Multifunctional F-shaped mechanical gripper

Abstract

The utility model relates to the technical field of clamping jaw provides a multifunctional F type mechanical clamping jaw, including support pole, the first end of support pole is installed with F type clamping jaw subassembly, the tail end of support pole is installed with linear execution drive unit, the both ends of support pole still are installed with upper finger clamping jaw subassembly and lower finger clamping jaw subassembly, with the back and forth movement of support pole, F type clamping jaw subassembly, upper finger clamping jaw subassembly and lower finger clamping jaw subassembly synchronous action.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically to a multifunctional F-type mechanical gripper. Background Technology

[0002] In the field of mechanical manufacturing, in order to realize the loading and unloading of billets, most of the time it is necessary to use grippers to grab the billets and then drive the billets to carry out loading and unloading operations.

[0003] The existing billet structure is complex, and traditional robotic grippers cannot meet the needs of gripping various billets after installation. Changing grippers is inconvenient and requires the use of different grippers.

[0004] In reality, a gripper that can grab multiple types of blanks is also designed. This method increases production costs and is not conducive to large-scale investment by small businesses or startups. Therefore, we propose a multi-functional F-type mechanical gripper. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a multifunctional F-type mechanical gripper. By assembling an F-type gripper assembly, an upper finger gripper assembly, and a lower finger gripper assembly, the robotic arm can employ various gripping methods to grip complex-structured blanks. It can also grip horizontally or vertically loaded blanks. Additionally, it can utilize the upper and lower gripper fingers on its back for assisted gripping. The forward and backward movement of the support rod synchronously drives the three gripper assemblies to achieve the gripping function. The structure is simple and the operation is convenient.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A multifunctional F-type mechanical gripper, characterized in that it comprises:

[0008] The support rod has an F-type gripper assembly installed at its head and a linear actuator installed at its tail.

[0009] The support rod is also equipped with an upper finger gripper assembly and a lower finger gripper assembly at both ends. As the support rod moves back and forth, the F-type gripper assembly, the upper finger gripper assembly, and the lower finger gripper assembly move synchronously.

[0010] Preferably, a protective plate is fitted at the upper and lower ends of the support rod, and the same positioning plate is installed at the first end of the two protective plates, and the positioning plate is provided with positioning holes for the support rod to extend out.

[0011] Preferably, the F-type gripper assembly includes a bracket mounted on the front end of the positioning plate, and a first gripper is mounted on the bracket. A second gripper is fixedly mounted on the front end of the support rod. As the support rod moves, the second gripper moves away from or closer to the first gripper.

[0012] Preferably, the transmission structure of the upper finger gripper assembly and the lower finger gripper assembly is the same. Both transmission structures include a pair of grippers, each gripper is slidably connected to the protective plate, and a rack is installed on the bottom side wall of each gripper. A transmission gear adapted to the rack is installed on the protective plate, and the transmission gear and the rack mesh with each other.

[0013] Preferably, the transmission gears located on the same side use the same transmission guide rod, and a synchronous gear is also installed in the middle of the transmission guide rod. Correspondingly, a rack structure for the synchronous gear to mesh is provided on the support rod.

[0014] Preferably, both the first gripper and the second gripper are equipped with V-shaped clamping blocks, and the V-shaped clamping blocks are arranged opposite to each other.

[0015] Preferably, the bracket includes two connecting plates that are mounted on the positioning plate at a relative interval, and the head end of the support rod can move freely within the interval between the two connecting plates.

[0016] This utility model provides a multifunctional F-type mechanical gripper. It has the following beneficial effects:

[0017] Equipped with an F-type gripper assembly, an upper finger gripper assembly, and a lower finger gripper assembly, the robotic arm can employ various gripping methods to handle complex-structured blanks. It can also grip materials that are fed horizontally or vertically. Additionally, it can utilize the upper and lower gripper fingers on its back for assisted gripping. By moving the support rod back and forth, the three gripper assemblies are simultaneously driven to achieve the gripping function. The structure is simple and the operation is convenient. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present utility model;

[0019] Figure 2 This is a schematic diagram of the upper finger gripper assembly of this utility model;

[0020] Figure 3 This is a schematic diagram of the main structure of this utility model.

