Multi-functional grabber

Abstract

The utility model belongs to the manufacturing production technical field discloses multifunctional grab, including cylinder, guide plate and four connecting rod structure, the guide plate is steel sheet work piece, and one end of guide plate is welded fixed with the end face of cylinder, four connecting rod structure includes connecting rod, the pin that is installed on the connecting rod node and is installed on the jaw of connecting rod through pin, four connecting rod structure is installed in the inside of guide plate, and the upper end of four connecting rod structure is connected with the piston rod of cylinder through pin, when cylinder drive piston rod up and down movement, through four connecting rod structure will linear motion convert into the rotary opening and closing movement of jaw, when the piston rod moves down when the air inlet of cylinder upper chamber, drive jaw to close, when the piston rod moves up when the air inlet of cylinder lower chamber, drive jaw to open. The utility model discloses the combination design of adjustable pin and custom jaw, solved the problem that traditional grab is poor to the special-shaped part, the product with hole adaptability, improves the coverage of the scene that the original need manual operation simultaneously, can reduce manpower cost significantly.

Description

Technical Field

[0001] This utility model relates to the field of manufacturing technology, and in particular to a multifunctional gripper. Background Technology

[0002] A multi-functional gripper is a mechanical device that integrates multiple functions. It is mainly used to grip, hold, or transport objects of different shapes, sizes, and materials. Its core function is to achieve adaptive operation through an adjustable structure or intelligent control system. It is suitable for fields such as industrial manufacturing, logistics and warehousing, medical assistance, and home services.

[0003] In the current process of automation in manufacturing, product sorting and palletizing operations still face significant challenges. In existing technologies, about 50% of products cannot be stably gripped by elastic grippers (such as rubber suction cups), resulting in reliance on manual operation, which is inefficient and costly. Traditional rigid grippers have the following problems: 1) Insufficient adaptability: They cannot adapt to the gripping needs of products with different shapes or holes. 2) Limited efficiency: The complex structure and poor stability of motion transitions can easily lead to grasping failures; 3) High cost: Frequent adjustments or replacements of the device are required, increasing maintenance costs. Therefore, we proposed a multi-functional gripper. Utility Model Content

[0004] In view of the problems of insufficient adaptability, limited efficiency and high cost of the existing grippers, this utility model is proposed.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A multi-functional gripper includes a cylinder, a guide plate, and a four-bar linkage. The guide plate is a machined steel plate, and one end of the guide plate is welded and fixed to the end face of the cylinder. The four-bar linkage includes a connecting rod, a pin installed on the connecting rod node, and a gripper installed on the connecting rod through the pin. The four-bar linkage is installed inside the guide plate, and the upper end of the four-bar linkage is connected to the piston rod of the cylinder through the pin.

[0006] As a technical solution of the multifunctional gripper of this utility model, when the cylinder drives the piston rod to move up and down, the linear motion is converted into the rotational opening and closing motion of the gripper through the four-bar linkage structure.

[0007] As a technical solution of the multifunctional gripper of this utility model, when air enters the upper chamber of the cylinder, the piston rod moves downward, driving the gripper to close; when air enters the lower chamber of the cylinder, the piston rod moves upward, driving the gripper to open.

[0008] As a technical solution of the multifunctional gripper of this utility model, the guide plate is provided with a vertical guide groove for constraining the contraction and expansion trajectory of the four-bar linkage in the vertical direction.

[0009] As a technical solution of the multifunctional gripper of this utility model, the gripper is connected to an external industrial robot arm through the mounting interface at the bottom of the guide plate.

[0010] As a technical solution of the multifunctional gripper of this utility model, the connecting rod and the gripper are connected by an adjustable pin, so that the opening and closing angle of the gripper can be adaptively adjusted.

[0011] As a technical solution of the multifunctional gripper of this utility model, the gripper is a two-piece structure arranged symmetrically, and the end of the gripper is provided with a buckle part for embedding into the hole of the perforated product and bending inward.

