Clamp jaw structure for clamping a workpiece

Abstract

The utility model relates to the technical field of clamping jaw structure, especially to a kind of clamping jaw structure for clamping workpiece, including the driving plate that can move longitudinally, two above-mentioned grabbing module are installed in driving plate, grabbing module includes the finger clamp that product body is clamped and the adsorption clamp that product loose part is adsorbed, finger clamp includes finger cylinder and the first clamping block and second clamping block installed in finger cylinder, and first clamping block and second clamping block are mutually far away or close to product body clamping;Adsorption clamp includes longitudinally arranged adsorption rod, adsorption rod end is equipped with suction cup, and suction cup adsorbs product loose part;Through the first clamping block of finger cylinder drive, second clamping block clamping, ensure that product body is fixed in high-speed movement position;Through the suction cup of adsorption rod end active adsorption, the loose part that originally hangs in midair, easy to be centrifugal force swing, fixed constraint, completely eliminate its risk of pulling and breaking due to swing force and body.

Description

Technical Field

[0001] This utility model relates to the field of gripper structure technology, and in particular to a gripper structure for clamping workpieces. Background Technology

[0002] Some special products consist of two parts: the product body and the loose part of the product, which are connected by a flexible FPC.

[0003] When transferring products, they are clamped by grippers and then moved to the required location. Existing ordinary grippers, when used with robotic arms to handle products at high speeds, generate centrifugal force. The centrifugal force can damage the already fragile flexible FPC, causing loose parts of the product to break off from the product body, resulting in product damage and affecting normal use. Utility Model Content

[0004] The purpose of this invention is to provide a gripper structure for holding workpieces, addressing the shortcomings of existing technologies.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: The gripper structure for holding a workpiece includes a drive plate capable of longitudinal movement. The drive plate is equipped with two or more gripping modules. The gripping modules include finger grippers that hold the product body and suction grippers that adsorb loose parts of the product. The finger grippers include finger cylinders and a first clamping block and a second clamping block installed on the finger cylinders. The first clamping block and the second clamping block clamp the product body either away from or close to each other. The suction grippers include longitudinally arranged suction rods with suction cups installed at the ends of the suction rods. The suction cups adsorb loose parts of the product.

[0006] Furthermore, the inner walls of the first clamping block and the second clamping block are respectively formed with arc-shaped grooves that are adapted to the shape of the product body.

[0007] Furthermore: the curved groove is fitted with a cushioning pad.

[0008] Furthermore, the adsorption fixture also includes an adsorption mounting plate for mounting the adsorption rod. The adsorption mounting plate is formed with a vertical connecting plate that fits against the outer wall of the finger cylinder. The vertical connecting plate is formed with a connecting groove, and the outer wall of the finger cylinder is provided with a connecting hole that mates with the connecting groove.

[0009] Furthermore: a top plate is connected to the top of the drive plate, a rotary cylinder is mounted on the top plate, and a rotating opening is formed at the bottom of the top plate. The drive end of the rotary cylinder passes through the rotating opening and is connected to the drive plate.

[0010] Furthermore: the top plate is formed with a guide arc-shaped long groove, and an upright guide block is installed on the top of the drive plate, the guide block sliding along the length direction of the guide arc-shaped long groove.

[0011] Furthermore, bottom buffers that make contact with the guide block are installed at both ends of the guide arc-shaped long groove.

[0012] Furthermore: A lifting drive mechanism is provided above the top plate. The lifting drive mechanism includes a longitudinal connecting plate and a top mounting plate for longitudinal sliding of the longitudinal connecting plate. The bottom of the longitudinal connecting plate is connected to the top of the rotary cylinder.

[0013] Furthermore: the top mounting plate is equipped with a lifting cylinder, the drive end of the lifting cylinder is connected to the longitudinal connecting plate, a longitudinal guide rail is provided on the side of the lifting cylinder, a longitudinal sliding seat is slidably installed on the longitudinal guide rail, the top of the longitudinal connecting plate is connected to the longitudinal sliding seat, and top buffers that elastically contact the longitudinal sliding seat are respectively installed on the top and bottom of the longitudinal guide rail.

