Automatic nut burying mechanical gripper

Abstract

The utility model relates to the field of mechanical clamp jaw, and specifically relates to an automatic buried nut mechanical clamp jaw, including frame, the bottom of pressing plate is provided with clamping mechanism, the clamping mechanism includes cylinder, the inner wall of frame is fixedly connected to cylinder, the output end of cylinder is through to the inner wall of fixed plate and frame, the output end of cylinder is fixedly connected to the top of pressing plate, the bottom of forty connecting columns is fixedly connected with trapezoidal block, the both sides of trapezoidal block are provided with clamping plate, the inner wall of positioning plate is fixedly connected with slide rod, one side of two clamping plates is provided with oval block, the utility model discloses setting clamping mechanism, and forty clamping plates are synchronously driven through single drive source to realize unified clamping, and the clamping plate has the ability of unlocking one by one, can release the nut on single work station according to the detection result, realizes the shunting of qualified products and unqualified products.

Description

Technical Field

[0001] This utility model relates to the field of mechanical grippers, specifically an automatic nut-burying mechanical gripper. Background Technology

[0002] The automatic nut-embedding mechanical gripper is an end effector specifically designed for industrial automation assembly scenarios. This gripper is typically integrated into a robotic arm or automated equipment and can simultaneously grasp multiple nuts at once. Through a precise mechanical structure, it can achieve functions such as overall handling, positioning, embedding, and selective release.

[0003] Traditional grippers typically use a unified cylinder or motor to drive all grippers to move synchronously. Once the gripping is complete, they can only be released as a whole. They cannot automatically remove individual defective nuts. Defective products must be manually picked out at subsequent workstations. This approach is inefficient and prone to human error, which can cause defective products to be mixed with qualified products, affecting the nut pass rate. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, traditional grippers typically use a unified cylinder or motor to drive all grippers to move synchronously. Once the gripping is complete, the entire gripper can only be released as a whole, making it impossible to automatically remove individual defective nuts. Defective products must be manually picked out at subsequent workstations, which is inefficient and prone to human error, causing defective products to be mixed with qualified products and affecting the nut pass rate. This utility model proposes an automatic nut-burying mechanical gripper.

[0005] The technical solution adopted by this utility model to solve its technical problem is: an automatic nut-burying mechanical gripper, including a frame, a fixed plate fixedly connected to the bottom of the frame, a positioning plate provided at the bottom of the fixed plate, a pressure plate provided between the fixed plate and the positioning plate, and a clamping mechanism provided at the bottom of the pressure plate.

[0006] The clamping mechanism includes a cylinder, which is fixedly connected to the inner wall of the frame. The output end of the cylinder extends through the inner wall of the frame and the fixing plate. The output end of the cylinder is fixedly connected to the top of the pressure plate. A connecting column is fixedly connected to the bottom of the pressure plate. There are forty connecting columns. A trapezoidal block is fixedly connected to the bottom of each of the forty connecting columns. Clamping plates are provided on both sides of each trapezoidal block. A sliding rod is fixedly connected to the inner wall of the positioning plate. Two clamping plates are slidably connected to the surface of the sliding rod. An elliptical block is provided on one side of each of the two clamping plates. The elliptical block is used in conjunction with the two clamping plates.

[0007] Preferably, a positioning post is fixedly connected between the fixing plate and the positioning plate, and the number of positioning posts is four. The positioning plate is fixedly connected to the bottom of the fixing plate through the positioning posts. The inner wall of the pressure plate is in contact with the surface of the four positioning posts. The pressure plate is slidably connected to the surface of the four positioning posts through a cylinder.

[0008] Preferably, a spring is fitted onto the surface of the slide rod, and the two ends of the spring are respectively fixedly connected between the two clamping plates on opposite sides.

[0009] Preferably, guide blocks are fixedly connected to both sides of the trapezoidal block, and guide grooves are provided on the opposite side of the two clamping plates, with the surface of the guide block in contact with the inner wall of the guide groove.

