A shell feeding clamp jaw mechanism

Abstract

The utility model discloses a kind of shell feeding clamping jaw mechanisms, it includes fixed base, and several support rods are fixed on fixed base along vertical direction;The bottom end of several support rods is connected with variable pitch plate, and several variable pitch grooves are set on variable pitch plate along radial direction;Lifting cylinder is installed on fixed base, and its drive output end is connected with chuck, and several support arm plates are separately arranged on chuck;Transmission seat is slidably connected on each support arm plate, and the bottom of each transmission seat is slidably connected in variable pitch groove;Clamping jaw is connected on the bottom of each transmission seat;When several transmission seats slide along support arm plate obliquely, drive several clamping jaws to approach or move away along variable pitch groove each other.This utility model can be stably supported in the inner cavity of material with different inner diameter, effectively compatible with the automatic stable material taking, feeding demand of different size materials.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology, and in particular to a shell feeding gripper mechanism. Background Technology

[0002] Fast charging (QC) connectors are crucial automotive components, coming in various types and used in large quantities. Currently, they are primarily manufactured using injection molding. A typical QC connector is assembled from components such as a housing, sealing ring, retaining ring, and locking clip. Among these, housing assembly, as the first step in assembly, directly impacts the efficiency of the entire production process.

[0003] In existing technologies, QC connector housings are typically fed using automated gripper cylinders. Traditional gripper structures primarily grasp the housings through internal support or external clamping methods. External clamping uses external clamping force to hold the object, but in practice, it can easily cause scratches or indentations to the surface of the QC connector housing. Internal support grippers rely on internal expansion to achieve gripping, but for housings with irregular structures, irregular internal cavities, or thin walls, they often cannot provide sufficiently uniform support force, resulting in poor gripping stability and a tendency to fall off or deviate.

[0004] In addition, the traditional gripper structure has a limited stroke adjustment range, making it difficult to adapt to the diameter changes of QC connector housings of different specifications. This results in the need to frequently replace gripper modules during production, which not only increases equipment debugging time but also reduces production efficiency, especially in flexible manufacturing scenarios with multiple product varieties. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a shell feeding gripper mechanism.

[0006] The technical solution of this utility model is:

[0007] A housing feeding gripper mechanism includes a fixed base, characterized in that a plurality of support rods are fixedly connected to the fixed base along the vertical direction; the bottom ends of the plurality of support rods are connected to a variable pitch plate, and a plurality of variable pitch grooves are formed on the variable pitch plate along the radial direction.

[0008] A lifting cylinder is installed on the fixed base, and its drive output end is connected to a clamp. Several support arm plates are spaced apart on the clamp. A transmission seat is slidably connected to each support arm plate, and the bottom of each transmission seat is slidably connected to a pitch groove. A gripper is connected to the bottom of each transmission seat.

[0009] When the several transmission seats slide obliquely along the support arm plate, they drive the several grippers to move closer or further apart along the pitch groove.

[0010] Furthermore, the lifting cylinder is connected to the fixed base via a vertical floating assembly, which includes:

[0011] Two guide rail connecting plates are respectively vertically downward connected to both ends of the fixed base;

[0012] The slide rails are vertically mounted on the opposite sides of the two guide rail plates, and a slider is slidably connected to each slide rail.

[0013] A floating slide plate, with its two ends fixed to the two sliders respectively, is located above the variable pitch plate and is parallel to each other;

[0014] The first elastic element has one end connected to the fixed base and the other end connected to the top surface of the floating slide plate;

[0015] The top ends of several of the support rods are connected to the floating slide plate, and the lifting cylinder is mounted on the floating slide plate.

[0016] Furthermore, each of the aforementioned guide rail plates is provided with a limiting plate located below the corresponding slide rail.

[0017] Furthermore, a central hole is formed at the center of the pitch plate, and three pitch grooves are formed on the pitch plate. The three pitch grooves are arranged in a triangular array, and each pitch groove is connected to the central hole.

[0018] Furthermore, the clamp is composed of three arm plates, which are arranged in a triangular array around a central axis; Each of the aforementioned support arm plates has a guide bevel on its outer side, and each of the two vertical sides of each support arm plate is provided with a slanted sliding groove, and each slanted sliding groove is arranged parallel to the guide bevel.

[0019] The guide bevel is slidably engaged within the transmission seat, and the transmission seat slides obliquely along the oblique groove.

