CN218965449U

CN218965449U - Multifunctional mechanical gripper

Info

Publication number: CN218965449U
Application number: CN202222963185.9U
Authority: CN
Inventors: 王意兵; 张学骄; 张康洲; 陈文静
Original assignee: Tianjin Heli Cutting Tool Technology Co ltd
Current assignee: Tianjin Heli Cutting Tool Technology Co ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-05-05
Anticipated expiration: 2032-11-02

Abstract

The utility model relates to the technical field of manipulators, in particular to a multifunctional manipulator claw, which comprises two finger cylinders and two clamping jaws mounted to the two finger cylinders, wherein a first flat groove, a second flat groove, a first conical groove and a third flat groove are sequentially formed on opposite sides of the two clamping jaws, the first flat groove comprises two first flat clamping surfaces, the second flat groove comprises two second flat clamping surfaces, the first conical groove comprises two first conical clamping surfaces, the third flat groove comprises two third flat clamping surfaces, and the lengths of the first flat clamping surfaces, the second flat clamping surfaces and the third flat clamping surfaces along the directions of the clamping jaws away from the two finger cylinders are different. The utility model has simple structure, can clamp various types of bars without changing the clamping jaw, has stronger universality, can save time cost, improves working efficiency, and can avoid the influence of assembly errors when the clamping jaw is changed on clamping precision.

Description

Multifunctional mechanical gripper

Technical Field

The utility model relates to the technical field of manipulators, in particular to a multifunctional manipulator claw.

Background

The manipulator is an important component of a robot system, and is mainly used for holding and operating tools or workpieces, and plays an important role in operation execution. In a production plant with a high degree of automation, when a bar is processed by a lathe, a grinder or the like, a manipulator is required to clamp the bar. However, the traditional two-finger manipulator has poor universality, can clamp a single product type, and if bars of different types are required to be clamped, different clamping jaws need to be replaced, so that the time cost is increased, and the working efficiency is reduced.

Disclosure of Invention

The utility model aims to solve the technical problem of overcoming the defects in the prior art and providing a multifunctional mechanical gripper.

The utility model is realized by the following technical scheme:

the multifunctional mechanical gripper comprises a two-finger cylinder and two clamping jaws mounted to the two-finger cylinder, wherein a first flat groove, a second flat groove, a first conical groove and a third flat groove are sequentially formed in opposite sides of the two clamping jaws, the first flat groove comprises two first flat clamping surfaces, the second flat groove comprises two second flat clamping surfaces, the first conical groove comprises two first conical clamping surfaces, the third flat groove comprises two third flat clamping surfaces, and when the two clamping jaws are in a closed state, the opposite first flat clamping surfaces in the four first flat clamping surfaces are parallel; the opposite second planes of the four second planes are parallel; the opposite third flat clamping surfaces of the four third flat clamping surfaces are parallel; the four first conical clamping surfaces are circumscribed on the side face of the first virtual round table, and the lengths of the first flat clamping surface, the second flat clamping surface and the third flat clamping surface along the direction of the clamping jaw away from the two-finger cylinder are different from each other.

Preferably, a second conical groove and a third conical groove are further arranged between the second flat groove and the third flat groove, the second conical groove and the third conical groove are both positioned at one end of the first conical groove, the second conical groove comprises two second conical clamping surfaces, the third conical groove comprises two third conical clamping surfaces, when the two clamping jaws are in a closed state, the four second conical clamping surfaces are circumscribed on the side surface of the second virtual round table, and the four third conical clamping surfaces are circumscribed on the side surface of the third virtual round table; the first virtual round table, the second virtual round table and the third virtual round table are different from each other.

Preferably, one end of the middle part of the second flat groove is provided with a fourth cone groove, the fourth cone groove comprises two fourth cone clamping surfaces, when the two clamping jaws are in a closed state, the four fourth cone clamping surfaces are circumscribed on the side surface of the fourth virtual round platform, and the first virtual round platform, the second virtual round platform, the third virtual round platform and the fourth virtual round platform are different from each other.

Preferably, the second flat groove is provided with a first transition surface at a side close to the first flat groove.

Preferably, a second transition surface is provided between two third flat clamping surfaces of the same clamping jaw.

Preferably, the cross-sectional area of the jaws decreases progressively from the side closer to the cylinder to the side further from the cylinder.

