A gripping mechanism and device

Abstract

The utility model relates to the field of grabbing mechanism, concretely relates to a grabbing mechanism and device, wherein the mechanism includes: two groups of clamping components of opposite direction and interval distribution on the main body frame, and each group of clamping components includes sucking disc group and several clamping claws, and several clamping claws are distributed in the periphery of sucking disc group, and several clamping claws are two -two symmetry distribution with first axis X and second axis Y, and still be equipped with the air -blowing assembly of the inclination to one group of clamping components outside on the main body frame. The utility model combines the double clamping mode of sucking disc group and clamping claw, and the auxiliary function of air -blowing assembly, realizes efficient, stable material grabbing and placing operation, and is applicable to the processing demand of a variety of different types of materials.

Description

Technical Field

[0001] This utility model relates to the field of gripping mechanism technology, and more specifically, to a gripping mechanism and device. Background Technology

[0002] Existing gripping equipment is slow in gripping and handling, failing to meet the demands of high-efficiency production. Improper gripper settings can easily lead to slippage or instability during gripping, resulting in equipment instability and low efficiency, and various abnormalities such as drops and jamming. These problems not only increase downtime but also prolong the entire operation process.

[0003] Meanwhile, during use, the material held by the grippers is prone to generating debris during processing, which affects the gripping effect, leading to a decrease in product quality and an increase in production costs. Utility Model Content

[0004] In view of this, the present invention provides a gripping mechanism and device to solve the above-mentioned technical problems.

[0005] The present invention provides a gripping mechanism, comprising a main frame, on which are provided two sets of clamping components facing opposite directions and spaced apart. Each set of clamping components includes a suction cup group and several grippers. The grippers are distributed around the suction cup group and are symmetrically distributed in pairs along a first axis X and a second axis Y. An air blowing component is also provided on the main frame, which is inclined toward the outside of one set of clamping components.

[0006] In some embodiments of this application, the main frame includes two parallel support and fixing plates, and a central connecting member that fixes the two support and fixing plates together. The clamps are respectively provided on both sides of the support and fixing plates along the first axis X direction, and the clamps are respectively provided on both sides of the support and fixing plates along the second axis Y direction.

[0007] In some embodiments of this application, the support fixing plate is cross-shaped, and a hollow hole is provided in the central region of the support fixing plate.

[0008] In some embodiments of this application, the central connecting member is block-shaped, and eccentric connecting portions are provided at both ends of the central connecting member, and the eccentric connecting portions are fixedly connected to the central area of ​​the support fixing plate.

[0009] In some embodiments of this application, there are two sets of air blowing components and they are fixed to the main frame by a cantilever connecting frame, wherein one set of the grippers is located between the two air blowing components.

[0010] In some embodiments of this application, the cantilever connecting frame is U-shaped, and inclined mounting portions are provided at both ends of the cantilever connecting frame, with an air blowing assembly mounted on each of the inclined mounting portions.

[0011] In some embodiments of this application, the gripper includes a telescopic driver fixed to the main frame, and a gripper plate is connected to the telescopic shaft of the telescopic driver.

[0012] In some embodiments of this application, the gripper plate has two symmetrically distributed gripping portions, and each gripping portion has a concave-convex anti-slip structure on its inner surface near the suction cup assembly.

[0013] In some embodiments of this application, the main frame is connected to the extension arm, and the extension arm and the main frame are vertically connected.

[0014] Compared with existing technologies, the advantages of this invention are that the arrangement of two sets of clamping components can improve efficiency and increase production capacity while reducing the occurrence of abnormalities. Furthermore, the clamping components include a suction cup assembly and several grippers. The suction cups and grippers can provide dual control over the material, ensuring stability during the material gripping and movement process. Simultaneously, the grippers are positioned around the suction cup assembly. When the suction cup assembly performs vacuum adsorption on the material in the center, it can fix the relative height between the material and the main frame, facilitating gripping by the grippers. Furthermore, the main frame is equipped with an air-blowing assembly, which is inclined towards one set of clamping components to facilitate air blowing on the material clamped within the clamping components, achieving a cleaning effect.

[0015] In another aspect, the present invention provides a gripping device, including a robotic arm, on which the aforementioned gripping mechanism is connected.

[0016] It is understood that the gripping device provided in this embodiment has the same beneficial effects as a gripping mechanism, and will not be described in detail here. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A three-dimensional structural diagram of a gripping mechanism provided for an embodiment of this utility model; Figure 2 A schematic diagram of the main frame provided in an embodiment of this utility model; Figure 3 This is a schematic diagram of the gripper plate provided in an embodiment of the present utility model.