[0020] Furthermore, each of the transmission seats has a sloping side facing the support arm plate, and a sloping notch is provided from its top to its bottom, the sloping notch being arranged parallel to the sloping side of the transmission seat.

[0021] The guide bevel is slidably engaged within the beveled opening.

[0022] Furthermore, a guide plate is fixed above each of the pitch grooves, and a guide groove is provided on each of the guide plates. The guide groove is coaxially connected to the pitch groove, and one end of the inner side of the guide groove is connected to the central hole.

[0023] The guide plate extends downward at one end of the guide groove to form a lower stop, which seals the outside of the variable pitch groove.

[0024] Furthermore, each of the transmission seats is slidably connected to the pitch groove after passing through the guide groove at its bottom;

[0025] The second elastic component has one end connected to the outer wall of the transmission seat away from the central hole, and the other end connected to the inner wall of the lower stop.

[0026] Furthermore, three grippers are provided, each of which is slidably connected within the strain gauge groove;

[0027] Each of the grippers has an inner support column at its end, and the outer circumferential surface of each inner support column is an arc surface.

[0028] Furthermore, the top surface of the fixed base is provided with a guide shaft support for connecting with the robotic arm.

[0029] The beneficial technical effects of this utility model are: by utilizing the coordinated cooperation of the chuck, transmission seat and variable pitch plate, the three grippers can adaptively adjust the radial spacing, thereby stably supporting the material cavity with different inner diameters, effectively meeting the automated and stable material handling and feeding requirements of materials of different sizes.

[0030] In addition, the vertical floating component of this invention can provide flexible buffering at the moment the gripper contacts the material, avoiding rigid collision damage to the material. Attached Figure Description

[0031] Figure 1 This is an overall schematic diagram of the present invention;

[0032] Figure 2 This is a schematic diagram of the variable pitch gripper assembly and variable pitch plate assembly;

[0033] Figure 3 yes Figure 2 Schematic diagram after removing the pitch plate:

[0034] Figure 4 yes Figure 2 A sectional view;

[0035] Figure 5 This is a diagram of the chuck;

[0036] Figure 6 This is a schematic diagram of a variable pitch plate;

[0037] Figure 7 This is a schematic diagram of the transmission base.

[0038] in:

[0039] 100. Fixed base; 101. Connecting plate; 102. Guide shaft support; 103. Support rod; 200. Vertical floating assembly; 201. Guide rail connecting plate; 202. Slide rail; 203. Slider; 204. Floating slide plate; 205. First elastic element; 206. Lower limit plate; 300. Variable pitch plate; 301. Center hole; 302. Variable pitch groove; 3021. Receiving platform; 303. Guide plate; 3 031, Guide groove; 3032, Lower stop edge; 401, Lifting cylinder; 402, Connecting shaft; 403, Gripper; 4031, Inner support column; 404, Second elastic element; 501, Clamp; 5011, Support arm plate; 5012, Support arm latch; 5013, Guide bevel; 5014, Angled slide groove; 502, Transmission seat; 5021, Angled latch; 5022, Groove; 503, Transition block. Detailed Implementation

[0040] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0041] like Figures 1-7 As shown, this utility model provides a housing loading gripper mechanism, which includes a fixed base 100. The top surface of the fixed base 100 is connected to a guide shaft support 102 for connecting to an actuator at the end of a robotic arm, so that the housing loading gripper mechanism can be driven by a robotic arm (not shown) and run to the material position. A connecting plate 101 is fixedly connected to the bottom surface of the fixed base 100, and a set of vertical floating components 200 are provided between the two ends of the connecting plate 101 along its length. The material to be loaded has a cavitary cavity.

[0042] The vertical floating assembly 200 includes a guide rail plate 201, a slide rail 202, a slider 203, a floating slide plate 204, a first elastic element 205, and a lower limit plate 206. A guide rail plate 201 is vertically fixed to each end of the connecting plate 101 along its length. The bottom surface of each guide rail plate 201 is connected to the lower limit plate 206. A slide rail 202 is vertically mounted on each of the two guide rail plates 201 on their opposite sides, above the lower limit plate 206. A slider 203 is slidably connected to the corresponding slide rail 202. Both sliders 203 are connected to the floating slide plate 204, which is located below and parallel to the connecting plate 101. One end of the first elastic element 205 is fixed to the floating slide plate 204, and the other end is fixed to the connecting plate 101. In this invention, two first elastic elements 205 are provided between the floating slide plate 204 and the connecting plate 101, and the two first elastic elements 205 are equidistantly spaced.

