CN217372385U

CN217372385U - Multi-station multifunctional gripper

Info

Publication number: CN217372385U
Application number: CN202220022804.1U
Authority: CN
Inventors: 梁世春
Original assignee: Quanxing Intelligent Control System Engineering Shanghai Co ltd
Current assignee: Quanxing Intelligent Control System Engineering Shanghai Co ltd
Priority date: 2022-01-06
Filing date: 2022-01-06
Publication date: 2022-09-06
Anticipated expiration: 2032-01-06

Abstract

The utility model provides a multi-station multifunctional gripper, which consists of a turning cylinder and a gripping mechanism, wherein a cylinder seat of the turning cylinder is fixed on a small four-axis manipulator through a base, and the gripping mechanism is fixedly arranged on a turning shaft of the turning cylinder; the grabbing mechanism comprises a mounting bracket, a plurality of groups of linear bearings and a plurality of groups of slide rail seats, the mounting bracket is fixedly connected with the turnover shaft, and a limiting mechanism for limiting the turnover angle of the grabbing mechanism is arranged on the mounting bracket; the multi-group linear bearings are all installed on the installation support, the multi-group linear bearings operate independently, a slide rail seat is installed at the tail end of a guide rod of each multi-group linear bearing, the linear bearings drive the slide rail seats to move linearly, a pair of pneumatic sliding blocks are installed on each slide rail seat in a sliding mode, and clamping jaws are installed on the sliding blocks in a detachable mode through screws. The utility model discloses have rotation all the way, two way independent lifts and two way independent clamping jaws for it is more nimble to snatch.

Description

Multi-station multifunctional gripper

Technical Field

The utility model relates to a mechanical tongs, concretely relates to multi-functional tongs of multistation.

Background

In OEMs (Original Equipment manufacturers, also known as site-specific production, colloquially referred to as generational processing) processing is required to be performed according to customer requirements. Since customers are interested in production efficiency, it is desirable that the production facility can continuously improve the production efficiency.

Fig. 1 shows a plastic part that is processed by us, and the plastic part is held by a robot arm during the processing and is mounted on another part after rotating. At present, processing equipment in a factory is provided with a single gripper, namely, only one plastic piece can be gripped at one time, and the efficiency is low; in addition, current tongs all are integrated on the multiaxis arm, can't change alone, just also can't realize reforming transform the tongs alone if.

SUMMERY OF THE UTILITY MODEL

The utility model provides a multi-station multifunctional gripper, which is arranged on a small four-axis manipulator and is used for gripping a plurality of workpieces at the same time, and the multifunctional gripper consists of a turning cylinder and a gripping mechanism,

the cylinder seat of the turning cylinder is fixed on the small four-axis manipulator through a base, and the grabbing mechanism is fixedly arranged on a turning shaft of the turning cylinder;

the grabbing mechanism comprises a mounting bracket, a plurality of groups of linear bearings and a plurality of groups of slide rail seats, the mounting bracket is fixedly connected with the turnover shaft, and a limiting mechanism for limiting the turnover angle of the grabbing mechanism is arranged on the mounting bracket;

the multi-group linear bearings are all installed on the installation support, the multi-group linear bearings operate independently, each group of linear bearings is provided with a slide rail seat at the tail end of a guide rod, the linear bearings drive the slide rail seats to move linearly respectively, each slide rail seat is provided with a pair of pneumatic slide blocks in a sliding mode, each slide block is provided with a clamping jaw in a detachable mode through a screw, and grooves matched with the outline of a workpiece are formed in opposite sides of each clamping jaw.

Further, the overturning cylinder is a pneumatic overturning cylinder, and the linear bearing is a pneumatic linear bearing.

Furthermore, an air source passage is arranged in the slide rail seat, one end of the air source passage is connected with the slide block, and the other end of the air source passage is connected with an external air source through an air source interface on the side wall of the slide rail seat.

