CN108555168B - Robot gripper rotating fine adjustment mechanism - Google Patents
Robot gripper rotating fine adjustment mechanism Download PDFInfo
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- CN108555168B CN108555168B CN201810426079.2A CN201810426079A CN108555168B CN 108555168 B CN108555168 B CN 108555168B CN 201810426079 A CN201810426079 A CN 201810426079A CN 108555168 B CN108555168 B CN 108555168B
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- connecting rod
- guide
- module
- rod
- gripper
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rotary fine adjustment mechanism of a robot gripper disc, which utilizes grippers of a terminal gripper disc to grasp and put objects, and can realize micro adjustment due to die installation difference between an upper process and a lower process so as to ensure that workpieces accurately fall into a die positioning position and ensure the quality of processed workpieces. The device comprises a screw rod module which is vertically arranged, a gripper disc supporting seat is arranged on a vertical guide rail of the screw rod module, a connecting frame which is arranged in the length direction is arranged at the front end of the gripper disc supporting seat, the length tail end of the connecting frame is connected with a lower gripper disc through a vertical central rotating shaft, and the gripper disc supporting seat is connected with a screw rod of the screw rod module through a built-in connecting nut, and the device is characterized in that: the connecting rod is arranged on the lower end face of the connecting frame in the length direction, the length direction of the connecting rod is parallel to the length direction of the connecting frame, and one end of the connecting rod, which is close to the gripper disc, is pivoted with one end of the pushing connecting rod.
Description
Technical Field
The invention relates to the technical field of mechanical gripper disc structures, in particular to a rotary fine adjustment mechanism of a robot gripper disc.
Background
The tongs of terminal tongs dish is when holding the putting object, because of the difference of mould installation difference between last, next process has radial angle direction, current tongs dish can't rotate the fine setting, can't guarantee that the work piece accurately falls into mould locate position to the quality that makes the work piece being processed has the flaw.
Disclosure of Invention
Aiming at the problems, the invention provides a robot gripper disc rotation fine adjustment mechanism which utilizes grippers of a terminal gripper disc to grasp and put objects, and simultaneously realizes micro adjustment due to die installation difference between the upper and lower working procedures so as to ensure that workpieces accurately fall into a die positioning position and ensure the quality of processed workpieces.
The technical scheme of the robot gripper disc rotating fine-tuning mechanism is as follows: the device comprises a screw rod module which is vertically arranged, a gripper disc supporting seat is arranged on a vertical guide rail of the screw rod module, a connecting frame which is arranged in the length direction is arranged at the front end of the gripper disc supporting seat, the length tail end of the connecting frame is connected with a lower gripper disc through a vertical central rotating shaft, and the gripper disc supporting seat is connected with a screw rod of the screw rod module through a built-in connecting nut, and the device is characterized in that: the connecting rod is arranged on the lower end face of the connecting frame in the length direction, the length direction of the connecting rod is parallel to the length direction of the connecting frame, one end of the connecting rod, which is close to the gripper disc, is pivoted with one end of a pushing connecting rod, the other end of the pushing connecting rod is pivoted with the non-center position of the gripper disc, the pushing connecting rod and the connecting rod are not arranged in parallel, the angle between the connecting rod and one gripper is beta, one end, which is close to the screw rod module, of the connecting rod is fixedly connected with one end, in the length direction, of the elastic fine adjustment module, the other end, in the length direction, of the elastic fine adjustment module is connected with a guide rod, the inner end of the guide rod penetrates through the outer wall of the gripper disc supporting seat and then faces the middle guide surface of the screw rod module, a cam bar protruding from bottom to top is arranged at the middle section position in the vertical direction of the middle guide surface, a reset spring is sleeved on the connecting rod, and two ends of the reset spring are respectively propped against front guide connecting pieces of the connecting rod and the side protrusions and the connecting rod at the corresponding positions of the connecting rod.