[0012] As a technical solution of the multifunctional gripper of this utility model, multiple grippers can be installed in parallel on the same guide plate to form a multi-station synchronous gripping system.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects: 1. This utility model solves the problem of poor adaptability of traditional grippers to irregularly shaped parts and products with holes by combining adjustable pins and customized grippers. At the same time, it increases the coverage of scenarios that originally required manual operation and can significantly reduce labor costs.

[0014] 2. This utility model, through the cooperation of a four-bar linkage transmission and a vertical guide groove, ensures high-stability grasping and can significantly reduce the failure rate. Combined with the cooperation of parallel expansion and docking with the robot arm, it can achieve rapid deployment and multi-task collaboration, thereby reducing overall maintenance costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments 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. Among them: Figure 1 This is a schematic diagram of the internal locking type in the relaxed state structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the internal clamping state structure of this utility model.

[0017] Figure 3 This is a schematic diagram of the external clamp type relaxed state structure of this utility model.

[0018] Figure 4 This is a schematic diagram of the external clamping state structure of this utility model.

[0019] Explanation of reference numerals in the attached figures: In the diagram: 1. Cylinder; 2. Guide plate; 201. Vertical guide groove; 301. Connecting rod; 302. Pin; 303. Clamping jaw. Detailed Implementation

[0020] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0021] Reference Figures 1-4 A multi-functional gripper is provided, which includes a cylinder 1, a guide plate 2, and a four-bar linkage structure. The guide plate 2 is a machined steel plate, and one end of the guide plate 2 is welded and fixed to the end face of the cylinder 1. The four-bar linkage structure includes a connecting rod 301, a pin 302 installed on the node of the connecting rod 301, and a gripper 303 installed on the connecting rod 301 through the pin 302. The four-bar linkage structure is installed inside the guide plate 2, and the upper end of the four-bar linkage structure is connected to the piston rod of the cylinder 1 through the pin 302. In application, the integrated design of the cylinder 1, the guide plate 2, and the four-bar linkage structure achieves a combination of rigidity and flexible transmission. The guide plate 2, as a welded base, enhances the overall rigidity. The four-bar linkage structure converts linear motion into rotary opening and closing, simplifies the transmission logic, and reduces the failure rate.

[0022] Reference Figures 1-4 When cylinder 1 drives the piston rod to move up and down, the linear motion is converted into the rotational opening and closing motion of the gripper 303 through a four-bar linkage. When air enters the upper chamber of cylinder 1, the piston rod moves down, driving the gripper 303 to close. When air enters the lower chamber of cylinder 1, the piston rod moves up, driving the gripper 303 to open. In application, cylinder 1 drives the gripper 303 to open and close through bidirectional air intake. The motion path is clear (piston rod moves down → gripper 303 closes, piston rod moves up → gripper 303 opens). The action response is fast and the energy consumption is low, thereby improving the gripping efficiency.

[0023] Reference Figure 1 and Figure 3 The guide plate 2 has a vertical guide groove 201 for constraining the vertical contraction and expansion trajectory of the four-bar linkage. In application, it constrains the vertical trajectory of the four-bar linkage to prevent lateral deviation and ensure that the gripper 303 opens and closes without jamming. It is especially suitable for high-speed production line scenarios to improve gripping stability.

[0024] Reference Figures 1-4The gripper connects to the external industrial robot arm via the mounting interface at the bottom of the guide plate 2. In application, the standardized interface at the bottom of the guide plate 2 supports quick docking with the industrial robot arm without the need for an additional adapter, reducing integration time and cost, and adapting to mainstream automated production lines.

[0025] Reference Figure 1 and Figure 4 The connecting rod 301 and the gripper 303 are connected by an adjustable pin 302, which allows the opening and closing angle of the gripper 303 to be adaptively adjusted. In application, the opening and closing angle of the gripper 303 can be changed by adjusting the position of the pin 302 to adapt to products with holes of different sizes or shapes (such as holes with a diameter of 5-50mm). A single device can cover multiple specifications of products, thereby reducing downtime for model changeover.