[0043] When the floating slide plate 204 is subjected to upward extrusion force, it can rise along the slide rail 202. At this time, the first elastic element 205 is compressed simultaneously. This structural design can prevent the variable pitch gripper assembly connected to the floating slide plate 204 from making hard contact with the material when it descends to the material and comes into contact with it, thereby preventing material damage. When the upward extrusion force disappears, the rebound and reset force of the first elastic element 205 drives the floating slide plate 204 to reset.

[0044] The floating slide plate 204 is vertically connected to three support rods 103 on its bottom surface away from the connecting plate 101. The three support rods 103 are arranged in an equilateral triangle array, and each support rod 103 extends vertically downwards. The bottom ends of the three support rods 103 are fixed to a pitch plate 300. The pitch plate 300 is set parallel to the floating slide plate 204, and there is a suitable space between them for installing the pitch-changing gripper assembly.

[0045] A central hole 301 is formed at the center of the pitch plate 300. Three pitch grooves 302 are formed around the outer periphery of the central hole 301 on the pitch plate 300, arranged radially in an equilateral triangular array. Each pitch groove 302 extends horizontally radially along the pitch plate 300, and both its inner and outer ends are connected to the central hole 301, forming a continuous guide channel together with the central hole. Each pitch groove 302 has an annular receiving platform 3021 on its inner wall. One end of each annular receiving platform 3021 is connected to the central hole 301, and the other end has an annular stop edge, which is used to limit the travel of sliding components within the pitch groove 302.

[0046] Furthermore, a guide plate 303 is fixedly attached above each pitch groove 302. Each guide plate 303 has a guide groove 3031 along its length. The guide groove 3031 is open on the inner side facing the central hole 301, and a retaining edge is provided on its outer side. In addition, each guide plate 303 extends vertically downward away from the outer side of the central hole 301 to form a lower retaining edge 3032. On the inner wall of each lower retaining edge 3032, there is a mounting hole for connecting the second elastic member 404 described below.

[0047] The guide plate 303 is fixed to the top of each pitch groove 302 by fasteners (such as bolts). The guide groove 3031 on it is coaxially corresponding to the pitch groove 302 below, together forming a complete motion guide path. The lower stop edge 3032 of each guide plate 303 is exactly sealed at the outer end opening of the corresponding pitch groove 302, which plays a further protective and limiting role.

[0048] The variable pitch gripper assembly includes a lifting cylinder 401, a connecting shaft 402, three grippers 403, three second elastic elements 404, and three transmission components; wherein each transmission component includes a chuck 501 and a transmission seat 502.

[0049] The fixed end of the lifting cylinder 401 is fixed on the floating slide plate 204, and its drive output end faces the variable pitch plate 300 vertically. One end of the connecting shaft 402 is fixed to the drive output end of the lifting cylinder 401, and the other end of the connecting shaft 402 extends vertically downward. The downward-extending end of the connecting shaft 402 is designed as a cylindrical end for fixed connection with the clamp 501 described below.

[0050] The chuck 501 consists of three arm plates 5011, which are arranged radially in an equilateral triangular array around a central axis, and all three are vertically positioned. The bottoms of the three arm plates 5011 are fixedly connected to each other to form a single integral component. The tops of the three arm plates 5011 are not adjacent to each other, and together they enclose a clearance space to accommodate the connecting shaft 402. The upper ends of the opposite sides of the three arm plates 5011 are all recessed inward to form an arm latch 5012. The cylindrical end of the connecting shaft 402 extends into the clearance space, and the outer circumferential surface of its cylindrical end engages with the arm latch of the corresponding arm plate 5011, thereby achieving a reliable fixed connection between the connecting shaft 402 and the chuck 501.

[0051] The outer edges of each arm plate 5011 that are far apart from each other are designated as guide bevels 5013, which form an acute angle with the vertical direction. On both sides of each arm plate 5011, oblique grooves 5014 are provided parallel to the guide bevels 5013.

[0052] Furthermore, there are three transmission seats 502, which correspond one-to-one with the three arm plates 5011.