Preferably, when two clamping jaws are in a closed state, a part, close to the two-finger cylinder, of the opposite sides of the two clamping jaws forms an avoidance groove, a rigid air pipe is arranged in the avoidance groove, the rigid air pipe is fixedly mounted to the two-finger cylinder, an air outlet of the rigid air pipe faces to one side deviating from the two-finger cylinder, and an air inlet of the rigid air pipe is used for introducing compressed air.

The beneficial effects of the utility model are as follows:

the utility model has simple structure, can clamp various types of bars without changing the clamping jaw, has stronger universality, can save time cost, improves working efficiency, and can avoid the influence of assembly errors when the clamping jaw is changed on clamping precision; the arrangement positions of the first cone groove, the second cone groove and the third cone groove are relatively arranged in sequence, so that the length of the clamping jaw can be reduced, the rigidity of the clamping jaw is relatively improved, and the accuracy and stability of the clamping action of the clamping jaw are improved; the fourth clamping groove can further improve the universality of the clamping jaw on the premise of not increasing the length of the clamping jaw; the arrangement of the first transition surface and the second transition surface can relatively improve the rigidity of the clamping jaw, and further improve the accuracy and stability of the clamping action of the clamping jaw; the rigid air pipe can guide compressed air to purge dust, scrap iron and other impurities adhered to the opposite sides of the clamping jaw, so that the cleanliness of the opposite sides of the clamping jaw is improved.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

fig. 2 is a schematic view of the structure of the clamping jaw according to the utility model.

In the figure: 1. two finger cylinders; 2. an avoidance groove; 3. a rigid tracheal tube; 4. a clamping jaw; 5. a first planar clamping surface; 6. a second planar clamping surface; 7. a first conical clamping surface; 8. a third flat clamping surface; 9. a second conical clamping surface; 10. a third conical clamping surface; 11. a first transition surface; 12. a fourth conical clamping surface; 13. and a second transition surface.

Detailed Description

The present utility model will be described in further detail below with reference to the drawings and preferred embodiments, so that those skilled in the art can better understand the technical solutions of the present utility model.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

As shown in fig. 1-2, the multifunctional mechanical gripper provided by the utility model comprises a two-finger cylinder 1 and two clamping jaws 4 mounted to the two-finger cylinder 1, in this embodiment, the two-finger cylinder 1 is a parallel opening and closing cylinder with better centering, opposite sides of the two clamping jaws 4 are respectively provided with a first flat groove, a second flat groove, a first cone groove and a third flat groove in turn, the first flat groove comprises two first flat clamping surfaces 5, the second flat groove comprises two second flat clamping surfaces 6, the first cone groove comprises two first cone clamping surfaces 7, the third flat groove comprises two third flat clamping surfaces 8,

when the two clamping jaws 4 are in a closed state, the opposite first flat clamping faces 5 in the four first flat clamping faces 5 are parallel; the opposite second planes 6 in the four second planes 6 are parallel; the opposite third flat clamping surfaces 8 in the four third flat clamping surfaces 8 are parallel; the four first cone clamping surfaces 7 are circumscribed on the side surface of the first virtual round table,

the length of the first flat clamping surface 5 along the direction of the clamping jaw 4 away from the two-finger cylinder 1, the length of the second flat clamping surface 6 along the direction of the clamping jaw 4 away from the two-finger cylinder 1 and the length of the third flat clamping surface 8 along the direction of the clamping jaw 4 away from the two-finger cylinder 1 are different from each other, in this embodiment, the length of the first flat clamping surface 5 of the same clamping jaw along the direction of the clamping jaw away from the two-finger cylinder is l1=6mm, l2=5mm; the length of the second clamping surface 6 of the same clamping jaw along the direction of the clamping jaw away from the two-finger cylinder is L3=30.37 mm, and L4=60.64 mm; the third flat clamping surface 8 of the same clamping jaw is far away from the length L5=26.65 mm, L6=26.06 mm of the two-finger cylinder direction along the clamping jaw, so that the first flat groove, the second flat groove and the third flat groove can clamp cylindrical bars with different diameters, and the first conical groove can stably clamp bar ends with conicity, so that multiple types of bars can be clamped under the condition that the clamping jaw 4 is not replaced, the clamping jaw has strong universality, the time cost can be saved, the working efficiency is improved, and meanwhile, the influence of assembly errors during the replacement of the clamping jaw 4 on clamping precision can be avoided.