Furthermore, a plurality of wire bunching devices are mounted on the slide rail seat through screws, each wire bunching device is provided with a wire bunching groove, and each wire bunching groove is provided with 4 wire bunching holes which are distributed diagonally.

Furthermore, the base is a U-shaped holding block, and the small four-axis manipulator is inserted into an opening of the U-shaped holding block and is locked and fixed by a screw.

Furthermore, the two sides of the mounting bracket are both provided with the limiting mechanisms, the limiting mechanisms are cantilevers extending outwards, and when the overturning cylinder drives the grabbing mechanism to rotate forwards or backwards to the maximum stroke, the cantilevers are abutted against the base to limit the rotating angle of the grabbing mechanism.

The utility model has the advantages of one path of rotation, two paths of independent lifting and two paths of independent clamping jaws, so that the grabbing is more flexible, the total weight is only 1.27kg, the four-axis robot with the smallest size can be used for driving, and the cost is saved; in addition, the clamping jaw is detachable, the clamping jaw of the corresponding model can be replaced according to different grabbing workpieces, and cost reduction is facilitated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

FIG. 1 is a schematic view of a plastic part captured by the present invention;

fig. 2 is a perspective view of the multi-station multifunctional gripper provided by the utility model when the gripper is unloaded;

FIG. 3 is a schematic view of the plastic member held by the two sets of jaws of the present invention;

FIG. 4 is a perspective view of FIG. 3 at another angle;

FIG. 5 is a schematic view of a mounting bracket having limiting mechanisms on both sides thereof;

FIG. 6 is a schematic view of two sets of cylinders and two sets of slide rail mounts associated therewith;

fig. 7 is a perspective view of the wire harness device.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.

In order to thoroughly understand the present invention, detailed steps and detailed structures will be set forth in the following description so as to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, however, other embodiments of the present invention are possible in addition to these detailed descriptions.

Referring to fig. 1, the utility model provides a multi-functional tongs of multistation, multi-functional tongs are installed and are used for snatching a plurality of work pieces simultaneously on small-size four-axis manipulator, and multi-functional tongs comprises upset jar 10 and snatch mechanism 20.

The cylinder base of the turning cylinder 10 is fixed on a small four-axis manipulator through a base 11, and the grabbing mechanism 20 is fixedly arranged on a turning shaft of the turning cylinder 10. The grabbing mechanism 20 comprises a mounting bracket 21, a plurality of groups of linear bearings 22 and a plurality of groups of slide rail seats 23, the mounting bracket 21 is fixedly connected with the overturning shaft, and a limiting mechanism 28 for limiting the overturning angle of the grabbing mechanism 20 is arranged on the mounting bracket 21; the linear bearings 22 are all installed on the installation support 21, each linear bearing 22 moves independently, a slide rail seat 23 is installed at the tail end of a guide rod of each linear bearing 22, the linear bearings 22 drive the slide rail seats 23 to move linearly, a pair of pneumatic sliding blocks 24 are installed on each slide rail seat 23 in a sliding mode, clamping jaws 25 are detachably installed on each sliding block 24 through screws, and grooves matched with the outline of a workpiece are formed in the opposite sides of each pair of clamping jaws.

In an alternative embodiment, the tilt cylinder 10 is a pneumatic tilt cylinder and the linear bearing 22 is a pneumatic linear bearing 22. The utility model discloses a upset jar 10, linear bearing 22 and slider 24 are the pneumatic type, simple structure, light, installation maintenance are simple. The pressure grade is low, and the use is safe and safer compared with a hydraulic system.

In an alternative embodiment, an air source passage is provided in each slide rail seat 23, one end of the air source passage is connected to the pneumatic slider 24, and the other end is connected to an external air source through an air source interface 26 on the side wall of the slide rail seat 23. As shown in fig. 5, two sets of linear bearings 22 respectively drive two slide rail seats 23 to move linearly, and two sliders 24 are disposed on each slide rail seat 23.

