shown in the figure, this utility model discloses a variable-distance gripping mechanism, including a robotic arm 100. One end of the robotic arm 100 is provided with a base 200, and the base 200 is provided with a through mounting port 202. The mounting port 202 is arranged along the length direction of the base 200, and an adjustment device is provided in the mounting port 202. Guide rails 201 are respectively provided on both sides in the width direction of the base 200. A plurality of tooling fixtures 300 are provided on the guide rails 201, and the plurality of tooling fixtures 300 are spaced apart along the length direction of the guide rails 201. Each tooling fixture 300 includes a slide rail 301 that is slidably connected to the guide rail 201. A plate 302 is provided on the slide rail 301, and a clamp 303 is provided on the plate 302. The adjustment device is used to adjust the distance between two adjacent tooling fixtures 300. It should be noted that the robotic arm 100 is used to drive the entire mechanism to move, realizing the gripping and transfer of parts; the base 200 serves as a supporting foundation, used to connect the robotic arm 100 and install components such as the adjusting device and guide rail 201; the mounting port 202 is set along the length of the base 200, providing installation and operation space for the adjusting device; the adjusting device is used to drive the tooling 300 to move, thereby adjusting the distance between adjacent tooling 300s; the guide rail 201 provides guidance for the sliding of the tooling 300, ensuring that the tooling 300 moves in a straight line; the slide rail 301 in the tooling 300 cooperates with the guide rail 201 to achieve sliding; the plate 302 is used to fix the clamp 303, which is existing technology and is used to directly grip parts. Working principle: The robotic arm 100 moves the base 200 to the part to be gripped. The fixture 303 grips the part, and the robotic arm 100 transfers the part to the machining station of the machine tool. The distance adjustment device adjusts the spacing of the parts according to the distance of the machining station of the machine tool, and drives the tooling 300 to slide along the guide rail 201 to adjust the distance between adjacent tooling 300s so that each fixture 303 is aligned with each machining station. This solution, by setting up the distance adjustment device, guide rail 201 and sliding tooling 300, can flexibly adjust the spacing between adjacent tooling 300s, and can accurately place the gripped parts on the machining station of the machine tool, improving the versatility and efficiency of gripping, reducing equipment adjustment time, and with tooling 300 on both sides of the base 200, it can realize the simultaneous gripping of products to be processed and products already processed, and complete the loading and unloading of a batch of products in one cycle.

[0031] like Figure 3As shown, in another embodiment, the adjusting device includes a double-headed cylinder 400, the middle of which is fixed to the middle of the mounting port 202. Connecting plates 401 are respectively provided on the piston rods at both ends of the double-headed cylinder 400. Each guide rail 201 on the base 200 has three tooling fixtures 300, two of which have their plates 302 connected to the two connecting plates 401 respectively, and the plate 302 of the third tooling fixture 300 is fixed to the middle of the base 200. It should be noted that the double-headed cylinder 400 provides power for adjusting the distance, and its fixed middle section ensures symmetrical extension and retraction of the piston rods at both ends. The connecting plates 401 connect the piston rods to the plates 302 of the tooling fixtures 300, transmitting cylinder power. Of the three tooling fixtures 300 on each side, the middle tooling fixture 300 is fixed as the adjustment reference, and the tooling fixtures on both sides are connected to the piston rods via the connecting plates 401 and move with the piston rods. Overall working principle: When adjusting the spacing, the piston rod of the double-headed cylinder 400 extends and retracts, driving the tooling 300 on both sides to slide along the guide rail 201 via the connecting plate 401. Since the middle tooling 300 is fixed, the tooling 300 on both sides moves away from or towards the middle tooling 300 respectively (the piston rod extension time increases, and the retraction time decreases), achieving synchronous adjustment of the spacing between adjacent tooling 300s. In this scheme, the double-headed cylinder 400 is used as the spacing adjustment device, which has a simple structure and stable adjustment, enabling synchronous and symmetrical adjustment of the tooling 300 on both sides, ensuring the accuracy of the spacing adjustment.

[0032] like Figure 3 As shown, in another embodiment, a mounting block 500 is provided between two adjacent slide rails 301. The mounting block 500 is fixed to the base 200, and a first buffer rod 501 is provided on the mounting block 500. The first buffer rod 501 is arranged along the length direction of the base 200, and its two ends face the two adjacent slide rails 301 respectively. It should be noted that the mounting block 500 is fixed to the base 200 to provide mounting support for the first buffer rod 501; the first buffer rod 501 is arranged along the length direction of the base 200, and its two ends face the adjacent slide rails 301, which is used to block and prevent the two adjacent tooling 300 from colliding directly when the slide rails 301 are close together.

[0033] like Figure 4 As shown, in another embodiment, the mounting port 202 is provided with second buffer rods 203 at both ends, with the second buffer rods 203 facing the two connecting plates 401 respectively. It should be noted that the second buffer rods 203 are installed at both ends of the mounting port 202, facing the connecting plates 401, and are used to block the connecting plates 401 when they move to their extreme positions, so as to prevent the connecting plates 401 from directly colliding with the base 200 or the end of the mounting port 202.