A second conical groove and a third conical groove are also arranged between the second flat groove and the third flat groove, the second conical groove and the third conical groove are both positioned at one end of the first conical groove, the second conical groove comprises two second conical clamping surfaces 9, the third conical groove comprises two third conical clamping surfaces 10,

when the two clamping jaws 4 are in a closed state, the four second conical clamping surfaces 9 are circumscribed on the side surfaces of the second virtual round table; four third conical clamping surfaces 10 are circumscribed on the side surfaces of the third virtual round table,

the first virtual round platform, the second virtual round platform and the third virtual round platform are different from each other, so that the first conical groove, the second conical groove and the third conical groove can clamp different tapered bar ends, the arrangement positions of the first conical groove, the second conical groove and the third conical groove are opposite to the arrangement positions of the first conical groove, the second conical groove and the third conical groove in sequence, the length of the clamping jaw 4 can be reduced, the rigidity of the clamping jaw 4 is relatively improved, and the accuracy and the stability of clamping action of the clamping jaw 4 are improved.

Specifically, in this embodiment, the taper of the first virtual circular truncated cone is 3 °, the height is 25mm, and the smaller bottom surface diameter is 18mm; the taper of the second virtual round table is 3 degrees, the height is 25mm, and the diameter of the smaller bottom surface is 6mm; the taper of the third virtual round table is 3 degrees, the height is 25mm, and the smaller bottom surface diameter is 11mm, so that the first conical groove can stably clamp the end part of a bar with the taper of 3 degrees and the end surface diameter of 18-36 mm; the second taper groove can stably clamp the end part of a bar with the taper of 3 degrees and the end surface diameter of 6-11 mm; the third taper groove can stably clamp the end part of the bar with the taper of 3 degrees and the end surface diameter of 11-18 mm.

The middle part one end of second flat groove is equipped with the fourth cone groove, the fourth cone groove includes two fourth awl double-layered faces 12, and when two clamping jaw 4 were in closed condition, four fourth awl double-layered faces 12 circumscribed in the side of the virtual round platform of fourth, the virtual round platform of first virtual round platform, the virtual round platform of second, the virtual round platform of third and the virtual round platform of fourth are mutually different, can further improve the commonality of clamping jaw 4 under the prerequisite of not increasing clamping jaw 4 length.

Specifically, in this embodiment, the taper of the fourth virtual round table is 3 °, the height is 25mm, and the smaller bottom surface diameter is 36mm, so that the fourth conical groove can stably clamp the end of the bar with the taper of 3 ° and the end surface diameter of 36-54 mm.

The first virtual round table, the second virtual round table, the third virtual round table and the fourth virtual round table are not actually existing components, but are virtual round tables led out for describing the relative positions of the conical clamping surfaces conveniently.

The second flat groove is provided with a first transition surface 11 at one side close to the first flat groove, and is used for reducing the invalid area of the second flat clamping surface 6, which is not used for clamping a workpiece, so that the clamping jaw 4 is prevented from being too long, the rigidity of the clamping jaw 4 is relatively improved, and the accuracy and stability of the clamping action of the clamping jaw 4 are further improved.

The second transition surface 13 is arranged between the two third flat clamping surfaces 8 of the same clamping jaw 4 and is used for reducing the invalid area of the third flat clamping surfaces 8 which are not used for clamping a workpiece, so that the clamping jaw 4 is prevented from being overlong, the rigidity of the clamping jaw 4 is relatively improved, and the accuracy and stability of the clamping action of the clamping jaw 4 are further improved.

The cross-sectional area of the clamping jaw 4 gradually decreases from the side close to the two-finger cylinder 1 to the side far away from the two-finger cylinder 1, so that the size of the clamping jaw 4 at the end far away from the two-finger cylinder 1 can be reduced while the stronger stability of the clamping jaw 4 at the end far away from the two-finger cylinder 1 is ensured, and interference with other bars or equipment is prevented when the bars are clamped.

When two clamping jaws 4 are in the closed state, the part that the opposite side of two clamping jaws 4 is close to two finger cylinder 1 forms dodges groove 2, dodge inslot 2 is equipped with rigidity trachea 3, rigidity trachea 3 fixed mounting is to two finger cylinder 1, the gas outlet orientation of rigidity trachea 3 deviates from one side of two finger cylinder 1, the air inlet of rigidity trachea 3 is used for letting in compressed gas, and compressed gas is used for blowing impurity such as dust and iron fillings that adhere to the opposite side of clamping jaw 4 after being spouted from the gas outlet, improves the cleanliness of the opposite side of clamping jaw 4.