[0053] Each transmission seat 502 is approximately trapezoidal in shape and has an inclined side. An inclined slot 5021 is formed from the top to the bottom surface of each transmission seat 502, and the inclined slot 5021 is parallel to the inclined side of the transmission seat 502. Each inclined slot 5021 has slot stops along its length on both sides. The guide inclined side 5013 of each arm plate is slidably engaged in the corresponding inclined slot 5021, and the slot stops of the inclined slot 5021 are slidably supported in the corresponding inclined groove 5014, thereby achieving an inclined sliding connection between the transmission seat 502 and the arm plate 5011.

[0054] Furthermore, each transmission seat 502 has a groove 5022 on both sides, and each groove 5022 is parallel to its bottom edge or top surface. In addition, each transmission seat 502 has a mounting hole for connecting the second elastic member 404 on the right-angled side away from its inclined side.

[0055] After the bottom of each transmission seat 502 passes downward through the guide groove 3031 of the guide plate, it is accommodated in the pitch groove 302 of the pitch plate 300 and supported on the receiving platform 3021 of the pitch groove. The two sides of the guide groove 3031 of the guide plate 303 are slidably engaged in the corresponding grooves 5022 of the transmission seat. At this time, the mounting holes on each guide plate 303 are opposite to the mounting holes on the transmission seat 502. One end of the second elastic member 404 is fixed in the mounting hole on the guide plate 303, and the other end is fixed in the mounting hole on the transmission seat 502.

[0056] The first elastic element 205 and the second elastic element 404 described in this utility model are both springs.

[0057] Furthermore, to further optimize the connection and force transmission of the gripper 403, a transition block 503 is fixedly connected to the bottom surface of each transmission seat 502. Each transition block 503 includes an integrally formed upper connecting part and a lower connecting part, the width of the upper connecting part being smaller than the width of the lower connecting part, thereby forming a stepped support structure between the two. The upper connecting part of the transition block 503 is fixedly connected to the bottom surface of the transmission seat 502 and slidably engaged between the annular receiving platform 3021 of the pitch groove 302, serving as a radial guide and limiting function. The lower connecting part of the transition block 503 is located below the annular receiving platform 3021 and abuts against the bottom surface of the pitch plate 300. A gripper 403 is fixedly connected to the bottom surface of the lower connecting part of each transition block 503.

[0058] To provide uniform and stable support for the inner cavity of the material, each gripper 403 is provided with an inner support column 4031 at its end. The outer circumferential surface of each inner support column 4031 has an arc-shaped surface to increase the contact area with the inner wall of the material.

[0059] This invention converts the linear motion of the lifting cylinder 401 into the radial pitch-changing motion of the transmission seat 502 and the connected gripper 403 via the inclined slide groove 5014 of the chuck 501, to accommodate the feeding action of materials of different sizes. Its specific working process is as follows:

[0060] Positioning: The initial state of this utility model is that the three grippers are close together. Under the guidance of a vision inspection device (e.g., a CCD module, not shown), the robotic arm moves this utility model above the material, and the three grippers 403 simultaneously extend into the inner cavity of the material. When the grippers 403 come into contact with the material, the vertical floating component 200 provides a flexible buffering force to prevent rigid collision damage to the material.

[0061] Inner support gripping: Control the lifting cylinder 401 to descend, and the chuck 501 descends synchronously. At this time, each transmission seat 502 slides obliquely upward along the inclined slide groove 5014. At the same time, due to the limiting effect of the guide groove 3031 and the variable pitch groove 302, each transmission seat 502 slides away from the center hole 301 along the variable pitch groove 302. This causes the three transmission seats 502 and the three grippers 403 on the three transmission seats 502 to move away from each other synchronously, so that the three inner support rods 4031 at their ends expand radially synchronously until the three inner support rods 4031 are stably supported on the inner wall of the material cavity, thus achieving inner support fixation. During this process, each second elastic element is also compressed synchronously, which plays a buffering role in this process and makes its operation more stable.

[0062] Material release: When material needs to be released, the lifting cylinder 401 is raised, and the chuck 501 rises synchronously. At this time, each transmission seat 502 slides obliquely down the inclined slide groove 5014. Simultaneously, due to the limiting effect of the guide groove 3031 and the pitch groove 302, each transmission seat 502 slides towards the center hole 301 along the pitch groove 302, driving the three grippers 403 to contract radially synchronously, causing the three inner support rods 4031 to disengage from the inner wall of the material cavity, thereby releasing the material. At this time, each second elastic element recovers from the compressed state.