[0021] In the picture:

[0022] 1. Support rod;

[0023] 2. F-type gripper assembly; 21. Bracket; 22. First gripper; 23. Second gripper;

[0024] 3. Upper finger gripper assembly; 31. Transmission gear; 32. Transmission guide rod; 33. Synchronizing gear;

[0025] 4. Lower finger gripper assembly;

[0026] 5. Protective panels;

[0027] 6. Positioning plate. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0029] See attached document Figure 1-3 A multifunctional F-type mechanical gripper includes a support rod 1, an F-type gripper assembly 2 installed at the front end of the support rod 1, and a linear actuator drive unit installed at the rear end of the support rod 1, which can control the forward and backward movement of the support rod 1. The linear actuator drive unit can be a cylinder.

[0030] The upper finger gripper assembly 3 and the lower finger gripper assembly 4 are respectively installed at both ends of the support rod 1. By moving the support rod 1 back and forth, the F-type gripper assembly 2, the upper finger gripper assembly 3 and the lower finger gripper assembly 4 are driven to move synchronously.

[0031] A protective plate 5 is installed at the upper and lower ends of the support rod 1, and the same positioning plate 6 is installed at the head end of the two protective plates 5. The positioning plate 6 is provided with positioning holes for the support rod to extend out. It can be understood that the support rod 1 can move freely within the space enclosed by the two protective plates 5.

[0032] The F-type gripper assembly 2 includes a bracket 21 installed at the front end of the positioning plate 6, and a first gripper 22 is installed on the bracket 21. A second gripper 23 is fixedly installed at the head end of the support rod 1. As the support rod 1 moves, the second gripper 23 moves away from or closer to the first gripper 22, thereby realizing the gripping and dropping of materials.

[0033] Both the first jaw 22 and the second jaw 23 are equipped with V-shaped clamping blocks, and the V-shaped clamping blocks are set opposite to each other to facilitate gripping the outer contour of the cylindrical forging. The V-shaped clamping blocks also have an automatic centering function.

[0034] In some embodiments, the bracket 21 includes two connecting plates that are mounted on the positioning plate 6 at a distance from each other, and the head end of the support rod 1 can move freely within the gap between the two connecting plates.

[0035] It is understandable that, such as Figure 3 As shown, the two connecting plates are respectively installed at the upper and lower ends of the positioning plate 6. In order not to affect the movement of the second gripper 23, a through groove is provided on the connecting plate at the lower end of the positioning plate 6, and the second gripper 23 extends out from the through groove.

[0036] The two connecting plates can also be installed on the left and right ends of the positioning plate 6 respectively. This installation method allows the second gripper 23 to move directly within the gap between the two connecting plates without the need to open grooves on the connecting plates.

[0037] In both of the above-mentioned installation methods of the connecting plate, a corresponding guide groove can be opened on the connecting plate. Correspondingly, a guide block with a guide groove is installed on the support rod 1 and / or the second gripper 23 to improve the stability of the movement of the second gripper 23.

[0038] The transmission structures of the upper finger gripper assembly 3 and the lower finger gripper assembly 4 are the same, and the upper finger gripper assembly 3 and the lower finger gripper assembly 4 move synchronously with the support rod 1.

[0039] Taking the transmission structure of the above finger gripper assembly 3 as an example, it includes a pair of grippers, each gripper being slidably connected to the protective plate 5. The two grippers can approach each other to complete the gripping action. It can be understood that a slider is installed at the bottom of the gripper, and a matching slide rail is installed on the protective plate 5. The two slide together to realize the gripper function.