[0010] Preferably, a rotating shaft is fixedly connected to the inner wall of the elliptical block, one end of the rotating shaft is rotatably connected to the inner wall of the positioning plate, a turntable is fixedly connected to one end of the rotating shaft, the surface of the turntable is in contact with the inner wall of the positioning plate, a torsion spring is sleeved on the surface of the rotating shaft, one end of the torsion spring is fixedly connected to one side of the elliptical block, and the other end of the torsion spring is fixedly connected to the surface of the positioning plate.

[0011] Preferably, one side of the elliptical block is fixedly connected to a limiting post, and there are two limiting posts. Each side of the two clamping plates has a limiting groove, and the surface of the two limiting posts contacts the inner wall of the two limiting grooves respectively.

[0012] Preferably, a ratchet is fixedly connected to the surface of the rotating shaft, the ratchet is disposed in the inner cavity of the positioning plate, an electric telescopic rod is fixedly connected to the inner wall of the positioning plate, a pawl is fixedly connected to the telescopic end of the electric telescopic rod, and the surface of the pawl engages with the surface of the ratchet.

[0013] The advantages of this utility model are:

[0014] This invention employs a clamping mechanism where a single cylinder drives forty trapezoidal blocks to press down synchronously, opening the clamping plates on both sides of the blocks. As the blocks move upward, the clamping plates tighten, securing the nuts to be inspected. The movement of the clamping plates synchronously drives the movement of elliptical blocks, which lock and limit the clamping plates, ensuring stable clamping. After inspection, the cylinder retracts, the trapezoidal blocks move upward, releasing the clamping plates. For qualified nuts, the corresponding elliptical blocks remain locked, and the clamping plates continue to hold them. For unqualified nuts, the corresponding elliptical blocks rotate, the clamping plates open, and the nuts fall into the waste bin. A single drive source synchronously drives forty clamping plates to achieve unified clamping, simplifying the overall structure, reducing control complexity, and ensuring consistency and synchronization of actions at each clamping point. Furthermore, the clamping plates have the ability to unlock individually, allowing for flexible release of nuts at individual workstations based on inspection results, enabling the separation of qualified and unqualified products. This ensures continuous operation while improving sorting accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a partial structural schematic diagram of the clamping mechanism of this utility model;

[0018] Figure 3 This is a partial structural diagram of the clamping plate of this utility model;

[0019] Figure 4 This is a partial structural schematic diagram of the trapezoidal block of this utility model;

[0020] Figure 5 This is a partial structural diagram of the elliptical block of this utility model.

[0021] In the diagram: 1. Frame; 2. Clamping mechanism; 201. Cylinder; 202. Clamping plate; 203. Connecting column; 204. Trapezoidal block; 205. Elliptical block; 206. Slide rod; 3. Fixing plate; 4. Pressure plate; 5. Positioning plate; 6. Positioning column; 7. Spring; 8. Guide block; 9. Guide groove; 10. Limiting groove; 11. Rotating shaft; 12. Limiting column; 13. Torsion spring; 14. Ratchet; 15. Pad; 16. Electric telescopic rod; 17. Turntable. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0023] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0024] This application discloses an automatic nut-inserting mechanical gripper. (Refer to...) Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5An automatic nut-burying mechanical gripper includes a frame 1, a fixed plate 3 fixedly connected to the bottom of the frame 1, a positioning plate 5 provided at the bottom of the fixed plate 3, a pressure plate 4 provided between the fixed plate 3 and the positioning plate 5, and a clamping mechanism 2 provided at the bottom of the pressure plate 4.