[0018] In the diagram: 1. Main frame; 11. Support plate; 111. Hole; 12. Middle connecting component; 121. Eccentric connecting part; 13. Cantilever connecting frame; 131. Inclined mounting part; 2. Clamping assembly; 21. Suction cup assembly; 22. Gripper; 221. Telescopic actuator; 222. Gripper plate; 223. Anti-slip structure; 224. Clamping part; 3. Air blowing assembly; 4. Extension arm. Detailed Implementation

[0019] The specific embodiments of this utility model will be described in further 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 its scope.

[0020] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Example 1, combined with Figure 1As shown, this embodiment provides a gripping mechanism including a main frame 1. Two sets of clamping components 2, facing opposite directions and spaced apart, are provided on the main frame 1 to achieve bidirectional material gripping. Each set of clamping components 2 includes a suction cup group 21 and several grippers 22. The grippers 22 are distributed around the suction cup group 21 and are symmetrically distributed in pairs along a first axis X and a second axis Y, gripping the material from all sides. An air blowing component 3, inclined towards the outside of one set of clamping components 2, is also provided on the main frame 1.

[0024] Specifically, the suction cup assembly 21 includes at least two ∅80 suction cups, which can alternately perform suction operations.

[0025] Understandably, the main frame 1 supports and connects the clamping assembly 2 and the air blowing assembly 3, ensuring that the entire gripping mechanism can efficiently perform material gripping and placement operations. The two sets of clamping assemblies 2 are oriented in opposite directions and spaced apart, achieving bidirectional material clamping and improving work efficiency. The suction cup assembly 21 is used to adsorb materials and simultaneously fix the material's height relative to the main frame 1. The grippers 22 are used to clamp the materials; several grippers 22 are symmetrically distributed in pairs around the first axis X and the second axis Y, clamping the material from all sides around the suction cup assembly 21, ensuring the stability and uniformity of the clamping and preventing slippage or damage to the material during handling. The air blowing assembly 3 is inclined towards the outside of one of the clamping assemblies 2, performing air blowing cleaning operations on the material.

[0026] Combination Figure 2 As shown, preferably, the main frame 1 includes two parallel support and fixing plates 11, and a central connecting member 12 that fixes the two support and fixing plates 11 together. Clamps 22 are provided on both sides of the support and fixing plates 11 along the first axis X direction, and clamps 22 are provided on both sides of the support and fixing plates 11 along the second axis Y direction.

[0027] Specifically, the first axis X is perpendicular to the second axis Y.

[0028] Understandably, the support and fixing plates 11 provide support, fixation, and a working platform for the clamping mechanism. The two support and fixing plates 11 are arranged parallel to each other to ensure structural stability and symmetry. The central connecting member 12 firmly fixes the two support and fixing plates 11 together, enhancing the overall structural strength and stability, enabling it to withstand certain loads and pressures. The grippers 22 are symmetrically arranged along two different axial directions, increasing the flexibility and stability of clamping.

[0029] Preferably, the support fixing plate 11 is cross-shaped, and a hollow hole 111 is provided in the middle area of ​​the support fixing plate 11.

[0030] It is understood that the support fixing plate 11 in this embodiment adopts a cross-shaped design, which makes the force on the support fixing plate 11 more uniform in all directions, effectively disperses stress, and avoids damage caused by local stress concentration. A perforated hole 111 is provided in the central area of ​​the support fixing plate 11. The central area is usually where the stress distribution is relatively uniform. Providing a perforated hole 111 will not significantly affect the overall structural strength, while further reducing weight, material usage, and manufacturing costs.

[0031] Preferably, the central connecting member 12 is block-shaped, and eccentric connecting parts 121 are provided at both ends of the central connecting member 12. The eccentric connecting parts 121 are fixedly connected to the central area of ​​the support fixing plate 11.

[0032] Understandably, the block-shaped central connecting member 12 has high stability and strength, and can effectively disperse stress. The central area of ​​the supporting plate 11 is fixedly connected to the eccentric connecting part 121 of the central connecting member 12, which can effectively transfer force and bear load, while reducing deformation or stress concentration caused by asymmetrical load, so as to ensure the stability and reliability of the connection.

[0033] Preferably, there are two sets of air blowing components 3, which are fixed to the main frame 1 by a cantilever connecting frame 13, with one set of grippers 22 located between the two air blowing components 3. The cantilever connecting frame 13 is U-shaped, and inclined mounting portions 131 are provided at both ends of the cantilever connecting frame 13, with an air blowing component 3 mounted on each inclined mounting portion 131.

[0034] Understandably, the U-shaped cantilever connector 13 helps provide stable support and allows for flexible installation of other components. Inclined mounting portions 131 are provided at both ends of the cantilever connector 13 for securing the air-blowing assembly 3. During operation, the gripper 22 provides airflow cleaning to the gripped material using the air-blowing assembly 3.