[0034] like Figure 3As shown, in another embodiment, the base 200 has two guide rails 201 on each side, with the two guide rails 201 located on the upper and lower sides of the mounting opening 202, respectively. It should be noted that the dual guide rail design improves the stability and guiding accuracy of the tooling 300's sliding motion, reduces the wobbling of the tooling 300 during movement and gripping, ensures that the clamp 303 accurately aligns with the part, and enhances the reliability of gripping, making it particularly suitable for gripping high-precision parts.

[0035] like Figure 5 As shown, in another embodiment, the plate 302 is also provided with a detection sensor 307 for detecting parts. It should be noted that before gripping, the detection sensor 307 detects whether there is a part at the gripping position to ensure that the gripping action is effective; after gripping, it detects whether there is a part on the fixture 303 to determine whether the gripping was successful. If it is not gripped, a feedback signal causes the robot arm 100 to operate again.

[0036] like Figure 5 As shown, in another embodiment, the plate 302 is further provided with a base plate 304, which is fixed to the plate 302. A fixing plate 305 is provided on the base plate 304, and the angle between the fixing plate 305 and the base plate 304 is an acute angle. The detection sensor 307 is mounted on the fixing plate 305. It should be noted that the base plate 304, fixed to the plate 302, provides a mounting base for the fixing plate 305; the acute angle between the fixing plate 305 and the base plate 304 makes its detection direction more closely match the part gripping position. Overall working principle: The acute angle design between the fixing plate 305 and the base plate 304 tilts the detection direction of the detection sensor 307, enabling more precise alignment with the side or specific part of the part, avoiding blind spots caused by improper installation angles, and ensuring accurate detection of whether the part exists or is being gripped. Overall effect: By installing sensors through the base plate 304 and the acute angle fixing plate 305, the detection angle is optimized, the detection blind zone is reduced, the detection accuracy is improved, the reliability of the gripping action is further guaranteed, and the detection needs of parts with different shapes are adapted.

[0037] like Figure 5As shown, in another embodiment, the connection between the fixing plate 305 and the base plate 304 is an arc-shaped portion 306, which is made of an elastic material. It should be noted that the arc-shaped portion 306, made of an elastic material, connects the fixing plate 305 and the base plate 304. When subjected to a collision, it can deform to avoid a hard impact. Simultaneously, in conjunction with the acute angle structure of the fixing plate 305 and the base plate 304, it allows the fixing plate 305 to finely adjust its angle within a certain range. Overall working principle: When there is a slight displacement of the part's position or the sensor is subjected to a minor collision, the arc-shaped portion 306, made of elastic material, deforms, causing the fixing plate 305 and the detection sensor 307 to adjust their angles, thus avoiding damage to the components from a hard collision. Overall effect: The elastic arc-shaped portion 306, through deformation, avoids hard damage caused by collisions.

[0038] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0039] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0040] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A variable-distance gripping mechanism, characterized in that, Includes a robotic arm (100), one end of which is provided with a base (200), and a mounting port (202) is provided through the base (200). The mounting port (202) is arranged along the length direction of the base (200), and an adjustment device is provided inside the mounting port (202). The base (200) has guide rails (201) on both sides in the width direction. The guide rails (201) are provided with a plurality of tooling (300). The tooling (300) is spaced apart along the length direction of the guide rails (201). The tooling (300) includes a slide rail (301) that is slidably connected to the guide rails (201). The slide rail (301) is provided with a plate (302). The plate (302) is provided with a clamp (303). The distance adjustment device is used to adjust the distance between two adjacent tooling (300).

2. The variable-distance gripping mechanism according to claim 1, characterized in that, The adjusting device includes a double-headed cylinder (400), the middle part of which is fixed in the middle of the mounting port (202), and connecting plates (401) are respectively provided on the piston rods at both ends of the double-headed cylinder (400). There are three tooling fixtures (300) on each side guide rail (201) of the base (200). The plate body (302) of two of the tooling fixtures (300) is connected to two connecting plates (401) respectively, and the plate body (302) of the other tooling fixture (300) is fixed in the middle of the base (200).

3. The variable-distance gripping mechanism according to claim 2, characterized in that, An mounting block (500) is provided between two adjacent slide rails (301). The mounting block (500) is fixed on the base (200). A first buffer rod (501) is provided on the mounting block (500). The first buffer rod (501) is arranged along the length direction of the base (200), and the two ends of the first buffer rod (501) are respectively facing the two adjacent slide rails (301).

4. The variable-distance gripping mechanism according to claim 2, characterized in that, The mounting port (202) is provided with a second buffer rod (203) at both ends, and the second buffer rod (203) faces the two connecting plates (401) respectively.

5. The variable-distance gripping mechanism according to claim 1, characterized in that, The base (200) has two guide rails (201) on each side, and the two guide rails (201) are located on the upper and lower sides of the mounting port (202) respectively.

6. The variable-distance gripping mechanism according to claim 1, characterized in that, The plate (302) is also provided with a detection sensor (307) for detecting parts.

7. A variable-distance gripping mechanism according to claim 6, characterized in that, The plate (302) is also provided with a base plate (304), the base plate (304) is fixed on the plate (302), the base plate (304) is provided with a fixing plate (305), and the detection sensor (307) is installed on the fixing plate (305).

8. A variable-distance gripping mechanism according to claim 7, characterized in that, The connection between the fixing plate (305) and the base plate (304) is an arc-shaped part (306), which is made of an elastic material.

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