The working principle of the multifunctional mechanical gripper provided by the utility model is that when the two clamping jaws are controlled to be close by the two-finger cylinder, the two clamping jaws are matched to clamp bar stocks, and as a plurality of flat grooves and a plurality of conical grooves are arranged between the two clamping jaws, bar stocks of different types can be clamped; when the two clamping jaws are controlled by the two-finger cylinder to be far away, the two clamping jaws can release the clamped bar stock. The utility model has simple structure, can clamp various types of bars without changing the clamping jaw, has stronger universality, can save time cost, improves working efficiency, and can avoid the influence of assembly errors when the clamping jaw is changed on clamping precision; the arrangement positions of the first cone groove, the second cone groove and the third cone groove are relatively arranged in sequence, so that the length of the clamping jaw can be reduced, the rigidity of the clamping jaw is relatively improved, and the accuracy and stability of the clamping action of the clamping jaw are improved; the fourth clamping groove can further improve the universality of the clamping jaw on the premise of not increasing the length of the clamping jaw; the arrangement of the first transition surface and the second transition surface can relatively improve the rigidity of the clamping jaw, and further improve the accuracy and stability of the clamping action of the clamping jaw; the rigid air pipe can guide compressed air to purge dust, scrap iron and other impurities adhered to the opposite sides of the clamping jaw, so that the cleanliness of the opposite sides of the clamping jaw is improved.

The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which are intended to be comprehended within the scope of the present utility model.

Claims

1. The multifunctional mechanical gripper comprises two finger cylinders and two clamping jaws mounted to the two finger cylinders, and is characterized in that a first flat groove, a second flat groove, a first conical groove and a third flat groove are sequentially formed on opposite sides of the two clamping jaws, the first flat groove comprises two first flat clamping surfaces, the second flat groove comprises two second flat clamping surfaces, the first conical groove comprises two first conical clamping surfaces, the third flat groove comprises two third flat clamping surfaces,

when the two clamping jaws are in a closed state, the opposite first flat clamping surfaces in the four first flat clamping surfaces are parallel; the opposite second planes of the four second planes are parallel; the opposite third flat clamping surfaces of the four third flat clamping surfaces are parallel; the four first cone clamping surfaces are circumscribed on the side surface of the first virtual round table,

the lengths of the first flat clamping surface, the second flat clamping surface and the third flat clamping surface along the direction of the clamping jaw away from the two-finger cylinder are different from each other.

2. The multifunctional manipulator according to claim 1, wherein a second conical groove and a third conical groove are further arranged between the second flat groove and the third flat groove, the second conical groove and the third conical groove are positioned at one end of the first conical groove, the second conical groove comprises two second conical clamping surfaces, the third conical groove comprises two third conical clamping surfaces,

when the two clamping jaws are in a closed state, the four second conical clamping surfaces are circumscribed on the side face of the second virtual round table, and the four third conical clamping surfaces are circumscribed on the side face of the third virtual round table;

the first virtual round table, the second virtual round table and the third virtual round table are different from each other.

3. The multifunctional manipulator according to claim 2, wherein a fourth conical groove is formed at one end of the middle part of the second flat groove, the fourth conical groove comprises two fourth conical clamping surfaces,

when the two clamping jaws are in a closed state, the four fourth conical clamping surfaces are circumscribed on the side surfaces of the fourth virtual round table,

the first virtual round platform, the second virtual round platform, the third virtual round platform and the fourth virtual round platform are different from each other.

4. The multi-function mechanical hand of claim 1, wherein the second flat groove is provided with a first transition surface on a side adjacent to the first flat groove.

5. The multifunctional manipulator claw according to claim 1, wherein a second transition surface is provided between two third flat clamping surfaces of the same clamping jaw.

6. A multi-function mechanical hand according to claim 1, wherein the cross-sectional area of the jaw decreases stepwise from the side closer to the cylinder to the side farther from the cylinder.

7. The multifunctional mechanical gripper according to claim 1, wherein when the two clamping jaws are in a closed state, a portion, close to the two finger cylinders, of the opposite sides of the two clamping jaws forms an avoidance groove, a rigid air pipe is arranged in the avoidance groove, the rigid air pipe is fixedly mounted to the two finger cylinders, an air outlet of the rigid air pipe faces to one side, away from the two finger cylinders, of the rigid air pipe, and an air inlet of the rigid air pipe is used for introducing compressed air.