[0026] Reference Figure 1 and Figure 4 The gripper 303 is a symmetrical two-piece structure, and the end of the gripper 303 is provided with a snap-fit ​​part for embedding into the hole of the product and bending inward. In application, the symmetrical snap-fit ​​part design can be embedded into the product hole and locked inward to prevent slippage (especially suitable for workpieces with smooth surfaces). The two-piece structure reduces weight and manufacturing costs.

[0027] Reference Figure 1 and Figure 4 Multiple grippers can be installed in parallel on the same guide plate 2 to form a multi-station synchronous gripping system. In application, multiple grippers can be connected in parallel on the same guide plate 2 to realize synchronous gripping of multiple products (such as palletizing scenarios) to improve system efficiency and reduce complexity through unified air path control.

[0028] The working principle of this utility model is as follows: When using this device, it is used in conjunction with robot equipment. Different multi-functional grippers can be installed on the robot according to the actual situation on site, and multiple grippers can be used in combination. Taking the internal clamping gripper as an example, where the product has a hole: before the gripper grips, air enters the upper chamber of cylinder 1, the piston moves downward, the four-bar linkage retracts in the vertical direction of guide plate 2, and the gripper 303 rotates. When the two grippers 303 are closed in place, the gripper completes the release action. The robot drives the gripper to move, ensuring that the end of the gripper 303 is deeply inserted into the product hole. The gripper releases by air entering the lower chamber of cylinder 1, the piston moves upward, the four-bar linkage expands vertically in the guide plate 2, and the gripper 303 rotates. When the two grippers 303 are in place, the end of the gripper 303 is engaged in the product hole, and the gripper completes the gripping action. The reverse of the above steps are the operation steps for the palletizing scene.

[0029] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A multi-functional gripper, characterized in that: The system includes a cylinder (1), a guide plate (2), and a four-bar linkage. The guide plate (2) is a steel plate machining part, and one end of the guide plate (2) is welded and fixed to the end face of the cylinder (1). The four-bar linkage includes a connecting rod (301), a pin (302) installed on the node of the connecting rod (301), and a clamp (303) installed on the connecting rod (301) through the pin (302). The four-bar linkage is installed inside the guide plate (2), and the upper end of the four-bar linkage is connected to the piston rod of the cylinder (1) through the pin (302).

2. The multi-functional gripper according to claim 1, characterized in that: When the cylinder (1) drives the piston rod to move up and down, the linear motion is converted into the rotational opening and closing motion of the gripper (303) through the four-bar linkage.

3. The multi-functional gripper according to claim 1, characterized in that: When air enters the upper chamber of the cylinder (1), the piston rod moves down, driving the gripper (303) to close. When air enters the lower chamber of the cylinder (1), the piston rod moves up, driving the gripper (303) to open.

4. The multi-functional gripper according to claim 1, characterized in that: The guide plate (2) is provided with a vertical guide groove (201) for constraining the contraction and expansion trajectory of the four-bar linkage in the vertical direction.

5. The multi-functional gripper according to claim 1, characterized in that: The gripper is connected to an external industrial robot arm via the mounting interface at the bottom of the guide plate (2).

6. The multi-functional gripper according to claim 1, characterized in that: The connecting rod (301) and the gripper (303) are connected by an adjustable pin (302), so that the opening and closing angle of the gripper (303) can be adaptively adjusted.

7. The multi-functional gripper according to claim 1, characterized in that: The gripper (303) is a symmetrical two-piece structure, and the end of the gripper (303) is provided with a buckle for embedding into the hole of the perforated product and bending inward.

8. The multi-functional gripper according to claim 1, characterized in that: Multiple grippers can be installed in parallel on the same guide plate (2) to form a multi-station synchronous gripping system.

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