[0063] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A housing loading gripper mechanism, comprising a fixed base (100), characterized in that, The fixed base is vertically fixed with a number of support rods (103); the bottom ends of the number of support rods (103) are connected to a pitch plate (300), and the pitch plate (300) is radially provided with a number of pitch grooves (302). A lifting cylinder (401) is installed on the fixed base (100), and its drive output end is connected to a chuck (501). Several support arm plates (5011) are spaced apart on the chuck (501). A transmission seat (502) is obliquely slidably connected to each support arm plate (5011), and the bottom of each transmission seat (502) is slidably connected to a pitch groove (302). A gripper (403) is connected to the bottom of each transmission seat (502). When the several transmission seats (502) slide obliquely along the support arm plate (5011), they drive the several grippers to move closer or further apart along the pitch groove (302).

2. The housing feeding gripper mechanism according to claim 1, characterized in that, The lifting cylinder (401) is connected to the fixed base (100) via a vertical floating assembly (200), which includes: The two guide rail plates (201) are respectively vertically downward connected to both ends of the fixed base (100); The slide rail (202) is vertically mounted on the opposite sides of the two guide rail plates (204), and a slider (203) is slidably connected on each slide rail (202). A floating slide plate (204) is fixed at both ends to the two sliders (203), and the floating slide plate (204) is located above the variable pitch plate (300) and parallel to each other; The first elastic element (205) has one end connected to the fixed base (100) and the other end connected to the top surface of the floating slide plate (204); The top ends of several of the support rods (103) are connected to the floating slide plate (204), and the lifting cylinder (401) is mounted on the floating slide plate (204).

3. The housing feeding gripper mechanism according to claim 2, characterized in that, Each of the guide rail plates (201) is provided with a limiting plate (206) located below the corresponding slide rail (202).

4. The housing feeding gripper mechanism according to claim 1, characterized in that, The pitch plate (300) has a central hole (301) at its center. The pitch plate (300) has three pitch grooves (302) arranged in a triangular array. Each pitch groove (302) is connected to the central hole (301).

5. A housing feeding gripper mechanism according to claim 4, characterized in that, The clamp (501) is composed of three support plates (5011), which are arranged in a triangular array around a central axis. Each of the support arm plates (5011) has a guide bevel (5013) on its outer side, and each of the two vertical sides of each support arm plate (5011) is provided with a slanted groove (5014), and each slanted groove (5014) is arranged parallel to the guide bevel (5013). The guide bevel (5013) is slidably engaged in the transmission seat (502), and the transmission seat (502) slides obliquely along the oblique groove (5014).

6. A housing feeding gripper mechanism according to claim 5, characterized in that, Each of the transmission seats (502) has a sloping side facing the support arm plate (5011), and a sloping slot (5021) is provided from the top to the bottom of the transmission seat (502). The sloping slot (5021) is arranged parallel to the sloping side of the transmission seat (502). The guide bevel (5013) is slidably engaged within the beveled slot (5021).

7. A housing feeding gripper mechanism according to claim 6, characterized in that, A guide plate (303) is fixedly connected above each of the variable pitch grooves (302), and a guide groove (3031) is provided on each of the guide plates (303). The guide groove (3031) is coaxially connected to the variable pitch groove (302), and one end of the inner side of the guide groove (3031) is connected to the central hole (301). The guide plate (303) extends downward to form a lower stop (3032) on one end of the guide groove (3031) and is located outside the guide groove (3031). The lower stop (3032) is sealed outside the variable pitch groove (302).

8. A housing feeding gripper mechanism according to claim 7, characterized in that, Each of the transmission seats (502) has a guide groove (3031) passing through its bottom and is slidably connected to the variable pitch groove (302); The second elastic component (404) has one end connected to the outer wall of the transmission seat (502) away from the central hole, and the other end connected to the inner wall of the lower stop (3032).

9. A housing feeding gripper mechanism according to claim 4, characterized in that, The device is provided with three grippers (403), each of which is slidably connected in a strain gauge groove (302); Each of the grippers (403) has an inner support column (4031) at its end, and the outer peripheral surface of each inner support column (4031) is an arc-shaped surface.

10. A housing feeding gripper mechanism according to claim 1, characterized in that, The top surface of the fixed base (100) is provided with a guide shaft support (102) for connecting with the robotic arm.

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