In an alternative embodiment, a plurality of wire bunching devices 27 are mounted on the slide rail seat 23 through screws, the wire bunching devices 27 are provided with a wire bunching groove 27-1, and the wire bunching groove 27-1 is provided with 4 wire bunching holes which are distributed diagonally. Through the last wire rod of finishing device that this bunching device 27 can be better, play the fixed action on the one hand, on the other hand also makes the wire rod cleaner and tidier.

In an alternative embodiment, the base 11 is a U-shaped holding block, and the small four-axis manipulator is inserted into an opening of the U-shaped holding block and is locked and fixed by a screw.

In an alternative embodiment, the mounting bracket 21 is provided with 4 linear bearings 22 at four corners, a guide rod of each linear bearing 22 passes through the mounting bracket 21 to be fixedly connected with the slide rail seat 23, the guide rail seat is driven to move linearly by a plurality of linear bearings, so that the moving speed of each position of the slide rail seat 23 can be more balanced,

in an alternative embodiment, as shown in fig. 5, a limiting mechanism 28 is installed on both sides of the mounting bracket 21, the limiting mechanism 28 is a cantilever fixed on the mounting bracket 21 and extending outward, and when the flipping cylinder 10 drives the grabbing mechanism 20 to make forward/backward rotation to the maximum stroke, the cantilever abuts on the base 11 to limit the rotation angle of the grabbing mechanism 20. Through two stop gear 28, can play two-way spacing effect, avoid the too big error that leads to of amplitude of fluctuation.

The above description is directed to the preferred embodiment of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that devices and structures not described in detail are understood to be implemented in a manner common in the art; the technical solution of the present invention can be applied to any person skilled in the art, without departing from the scope of the present invention, by using the method and technical contents disclosed above, and making many possible changes and modifications, or modifying equivalent embodiments with equivalent changes, which do not affect the essence of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. The multi-station multifunctional gripper is mounted on a four-shaft manipulator and is characterized by comprising a turnover cylinder and a gripping mechanism;

the cylinder base of the overturning cylinder is fixed on the four-axis manipulator through a base, and the grabbing mechanism is fixedly arranged on an overturning shaft of the overturning cylinder;

the grabbing mechanism comprises a mounting bracket, a plurality of groups of linear bearings and a plurality of groups of slide rail seats, the mounting bracket is fixedly connected with the turnover shaft, and a limiting mechanism used for limiting the turnover angle of the grabbing mechanism is arranged on the mounting bracket;

the multi-group linear bearings are all installed on the installation support and the multi-group linear bearings operate independently, each group of linear bearings is provided with a slide rail seat at the tail end of a guide rod, the linear bearings drive the slide rail seats to move linearly respectively, each slide rail seat is provided with a pair of pneumatic sliding blocks in a sliding mode, and each sliding block is provided with a clamping jaw in a detachable mode through a screw.

2. A multi-station multi-functional gripper as defined in claim 1, characterized in that said turning cylinder is a pneumatic turning cylinder and said linear bearings are pneumatic linear bearings.

3. A multi-station multifunctional gripper as claimed in claim 1, wherein an air source passage is provided in said slide rail seat, one end of said air source passage is connected to said slide block, and the other end is connected to an external air source through an air source port provided on a side wall of said slide rail seat.

4. A multi-station multifunctional gripper as claimed in any one of claims 1 to 3, wherein a plurality of wire bunching devices are mounted on said slide rail seat by screws, said wire bunching devices being provided with wire bunching slots having 4 wire bunching holes diagonally distributed.

5. A multi-station multifunctional gripper as claimed in claim 1, wherein said base is a U-shaped holding block, and said four-axis manipulator is inserted into an opening of said U-shaped holding block and locked and fixed by screws.

6. A multi-station multifunctional gripper as claimed in claim 1 or 5, wherein the limiting mechanisms are mounted on two sides of the mounting bracket, the limiting mechanisms are outwardly extending cantilevers, and when the overturning cylinder drives the gripping mechanism to rotate forward/backward to a maximum stroke, the cantilevers abut against the base to limit a rotation angle of the gripping mechanism.