[0025] The clamping mechanism 2 includes a cylinder 201, which is fixedly connected to the inner wall of the frame 1. The output end of the cylinder 201 extends through the inner wall of the frame 1 and the fixing plate 3. The output end of the cylinder 201 is fixedly connected to the top of the pressure plate 4. Connecting posts 203 are fixedly connected to the bottom of the pressure plate 4. There are forty connecting posts 203. Trapezoidal blocks 204 are fixedly connected to the bottom of each of the forty connecting posts 203. Clamping plates 202 are provided on both sides of each trapezoidal block 204. A sliding rod 206 is fixedly connected to the inner wall of the positioning plate 5. Both clamping plates 202 are slidably connected to the surface of the sliding rod 206. An elliptical block 205 is provided on one side of each clamping plate 202. The elliptical block 205 cooperates with the two clamping plates 202. By setting up the clamping mechanism 2, the forty trapezoidal blocks 204 are driven to press down synchronously by one cylinder 201, causing the clamping plates 202 on both sides of the trapezoidal block 204 to open. When the trapezoidal block 204 moves upward, the two... Each clamping plate 202 tightens to hold the nut to be inspected. When the clamping plate 202 moves, it synchronously drives the elliptical block 205 to move. After the elliptical block 205 locks, it limits the clamping plate 202 to ensure stable clamping. After the inspection is completed, the cylinder 201 retracts, and the trapezoidal block 204 moves upward to release the constraint of the clamping plate 202. The elliptical block 205 corresponding to the qualified nut remains locked, and the clamping plate 202 continues to clamp. The elliptical block 205 corresponding to the unqualified nut rotates, the clamping plate 202 opens, and the nut falls into the waste box. By synchronously driving forty clamping plates 202 through a single drive source, unified clamping is achieved. This not only simplifies the overall structure and reduces the control complexity, but also ensures the consistency and synchronicity of the actions of each clamping point. At the same time, the clamping plate 202 has the ability to unlock one by one, and can flexibly release the nuts on a single station according to the inspection results to achieve the separation of qualified and unqualified products. While ensuring continuous operation, it improves the sorting accuracy.

[0026] Reference Figure 2 A positioning post 6 is fixedly connected between the fixed plate 3 and the positioning plate 5. There are four positioning posts 6. The positioning plate 5 is fixedly connected to the bottom of the fixed plate 3 through the positioning posts 6. The inner wall of the pressure plate 4 is in contact with the surface of the four positioning posts 6. The pressure plate 4 is slidably connected to the surface of the four positioning posts 6 through the cylinder 201. The positioning posts 6 can fix and support the positioning plate 5. The inner wall of the pressure plate 4 is in contact with the surface of the positioning posts 6. Under the drive of the cylinder 201, it slides along the positioning posts 6, which can ensure the smoothness and accuracy of the movement of the pressure plate 4. This ensures that the height of the forty trapezoidal blocks 204 is synchronized during the lifting process, avoids the trapezoidal blocks 204 from tilting or jamming, and improves the consistency of the entire clamping mechanism 2.

[0027] Reference Figure 3 A spring 7 is fitted on the surface of the slide bar 206. The two ends of the spring 7 are fixedly connected to the opposite sides of the two clamping plates 202. The spring 7 provides a rebound force to the two clamping plates 202, ensuring the timeliness and reliability of the clamping action. At the same time, the elastic buffering effect of the spring 7 can effectively absorb the impact and vibration during the clamping process, improve the clamping stability, and assist the clamping plate 202 in quickly responding to the release state of the elliptical block 205 after the trapezoidal block 204 is released from the downward constraint.

[0028] Reference Figure 4 Guide blocks 8 are fixedly connected to both sides of the trapezoidal block 204. Guide grooves 9 are provided on the opposite side of the two clamping plates 202. The surface of the guide block 8 contacts the inner wall of the guide groove 9. The movement trajectory of the trapezoidal block 204 is constrained by the guide block 8 and the guide groove 9, so that the trapezoidal block 204 always slides smoothly along the guide groove 9 of the clamping plate 202 during the lifting process, preventing deviation, jamming or tilting, and improving the coordination and synchronization of the movement between the trapezoidal block 204 and the clamping plate 202.