It is further characterized by: the connecting rod is arranged at a position corresponding to the lower end face of the connecting frame through a front guide connecting piece and a rear guide connecting piece, the front end of the connecting rod penetrates through a guide groove of the front guide connecting piece and is pivoted with one end of the pushing connecting rod, and the rear end of the connecting rod penetrates through a guide groove of the rear guide connecting piece and is fixedly connected with the front end of the elastic fine-tuning module;
the elastic fine adjustment module comprises two reed fixing core blocks, namely a front reed fixing core block and a rear reed fixing core block, wherein the two sides of the front reed fixing core block and the rear reed fixing core block are respectively and fixedly connected through reeds, one end of the length of each reed is respectively fastened with the side part of the reed fixing core block at the corresponding position through a fixedly-connected screw, the center side protrusions of the two reeds in the length direction are arranged in a back-to-back symmetry manner, and the center side protrusions of the two reeds are connected through fine adjustment screws and nuts;
the rear end of the connecting rod penetrates through the guide groove of the rear guide connecting piece and is fixedly connected with the front end part of the front end reed fixing core block, and the rear end of the rear end reed fixing core block is fixedly connected with a guide rod;
the inner end of the guide rod is an arc surface or a spherical surface, so that the normal operation of the whole structure is ensured;
the middle part of the guide rod is installed on the lower end face of the connecting frame in a guiding way through the guide connecting piece, and the inner end of the guide rod penetrates through the guide groove of the guide connecting piece and then faces the middle part guide surface of the screw rod module.
After the structure of the invention is adopted, the guide rod moves forwards or backwards horizontally under the action of the cam bar fixed in the screw rod module by upward or downward movement of the screw rod module, and drives the elastic fine adjustment module and the connecting rod to move forwards and backwards horizontally at the same time; the other end of the connecting rod is pivoted with the pushing connecting rod, and the other end of the pushing connecting rod is pivoted with the gripper disc, so that the gripper disc rotates by a certain angle along the axial center of the gripper disc, and the micro-adjustment effect of the workpiece clamped by the gripper disc is achieved; the object is grasped and placed by utilizing the grippers of the terminal gripper disc, and meanwhile, the micro adjustment can be carried out due to the die installation difference between the upper working procedure and the lower working procedure, so that the workpiece can be ensured to accurately fall into the die positioning position, and the quality of the processed workpiece is ensured.
Drawings
FIG. 1 is a schematic diagram of the bottom view of the present invention;
FIG. 2 is a schematic view of the structure of section A-A of FIG. 1;
FIG. 3 is a schematic diagram of an elastic fine tuning module according to the present invention;
the names corresponding to the serial numbers in the figures are as follows:
the device comprises a screw rod module 1, a grip disc supporting seat 2, a connecting frame 3, a vertical central rotating shaft 4, a grip disc 5, a connecting nut 6, a screw rod 7, a connecting rod 8, a pushing connecting rod 9, an elastic fine adjustment module 10, a guide rod 11, an inner end 12, a middle guide surface 13, a cam bar 14, a return spring 15, a mounting lateral protrusion 16, a front guide connecting piece 17, a rear guide connecting piece 18, a front end reed fixing core block 19, a rear end reed fixing core block 20, a reed 21, a fine adjustment screw 22, a nut 23, a guide connecting piece 24 and a fixedly-connected screw 25.