[0035] Preferably, the gripper 22 includes a telescopic driver 221 fixed to the main frame 1, and a gripper plate 222 is connected to the telescopic shaft of the telescopic driver 221.

[0036] It is understandable that the telescopic actuator 221 provides driving force to the gripper plate 222, causing the gripper plate 222 to telescopically move in the first axis X and the second axis Y directions to perform a gripping operation on the material.

[0037] Combination Figure 3 As shown, preferably, the gripper plate 222 has two symmetrically distributed gripping portions 224, and each gripping portion 224 has a concave-convex anti-slip structure 223 on its inner surface near the suction cup assembly 21.

[0038] Specifically, the uneven anti-slip structure 223 can be a serrated structure, but this embodiment does not specifically limit it.

[0039] Understandably, the two symmetrically distributed gripping portions 224 on the gripper plate 222 improve stability during the gripping process. Meanwhile, the anti-slip structure 223 allows for stable gripping of materials, such as those soaked in oil, reducing the failure rate.

[0040] Preferably, the main frame 1 is connected to the extension arm 4, and the extension arm 4 and the main frame 1 are vertically connected.

[0041] Understandably, the extension arm helps connect the gripping mechanism to other devices, increasing application flexibility.

[0042] Example 2, another aspect, the present invention provides a gripping device, including a robotic arm, on which a gripping mechanism is connected.

[0043] It is understood that the gripping device provided in this embodiment has the same beneficial effects as a gripping mechanism, and will not be described in detail here.

[0044] The working principle of the gripping device provided in this embodiment is as follows: The robotic arm uses grippers 22 to hold the material from the oil-immersion device, ensuring precise HSG positioning. Then, the telescopic actuator 221 is activated to lower the robotic arm. The suction cup assembly 21 then picks up the material, and the grippers 22 again hold it as it enters the forging press. Near the discharge position, the air blowing assembly 3 cleans the aluminum shavings around the mold groove of the material before it is placed back into the forging press. After forging, the robotic arm removes the material from the forging press and quickly moves it to the unloading and positioning mechanism.

[0045] It will be understood by those skilled in the art that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripping mechanism, comprising a main frame (1), characterized in that, Two sets of clamping components (2) are provided on the main frame (1) with opposite orientations and spaced apart. Each set of clamping components (2) includes a suction cup group (21) and several grippers (22). Several grippers (22) are distributed around the suction cup group (21), and several grippers (22) are symmetrically distributed in pairs with the first axis (X) and the second axis (Y). An air blowing component (3) is also provided on the main frame (1) with an inclined orientation towards the outside of one set of clamping components (2).

2. The gripping mechanism according to claim 1, characterized in that, The main frame (1) includes two parallel support fixing plates (11) and a central connecting member (12) that fixes the two support fixing plates (11) together. The clamps (22) are respectively provided on both sides of the support fixing plates (11) along the first axis (X) direction and on both sides of the support fixing plates (11) along the second axis (Y) direction.

3. The gripping mechanism according to claim 2, characterized in that, The support fixing plate (11) is cross-shaped, and a hollow hole (111) is provided in the middle area of ​​the support fixing plate (11).

4. A gripping mechanism according to claim 2, characterized in that, The central connecting member (12) is block-shaped, and eccentric connecting parts (121) are provided at both ends of the central connecting member (12). The eccentric connecting parts (121) are fixedly connected to the central area of ​​the support fixing plate (11).

5. A gripping mechanism according to claim 1, characterized in that, The air blowing assembly (3) has two sets and is fixed to the main frame (1) by a cantilever connecting frame (13), one set of the grippers (22) being located between the two air blowing assemblies (3).

6. A gripping mechanism according to claim 5, characterized in that, The cantilever connecting frame (13) is U-shaped, and inclined mounting portions (131) are provided at both ends of the cantilever connecting frame (13). An air blowing assembly (3) is installed on each of the inclined mounting portions (131).

7. A gripping mechanism according to claim 1, characterized in that, The gripper (22) includes a telescopic driver (221) fixed on the main frame (1), and a gripper plate (222) is connected to the telescopic shaft of the telescopic driver (221).

8. A gripping mechanism according to claim 7, characterized in that, The gripper plate (222) has two symmetrically distributed gripping parts (224), and each gripping part (224) has a concave-convex anti-slip structure (223) on its inner surface near the suction cup assembly (21).

9. A gripping mechanism according to claim 1, characterized in that, The main frame (1) is connected to the extension arm (4), and the extension arm (4) and the main frame (1) are vertically connected.

10. A gripping device, comprising a robotic arm, characterized in that, The robotic arm is connected to a gripping mechanism according to any one of claims 1-9.

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