[0029] Reference Figure 5 An elliptical block 205 has a rotating shaft 11 fixedly connected to its inner wall. One end of the rotating shaft 11 is rotatably connected to the inner wall of the positioning plate 5, and a turntable 17 is fixedly connected to the other end of the rotating shaft 11. The surface of the turntable 17 contacts the inner wall of the positioning plate 5. A torsion spring 13 is sleeved on the surface of the rotating shaft 11. One end of the torsion spring 13 is fixedly connected to one side of the elliptical block 205, and the other end of the torsion spring 13 is fixedly connected to the surface of the positioning plate 5. Through the arrangement of the rotating shaft 11, the turntable 17, and the torsion spring 13, the elliptical block 205 is rotatably connected to the positioning plate 5 with the rotating shaft 11 as the fulcrum. The inner wall of the turntable 17 is closely attached to the inner wall of the positioning plate 5, which effectively restricts the axial displacement of the elliptical block 205 during rotation, improves the motion stability and positioning reliability of the rotating shaft 11 and the elliptical block 205. The torsion spring 13 sleeved on the rotating shaft 11 provides a stable rotational reset force for the elliptical block 205, so that after the elliptical block 205 completes the locking action, it can rotate in time according to the detection result. In the unlocked state, it can quickly drive the clamping plate 202 to open and release the nut, ensuring the sensitivity of the elliptical block 205 in switching between the locked and unlocked states.

[0030] Reference Figure 4 and Figure 5One side of the elliptical block 205 is fixedly connected to a limiting post 12. There are two limiting posts 12. Each side of the two clamping plates 202 has a limiting groove 10. The surfaces of the two limiting posts 12 are in contact with the inner walls of the two limiting grooves 10. Through the setting of the limiting posts 12 and the limiting grooves 10, the elliptical block 205 is embedded into the limiting grooves 10 on one side of the two clamping plates 202 through the two limiting posts 12 and slides in the grooves. This can constrain the movement trajectory of the two clamping plates 202. When the elliptical block 205 is in the locked state, the cooperation between the limiting posts 12 and the limiting grooves 10 can prevent the two clamping plates 202 from opening accidentally and ensure stable clamping. In the released state, the limiting posts 12 slide smoothly in the limiting grooves 10 as the elliptical block 205 rotates, guiding the two clamping plates 202 to open and release the nut. This improves the stability and consistency of the locking and releasing process, avoids the failure of the two clamping plates 202 to open, and ensures the accuracy of nut sorting.

[0031] Reference Figure 5 A ratchet 14 is fixedly connected to the surface of the rotating shaft 11. The ratchet 14 is located in the inner cavity of the positioning plate 5. An electric telescopic rod 16 is fixedly connected to the inner wall of the positioning plate 5. A pawl 15 is fixedly connected to the telescopic end of the electric telescopic rod 16. The surface of the pawl 15 meshes with the surface of the ratchet 14. Through the arrangement of the ratchet 14, the electric telescopic rod 16, and the pawl 15, the ratchet 14 rotates synchronously with the rotating shaft 11. When the electric telescopic rod 16 extends, the pawl 15 engages the ratchet 14, restricting the rotation of the shaft 11. The rotational motion of 1 keeps the elliptical block 205 stably in the locked position, ensuring that the clamping plate 202 reliably holds the nut. When the inspection is completed and the defective product needs to be released, the electric telescopic rod 16 retracts, causing the pawl 15 to disengage from the ratchet 14, releasing the constraint on the rotating shaft 11. Under the action of the torsion spring 13, the rotating shaft 11 drives the elliptical block 205 to rotate, causing the clamping plate 202 to open automatically. This realizes the control of the locking and releasing state of the elliptical block 205, ensuring the stability and safety of the sorting process.

[0032] Working principle: The robotic arm drives the joints to move through a servo motor. Combined with the control system, it drives the frame 1 and the clamping mechanism 2 according to a preset program or instruction. After clamping the nut, it moves it to the inspection station. Then, according to the inspection results, it is transferred to the qualified product area or the waste area. The unloading action is triggered at the target position to realize automatic, efficient and continuous handling and collaborative operation. The nut inspection device uses a vision system and an industrial camera to collect images of the clamped nut. The contrast is enhanced by the light source illumination. The image processing algorithm analyzes and compares the nut's shape, size, thread integrity, surface defects and other features to determine whether it meets the preset quality standards. It outputs qualified or unqualified signals in real time to achieve accurate sorting. This is the existing technology and will not be elaborated on further.