Detailed Description
A robot gripper rotation fine tuning mechanism, see fig. 1-3: the automatic reset device comprises a screw rod module 1 which is vertically arranged, a gripper disc supporting seat 2 is arranged on a vertical guide rail of the screw rod module 1, a connecting frame 3 which is longitudinally arranged is arranged at the front end of the gripper disc supporting seat 2, the length tail end of the connecting frame 3 is connected with a lower gripper disc 5 through a vertical central rotating shaft 4, the gripper disc supporting seat 2 is connected with a screw rod 7 of a screw rod module 1 group through a built-in connecting nut 6, a connecting rod 8 is arranged on the lower end face of the connecting frame 3 which is longitudinally arranged, the length direction of the connecting rod 8 is parallel to the length direction of the connecting frame 3, one end of the connecting rod 8, which is close to the gripper disc 5, is pivoted with one end of a pushing connecting rod 9, the other end of the pushing connecting rod 9 is pivoted with a non-center position of the gripper disc 5, the pushing connecting rod 9 and the connecting rod 8 are not parallelly arranged, the connecting rod 8 and one end of the gripper are angled to be beta, one end, which is close to the screw rod module 1, of the connecting rod 8 is fixedly connected with one end of the length direction of an elastic fine tuning module 10, the other end of the connecting rod is connected with a guide rod 11, the inner end 12 of the guide rod 11 penetrates through the outer wall of the screw rod 1 of the screw rod module 1, then faces 13 of the screw rod module 1, one end of the guide surface 13 is arranged towards the middle part 13 of the screw rod 1, one end of the connecting rod 13, one end is pivoted with a corresponding to the middle part of the connecting rod 15, and the upper end of the connecting rod 15 is arranged at the position close to the middle part, which is perpendicular to the position of the upper end of the connecting rod 15, and the reset spring sleeve is mounted on the middle part, and the end is correspondingly to the connecting rod 15, and the position is mounted on the front end of the connecting rod 15.
The connecting rod 8 is arranged at a position corresponding to the lower end face of the connecting frame 3 through a front guide connecting piece 17 and a rear guide connecting piece 18, the front end of the connecting rod 8 penetrates through a guide groove of the front guide connecting piece 17 and is pivoted with one end of the connecting rod 9 to push the connecting rod 9, and the rear end of the connecting rod 8 penetrates through a guide groove of the rear guide connecting piece 18 and is fixedly connected with the front end of the elastic fine-tuning module 10;
the elastic fine tuning module 10 comprises two reed fixing core blocks, namely a front reed fixing core block 19 and a rear reed fixing core block 20, wherein two sides of the front reed fixing core block 19 and two sides of the rear reed fixing core block 20 are respectively fixedly connected through reeds 21, one end of each reed 21 is respectively fastened with the side part of the corresponding reed fixing core block through a fixing screw 25, the center side protrusions of the two reeds 21 in the length direction are arranged in a back-to-back symmetry manner, the center side protrusions of the two reeds 21 are connected through a fine tuning screw 22 and a nut 23, and the reeds 21 are particularly arc reeds.
The working principle of the elastic fine adjustment module is as follows:
1, loosening a fine adjustment screw 22 by using an inner hexagonal wrench, wherein under the action of screw nuts, the distance B between two reed 21 is increased, the distance A between two reed fixing core blocks is shortened, and the whole length L between a front reed fixing core block 19 and a rear reed fixing core block 20 is shortened;
2, reversely tightening the fine adjustment screw 22 by using an internal hexagonal wrench, shortening the interval B between the two reeds 21 under the action of screw nuts, increasing the interval A between the two reed fixing core blocks, and increasing the integral length L between the front reed fixing core block 19 and the rear reed fixing core block 20;
and 3, shortening or increasing L according to actual needs by the action before entering the next die cavity, and further adjusting the beta angle formed by the gripper and the connecting rod to accurately align the workpiece gripped by the gripper disc.
The rear end of the connecting rod 8 penetrates through the guide groove of the rear guide connecting piece 18 and is fixedly connected with the front end part of the front end reed fixing core block 19, and the rear end of the rear end reed fixing core block 20 is fixedly connected with the guide rod 11;
the inner end 12 of the guide rod 11 is an arc surface or a spherical surface, so that the normal operation of the whole structure is ensured;
the middle part of the guide rod 11 is arranged on the lower end surface of the connecting frame 3 in a guiding way through the guide connecting piece 24, and the inner end of the guide rod 11 penetrates through the guide groove of the guide connecting piece 24 and then is arranged towards the middle part guide surface 13 of the screw rod module 1.