[0014] Furthermore: a longitudinal mounting strip is provided on the side of the longitudinal guide rail, and photoelectric sensors are installed on the longitudinal mounting strip at intervals. A sensing block that cooperates with the photoelectric sensor is installed on the longitudinal sliding seat.

[0015] The beneficial effects of this invention are as follows: The first and second clamping blocks are driven by a finger cylinder to clamp the product body, ensuring its position remains fixed during high-speed movement. The suction cup at the end of the suction rod actively adsorbs and fixes any loose parts that are suspended and easily shaken by centrifugal force, completely eliminating the risk of breakage due to the force of the swinging motion. This dual-fixing structure counteracts the centrifugal force generated during high-speed handling. The clamping force of the finger gripper ensures the product body does not shift, while the suction force of the suction gripper restricts the loose parts from swinging. The combined effect of these two mechanisms prevents localized shaking or overall displacement of the product due to centrifugal force. The longitudinal movement characteristics of the drive plate can adapt to different handling paths, ensuring that the gripping module maintains a stable force on the product during movement, further reducing the risk of clamping instability caused by path changes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the gripper structure.

[0017] Figure 2 This is a structural diagram of the grabbing module.

[0018] Figure 3 This is a schematic diagram of the lifting drive mechanism.

[0019] The reference numerals in the figures include: 1-Grab module, 11-Finger clamp, 12-Finger cylinder, 13-First clamping block, 14-Second clamping block 15-Arc-shaped groove, 16-Buffer pad, 2-Adsorption clamp, 21-Adsorption rod, 22-Suction cup, 23-Adsorption mounting plate, 24-Vertical connecting plate, 25-Connecting groove. 26-Connecting hole 3-Driver board 31-Top plate, 32-Rotary cylinder, 33-Rotating opening, 34-Guide block, 35-Guide arc-shaped groove, 36- Bottom buffer, 4- Lifting drive mechanism 41-Longitudinal connecting plate, 42-Top mounting plate, 43-Lifting cylinder, 44-Longitudinal guide rail 45-Longitudinal sliding seat, 46-Longitudinal mounting strip, 47-Photoelectric sensor, 48-Sensing block, 49 - Top Buffer. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] like Figure 1-3 As shown, the gripper structure for holding the workpiece includes a drive plate 3 capable of longitudinal movement. The drive plate 3 is equipped with two or more gripping modules 1. The gripping module 1 includes a finger gripper 11 for gripping the product body and an adsorption gripper 2 for adsorbing loose parts of the product. The finger gripper 11 includes a finger cylinder 12 and a first clamping block 13 and a second clamping block 14 installed on the finger cylinder 12. The first clamping block 13 and the second clamping block 14 clamp the product body away from or close to each other. The adsorption gripper 2 includes a longitudinally arranged adsorption rod 21. A suction cup 22 is installed at the end of the adsorption rod 21, and the suction cup 22 adsorbs the loose parts of the product.

[0022] The first clamping block 13 and the second clamping block 14 are clamped by the finger cylinder 12, ensuring that the product body is fixed in position during high-speed movement. The suction cup 22 at the end of the suction rod 21 actively adsorbs and fixes the loose parts that were originally suspended and easily shaken by centrifugal force, completely eliminating the risk of them being pulled and broken by the product body due to the shaking force. The double fixing structure can counteract the centrifugal force generated by high-speed handling. The clamping force of the finger clamp 11 ensures that the body does not shift, and the suction force of the suction clamp 2 restricts the loose parts from shaking. The two work together to avoid the product as a whole from shaking locally or shifting due to centrifugal force. The longitudinal movement characteristics of the drive plate 3 can be adapted to different handling paths, ensuring that the gripping module 1 always maintains a stable force on the product during movement, further reducing the risk of clamping instability caused by path changes.