[0033] During operation, the fixed plate 3 and the positioning plate 5 are rigidly connected by four positioning columns 6. The positioning columns 6 not only provide stable support for the positioning plate 5, but also serve as guide rails for the pressure plate 4. The pressure plate 4 is slidably connected to the surface of the four positioning columns 6. The pressure plate 4 is driven by a cylinder 201 inside the frame 1. The user can start the cylinder 201 through an external control switch. The cylinder 201 is powered by an external power supply. The telescopic end of the cylinder 201 extends, causing the pressure plate 4 to move down synchronously. The bottom of the pressure plate 4 is connected to forty connecting columns 203. The bottom of each of the forty connecting columns 203 is connected to a trapezoidal block 204. The guide blocks 8 connected to both sides of each trapezoidal block 204 are respectively embedded in the guide grooves 9 of the corresponding two clamping plates 202, so that the trapezoidal block 204 always moves along the two guide grooves 9 during the lifting and lowering process. The clamping plates 202 move vertically to prevent skewing. As the trapezoidal block 204 is pressed down, the trapezoidal block 204, through its inclined surface, causes the clamping plates 202 on both sides to overcome the tension of the spring 7 and open along the surface of the slide rod 206. At the same time, the stretched spring 7 provides an inward rebound clamping force for the two clamping plates 202. After the nut is placed between the two open clamping plates 202, the telescopic end of the control cylinder 201 retracts, causing the pressure plate 4 to move upward. The pressure plate 4 causes the connecting column 203 and the trapezoidal block 204 to move upward. Under the rebound action of the spring 7, the two clamping plates 202 tighten inward, clamping the nut. At the same time as the two clamping plates 202 open, the limiting groove 10 on one side of the two clamping plates 202 will drive the internal limiting column 12 to move synchronously, causing the elliptical block 205 to move along the two clamping plates. As plate 202 opens and rotates, elliptical block 205 is rotatably connected to the inner wall of positioning plate 5 via shaft 11 and turntable 17. With the rotation of elliptical block 205, shaft 11, turntable 17, and ratchet 14 rotate synchronously. When shaft 11 rotates, the torsion spring 13 fitted on its surface is twisted, storing torsional force to provide rotational reset force for elliptical block 205. After the two clamping plates 202 fully clamp the nut, the user activates the electric telescopic rod 16 via an external control switch. The electric telescopic rod 16 is powered by an external power source. The telescopic end of the electric telescopic rod 16 drives the pawl 15 to extend, causing the pawl 15 to engage in the tooth groove of ratchet 14, locking ratchet 14 and preventing the torsion spring 13 from rebounding after twisting. This locks the two clamping plates 202, preventing the two... If clamping plate 202 accidentally opens during the inspection process, ensuring the stability of the nut clamping, the robotic arm will then move the clamped nut into the nut inspection device for inspection. After the inspection is completed, the telescopic end of the control cylinder 201 will retract again, causing the trapezoidal block 204 to disengage from between the two clamping plates 202. At this time, since the elliptical block 205 is locked by the ratchet 14 and pawl 15, the two clamping plates 202 will remain clamped. After the inspection is completed, the clamping plate 202 corresponding to the qualified nut will still remain clamped and locked. The electric telescopic rod 16 of the corresponding station will retract after receiving the control signal, causing the pawl 15 to disengage from the ratchet 14 teeth, releasing the lock of the ratchet 14. At this time, the torsion spring 13, which stores the torque, will immediately release the torque, driving the rotating shaft 11 and the elliptical block 205 to rotate.Simultaneously, the compressed springs 7 between the clamping plates 202 also rebound, jointly pushing the clamping plates 202 on both sides to open outward, releasing the clamp on the nut, allowing the defective product to fall into the waste box below under gravity. The qualified nut is continuously clamped by the clamping mechanism 2, and after being transferred to the qualified product area by the robotic arm, the control system sends a command to the electric telescopic rod 16 at the corresponding workstation. Through the aforementioned steps of releasing the pawl 15 lock, the clamping plates 202 are opened, releasing the clamp on the nut, allowing the qualified nut to fall into the receiving position of the next process.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. An automatic nut-burying mechanical gripper, comprising a frame (1), characterized in that: A fixing plate (3) is fixedly connected to the bottom of the frame (1), a positioning plate (5) is provided at the bottom of the fixing plate (3), a pressure plate (4) is provided between the fixing plate (3) and the positioning plate (5), and a clamping mechanism (2) is provided at the bottom of the pressure plate (4). The clamping mechanism (2) includes a cylinder (201), which is fixedly connected to the inner wall of the frame (1). The output end of the cylinder (201) extends through the inner wall of the frame (1) and the fixing plate (3). The output end of the cylinder (201) is fixedly connected to the top of the pressure plate (4). A connecting column (203) is fixedly connected to the bottom of the pressure plate (4). There are forty connecting columns (203). A trapezoidal block (204) is fixedly connected to the bottom of each of the forty connecting columns (203). A clamping plate (202) is provided on both sides of the trapezoidal block (204). A sliding rod (206) is fixedly connected to the inner wall of the positioning plate (5). The two clamping plates (202) are slidably connected to the surface of the sliding rod (206). An elliptical block (205) is provided on one side of the two clamping plates (202). The elliptical block (205) is used in conjunction with the two clamping plates (202).