The working principle is as follows: the guide rod moves forwards or backwards horizontally under the action of a cam bar fixed in the screw rod module through upward or downward movement of the screw rod module, and drives the elastic fine adjustment module and the connecting rod to move forwards and backwards horizontally at the same time; the other end of the connecting rod is pivoted with the pushing connecting rod, and the other end of the pushing connecting rod is pivoted with the gripper disc, so that the gripper disc rotates by a certain angle along the axial center of the gripper disc, and the micro-adjustment effect of the workpiece clamped by the gripper disc is achieved; the object is grasped and placed by utilizing the grippers of the terminal gripper disc, and meanwhile, the micro adjustment can be carried out due to the die installation difference between the upper working procedure and the lower working procedure, so that the workpiece can be ensured to accurately fall into the die positioning position, and the quality of the processed workpiece is ensured.
The specific working cycle process is as follows:
a, the screw rod module descends to the right, and the gripper disc grips the workpiece; the mechanical arm drives the whole body to retreat, the screw rod module starts to ascend, and the guide rod slides upwards on the straight section of the middle guide surface;
b, the whole manipulator transversely displaces to prepare to move to the die of the next process; the screw rod module continues to ascend, the guide rod moves to the cam bar area and moves upwards and outwards along the surface direction of the cam bar, the guide rod pushes the connecting rod, the connecting rod pushes the gripper disc to rotate, and the beta angle is increased;
c, the screw rod module is lifted in place, the whole manipulator moves forward towards the direction of the die, the workpiece grabbed by the gripper disc is accurately aligned with the working procedure die cavity, and the workpiece is put down;
d, after the workpiece is put down, the whole manipulator starts to retreat and the screw rod module is ready to descend;
e, the manipulator returns to move towards the die of the upper station, the lead screw module continues to move downwards, the guide rod moves downwards to the position of the cam bar, the lead screw module continues to move downwards, the guide rod moves downwards and inwards along the cam bar, the connecting rod pushes the gripper disc to rotate to restore to the original position, and the beta angle returns to the original position;
and f, the screw rod module descends to the right position, the guide rod slides downwards to the right position at the straight section of the middle guide surface, and the manipulator integrally moves forwards to recover the action a.
The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications made in accordance with the scope of the present invention shall fall within the scope of the present patent.
Claims (6)
1. The utility model provides a robot gripper disc rotation fine-tuning, its includes the lead screw module that vertically arranges, install gripper disc bearing on the perpendicular guide rail of lead screw module, the front end of gripper disc bearing is provided with the link that length direction arranged, the length end of link is through perpendicular to central pivot connection lower part gripper disc, the gripper disc bearing passes through built-in coupling nut and connects the lead screw of lead screw module, its characterized in that: the connecting rod is arranged on the lower end face of the connecting frame in the length direction, the length direction of the connecting rod is parallel to the length direction of the connecting frame, one end of the connecting rod, which is close to the gripper disc, is pivoted with one end of a pushing connecting rod, the other end of the pushing connecting rod is pivoted with the non-center position of the gripper disc, the pushing connecting rod and the connecting rod are not arranged in parallel, the angle between the connecting rod and one gripper is beta, one end, which is close to the screw rod module, of the connecting rod is fixedly connected with one end, in the length direction, of the elastic fine adjustment module, the other end, in the length direction, of the elastic fine adjustment module is connected with a guide rod, the inner end of the guide rod penetrates through the outer wall of the gripper disc supporting seat and then faces the middle guide surface of the screw rod module, a cam bar protruding from bottom to top is arranged at the middle section position in the vertical direction of the middle guide surface, a reset spring is sleeved on the connecting rod, and two ends of the reset spring are respectively propped against front guide connecting pieces of the connecting rod and the side protrusions and the connecting rod at the corresponding positions of the connecting rod.
2. The robotic gripper rotation fine tuning mechanism according to claim 1, wherein: the connecting rod is installed in the position corresponding to the lower end face of the connecting frame through a front guide connecting piece and a rear guide connecting piece, the front end of the connecting rod penetrates through the guide groove of the front guide connecting piece and then is pivoted with one end of the pushing connecting rod, and the rear end of the connecting rod penetrates through the guide groove of the rear guide connecting piece and then is fixedly connected with the front end of the elastic fine-tuning module.