[0023] Furthermore, the inner walls of the first clamping block 13 and the second clamping block 14 are respectively formed with arc-shaped grooves 15 that are adapted to the shape of the product body. A buffer pad 16 is installed in the arc-shaped groove 15. The arc-shaped groove 15 matches the shape of the product body, allowing for more comprehensive contact between the clamping block and the body compared to a flat clamping block, preventing deformation of the body due to concentrated clamping force. The fitted arc-shaped structure forms a wrap-around clamping effect on the product body, reducing the possibility of slight rotation or displacement of the body within the clamping block during high-speed handling; further reducing the risk of product breakage. The buffer pad 16, typically made of flexible materials such as silicone or rubber, avoids hard contact between the metal clamping block and the product body. Even if the clamping force of the finger cylinder 12 fluctuates slightly, the elasticity of the buffer pad 16 can buffer against pressure or scratches on the surface of the body, protecting the product's appearance and structural integrity.

[0024] Specifically, the adsorption clamp 2 also includes an adsorption mounting plate 23 for mounting the adsorption rod 21. The adsorption mounting plate 23 is formed with a vertical connecting plate 24 that fits against the outer wall of the finger cylinder 12. The vertical connecting plate 24 is formed with a connecting groove 25, and the outer wall of the finger cylinder 12 is provided with a connecting hole 26 that mates with the connecting groove 25. The connecting groove 25 and the connecting hole 26 are connected by a tightening screw, and the height can be adjusted according to the loose parts of the product so that the suction cup 22 installed at the bottom of the adsorption rod 21 can accurately adsorb the loose parts of the product, preventing breakage during high-speed transfer and improving the stability of the transfer.

[0025] A top plate 31 is connected to the top of the drive plate 3. A rotary cylinder 32 is mounted on the top plate 31. A rotating opening 33 is formed at the bottom of the top plate 31. The drive end of the rotary cylinder 32 passes through the rotating opening 33 and connects to the drive plate 3. A guide arc-shaped groove 35 is formed on the top of the drive plate 3. An upright guide block 34 is mounted on the top of the drive plate 3. The guide block 34 slides along the length of the guide arc-shaped groove 35. During high-speed handling, if the upstream and downstream workstations have different requirements for the product placement angle, the rotary cylinder 32 can drive the drive plate 3 to rotate, causing the entire gripping module 1 to rotate. This eliminates the need for the robot arm to adjust the overall angle, significantly improving the adaptability of the gripper to complex production processes. In addition, when the product needs to be transferred between workstations in different directions, the gripper can adjust its posture by rotating itself, avoiding the robot arm from having to detour or adjust the angle, thus increasing handling time and indirectly improving overall production efficiency.

[0026] Preferably, bottom buffers 36 are installed at both ends of the guide arc-shaped groove 35 to buffer contact with the guide block 34; the bottom buffers 36 can reduce the vibration generated when the drive plate 3 rotates and the guide block 34 moves to the end of the guide arc-shaped groove 35. The bottom buffers 36 have the effect of buffering compression and reducing resonance.

[0027] A lifting drive mechanism 4 is provided above the top plate 31. The lifting drive mechanism 4 includes a longitudinal connecting plate 41 and a top mounting plate 42 for longitudinal sliding of the longitudinal connecting plate 41. The bottom of the longitudinal connecting plate 41 is connected to the top of the rotary cylinder 32. A lifting cylinder 43 is provided on the top mounting plate 42. The driving end of the lifting cylinder 43 is connected to the longitudinal connecting plate 41. A longitudinal guide rail 44 is provided on the side of the lifting cylinder 43. A longitudinal sliding seat 45 is slidably installed on the longitudinal guide rail 44. The top of the longitudinal connecting plate 41 is connected to the longitudinal sliding seat 45. Top buffers 49 that elastically contact the longitudinal sliding seat 45 are respectively installed on the top and bottom of the longitudinal guide rail 44. The longitudinal movement characteristics of the drive plate 3 can be adapted to different transport paths, facilitating the overall lifting movement. During the overall lifting movement, the lifting cylinder 43 drives the longitudinal connecting plate 41 to move longitudinally, realizing the lifting movement of the gripping module 1. Through the sliding cooperation between the longitudinal guide rail 44 and the longitudinal sliding seat 45, the accuracy of the gripping module 1 during lifting is further increased, improving the gripping accuracy.