[0040] Each gripper is also equipped with a rack on its bottom sidewall, and a transmission gear 31 adapted to the rack is installed on the protective plate 5. The transmission gear 31 and the rack mesh with each other. When the transmission gear 31 rotates, the rack can move back and forth, providing a power source for the movement of the gripper. It is understood that the installation position and method of the rack and gear should meet the requirement that the gripper can achieve the clamping function.

[0041] See attached document Figure 2 The transmission gears 31 located on the same side use the same transmission guide rod 32. It can be understood that since the transmission structure of the upper finger gripper assembly 3 and the lower finger gripper assembly 4 is the same, in order to achieve synchronous movement of the upper and lower grippers on the same side, the two transmission gears 31 on the same side are respectively installed at both ends of the same transmission guide rod 32.

[0042] A synchronous gear 33 is also installed in the middle of the transmission guide rod 32. Correspondingly, a rack structure for the synchronous gear 33 to mesh on the support rod 1 is provided. When the support rod 1 moves back and forth, it drives the synchronous gear 33 to rotate, so that the grippers of the upper finger gripper assembly 3 and the lower finger gripper assembly 4 on the same side move synchronously, and realize the gripping function of the upper finger gripper assembly 3 and the lower finger gripper assembly 4. The synchronous gear 33 is set in the gap between the two protective plates 5, which facilitates its cooperation with the support rod 1.

[0043] The grippers in the upper finger gripper assembly 3 and the lower finger gripper assembly 4 can have different structures or the same structure.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0045] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multifunctional F-type mechanical gripper, characterized in that, include: Support rod (1), with an F-type gripper assembly (2) installed at the head end of the support rod (1) and a linear actuator installed at the tail end of the support rod (1); The upper finger gripper assembly (3) and the lower finger gripper assembly (4) are respectively installed at both ends of the support rod (1). As the support rod (1) moves back and forth, the F-type gripper assembly (2), the upper finger gripper assembly (3) and the lower finger gripper assembly (4) move synchronously.

2. The multifunctional F-type mechanical gripper as described in claim 1, characterized in that: The upper and lower ends of the support rod (1) are respectively equipped with a protective plate (5), and the same positioning plate (6) is installed at the head end of the two protective plates (5), and the positioning plate (6) is provided with a positioning hole for the support rod to extend out.

3. The multifunctional F-type mechanical gripper as described in claim 2, characterized in that: The F-type gripper assembly (2) includes a bracket (21) installed at the front end of the positioning plate (6), and a first gripper (22) is installed on the bracket (21). A second gripper (23) is fixedly installed at the head end of the support rod (1). As the support rod (1) moves, the second gripper (23) moves away from or closer to the first gripper (22).

4. The multifunctional F-type mechanical gripper as described in claim 2, characterized in that: The transmission structure of the upper finger gripper assembly (3) and the lower finger gripper assembly (4) is the same. Both transmission structures include a pair of grippers. Each gripper is slidably connected to the protective plate (5). A rack is also installed on the bottom side wall of each gripper. A transmission gear (31) adapted to the rack is installed on the protective plate (5). The transmission gear (31) and the rack mesh with each other.

5. A multifunctional F-type mechanical gripper as described in claim 4, characterized in that: The transmission gears (31) located on the same side use the same transmission guide rod (32), and a synchronous gear (33) is also installed in the middle of the transmission guide rod (32). Correspondingly, a rack structure for the synchronous gear (33) to mesh is provided on the support rod (1).

6. A multifunctional F-type mechanical gripper as described in claim 3, characterized in that: The first gripper (22) and the second gripper (23) are both equipped with V-shaped clamping blocks, and the V-shaped clamping blocks are arranged opposite to each other.

7. A multifunctional F-type mechanical gripper as described in claim 3, characterized in that: The bracket (21) includes two connecting plates that are installed on the positioning plate (6) at a distance from each other, and the head end of the support rod (1) can move freely within the gap between the two connecting plates.

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