3. The robotic gripper rotation fine tuning mechanism of claim 2, wherein: the elastic fine-tuning module comprises two reed fixing core blocks, namely a front reed fixing core block and a rear reed fixing core block, wherein two sides of the front reed fixing core block and two sides of the rear reed fixing core block are respectively fixedly connected through reeds, one end of the length of each reed is respectively fastened with the side part of the reed fixing core block at the corresponding position through a fixedly-connected screw, two reeds are arranged in a mode that the central side of the length direction of each reed is convex and opposite to the symmetry, and two reeds are connected through fine-tuning screws and nuts between the central side of each reed.
4. A robotic gripper rotation fine tuning mechanism according to claim 3, wherein: the rear end of the connecting rod penetrates through the guide groove of the rear guide connecting piece and is fixedly connected with the front end part of the front end reed fixing core block, and the rear end of the rear end reed fixing core block is fixedly connected with a guide rod.
5. The robotic gripper rotation fine tuning mechanism according to claim 1, wherein: the inner end of the guide rod is an arc surface or a spherical surface.
6. The robotic gripper rotation fine tuning mechanism according to claim 1, wherein: the middle part of the guide rod is installed on the lower end face of the connecting frame in a guiding way through the guide connecting piece, and the inner end of the guide rod penetrates through the guide groove of the guide connecting piece and then faces the middle part guide surface of the screw rod module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426079.2A CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426079.2A CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
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| Publication Number | Publication Date |
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| CN108555168A CN108555168A (en) | 2018-09-21 |
| CN108555168B true CN108555168B (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810426079.2A Active CN108555168B (en) | 2018-05-07 | 2018-05-07 | Robot gripper rotating fine adjustment mechanism |
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| CN (1) | CN108555168B (en) |
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| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN104960917A (en) * | 2015-05-29 | 2015-10-07 | 苏州神运机器人有限公司 | Sucker arm capable of moving up-down and micro-rotating for grab and release |
| CN105173760A (en) * | 2015-08-31 | 2015-12-23 | 广州鑫南数控科技有限公司 | Stacking robot |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106625640A (en) * | 2017-03-15 | 2017-05-10 | 苏州神运机器人有限公司 | Robot grabbing hand capable of completing three-dimensional motion through one set of power source |
| CN207014362U (en) * | 2017-07-12 | 2018-02-16 | 宁波通源工业机器人有限公司 | A kind of five axle stamping machine special manipulators |
| CN208162476U (en) * | 2018-05-07 | 2018-11-30 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
-
2018
- 2018-05-07 CN CN201810426079.2A patent/CN108555168B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2286952A1 (en) * | 1998-10-19 | 2000-04-19 | Lemo Maschinenbau Gmbh | Apparatus for moving stackable bag packs, in particular plastic bags with bottom folds |
| EP1916072A1 (en) * | 2006-10-23 | 2008-04-30 | Trumpf Maschinen Austria GmbH & CO. KG. | Manipulating device and production system |
| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN105881542A (en) * | 2014-11-25 | 2016-08-24 | 路仲利 | Mechanical hand for rescue in deep well |
| CN104960917A (en) * | 2015-05-29 | 2015-10-07 | 苏州神运机器人有限公司 | Sucker arm capable of moving up-down and micro-rotating for grab and release |
| CN105173760A (en) * | 2015-08-31 | 2015-12-23 | 广州鑫南数控科技有限公司 | Stacking robot |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106625640A (en) * | 2017-03-15 | 2017-05-10 | 苏州神运机器人有限公司 | Robot grabbing hand capable of completing three-dimensional motion through one set of power source |
| CN207014362U (en) * | 2017-07-12 | 2018-02-16 | 宁波通源工业机器人有限公司 | A kind of five axle stamping machine special manipulators |
| CN208162476U (en) * | 2018-05-07 | 2018-11-30 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
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| CN108555168A (en) | 2018-09-21 |
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