2. The automatic nut-burying mechanical gripper according to claim 1, characterized in that: A positioning column (6) is fixedly connected between the fixing plate (3) and the positioning plate (5). There are four positioning columns (6). The positioning plate (5) is fixedly connected to the bottom of the fixing plate (3) through the positioning columns (6). The inner wall of the pressure plate (4) is in contact with the surface of the four positioning columns (6). The pressure plate (4) is slidably connected to the surface of the four positioning columns (6) through the cylinder (201).

3. The automatic nut-embedding mechanical gripper according to claim 1, characterized in that: The surface of the slide bar (206) is fitted with a spring (7), and the two ends of the spring (7) are respectively fixedly connected between the opposite sides of the two clamps (202).

4. The automatic nut-burying mechanical gripper according to claim 1, characterized in that: Guide blocks (8) are fixedly connected to both sides of the trapezoidal block (204), and guide grooves (9) are opened on the opposite side of the two clamping plates (202). The surface of the guide block (8) is in contact with the inner wall of the guide groove (9).

5. The automatic nut-burying mechanical gripper according to claim 1, characterized in that: The inner wall of the elliptical block (205) is fixedly connected to a rotating shaft (11). One end of the rotating shaft (11) is rotatably connected to the inner wall of the positioning plate (5). One end of the rotating shaft (11) is fixedly connected to a turntable (17). The surface of the turntable (17) is in contact with the inner wall of the positioning plate (5). A torsion spring (13) is sleeved on the surface of the rotating shaft (11). One end of the torsion spring (13) is fixedly connected to one side of the elliptical block (205), and the other end of the torsion spring (13) is fixedly connected to the surface of the positioning plate (5).

6. The automatic nut-embedding mechanical gripper according to claim 1, characterized in that: One side of the elliptical block (205) is fixedly connected to a limiting post (12), and there are two limiting posts (12). One side of each of the two clamping plates (202) is provided with a limiting groove (10), and the surfaces of the two limiting posts (12) are in contact with the inner walls of the two limiting grooves (10).

7. The automatic nut-embedding mechanical gripper according to claim 5, characterized in that: A ratchet (14) is fixedly connected to the surface of the rotating shaft (11). The ratchet (14) is located in the inner cavity of the positioning plate (5). An electric telescopic rod (16) is fixedly connected to the inner wall of the positioning plate (5). A pawl (15) is fixedly connected to the telescopic end of the electric telescopic rod (16). The surface of the pawl (15) meshes with the surface of the ratchet (14).

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