[0028] Furthermore, a longitudinal mounting strip 46 is provided on the side of the longitudinal guide rail 44, and photoelectric sensors 47 are installed on the longitudinal mounting strip 46 at intervals. A sensing block 48 that cooperates with the photoelectric sensor 47 is installed on the longitudinal sliding seat 45. The photoelectric sensor 47 and the lifting cylinder 43 are connected by a signal control board. One photoelectric sensor 47 is located at the top of the longitudinal mounting strip 46, and the other photoelectric sensor 47 is located at the bottom of the longitudinal mounting strip 46. When the longitudinal sliding seat 45 moves to the bottom or top of the longitudinal guide rail 44, the photoelectric sensor 47 will cooperate with the sensing block 48 of the longitudinal sliding seat 45. At this time, a signal will be output to the lifting cylinder 43, and the lifting cylinder 43 will not continue to extend or retract, ensuring that the stroke is within the control range and will not exceed the preset range, and will move up and down within the preset range.

[0029] In summary, this utility model possesses the aforementioned excellent characteristics, enabling it to achieve unprecedented efficiency in use and thus become a highly practical product.

[0030] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A gripper structure for holding a workpiece, comprising a drive plate capable of longitudinal movement, wherein the drive plate is equipped with two or more gripping modules, characterized in that: The gripping module includes a finger gripper for holding the product body and an adsorption gripper for adsorbing loose parts of the product. The finger gripper includes a finger cylinder and a first clamping block and a second clamping block installed on the finger cylinder. The first clamping block and the second clamping block clamp the product body away from or close to each other. The adsorption gripper includes a longitudinally arranged adsorption rod with a suction cup installed at the end of the adsorption rod. The suction cup adsorbs loose parts of the product.

2. The gripper structure for clamping a workpiece according to claim 1, characterized in that: The inner walls of the first clamping block and the second clamping block are respectively formed with arc-shaped grooves that are adapted to the shape of the product body.

3. The gripper structure for clamping a workpiece according to claim 2, characterized in that: The arc-shaped groove is fitted with a buffer pad.

4. The gripper structure for clamping a workpiece according to claim 1, characterized in that: The adsorption clamp also includes an adsorption mounting plate for mounting the adsorption rod. The adsorption mounting plate is formed with a vertical connecting plate that fits against the outer wall of the finger cylinder. The vertical connecting plate is formed with a connecting groove. The outer wall of the finger cylinder is provided with a connecting hole that mates with the connecting groove.

5. The gripper structure for clamping a workpiece according to claim 1, characterized in that: The top of the drive plate is connected to a top plate, a rotary cylinder is mounted on the top plate, and a rotating opening is formed at the bottom of the top plate. The drive end of the rotary cylinder passes through the rotating opening and is connected to the drive plate.

6. The gripper structure for clamping a workpiece according to claim 5, characterized in that: The top plate is formed with a guide arc-shaped long groove, and an upright guide block is installed on the top of the drive plate. The guide block slides along the length of the guide arc-shaped long groove.

7. The gripper structure for clamping a workpiece according to claim 6, characterized in that: Bottom buffers that make contact with the guide block are installed at both ends of the guide arc-shaped long groove.

8. The gripper structure for clamping a workpiece according to claim 5, characterized in that: A lifting drive mechanism is provided above the top plate. The lifting drive mechanism includes a longitudinal connecting plate and a top mounting plate for longitudinal sliding of the longitudinal connecting plate. The bottom of the longitudinal connecting plate is connected to the top of the rotary cylinder.

9. The gripper structure for clamping a workpiece according to claim 8, characterized in that: The top mounting plate is equipped with a lifting cylinder. The driving end of the lifting cylinder is connected to the longitudinal connecting plate. A longitudinal guide rail is provided on the side of the lifting cylinder. A longitudinal sliding seat is slidably installed on the longitudinal guide rail. The top of the longitudinal connecting plate is connected to the longitudinal sliding seat. Top buffers that elastically contact the longitudinal sliding seat are respectively installed on the top and bottom of the longitudinal guide rail.

10. The gripper structure for holding a workpiece according to claim 9, characterized in that: A longitudinal mounting strip is provided on the side of the longitudinal guide rail, and photoelectric sensors are installed on the longitudinal mounting strip at intervals. A sensing block that cooperates with the photoelectric sensor is installed on the longitudinal sliding seat.

Images