阅读说明：本技术 一种无限旋转抓手 (Unlimited rotatory tongs ) 是由 张耘 于 2019-10-10 设计创作，主要内容包括：本发明涉及一种无限旋转抓手,其包括旋转主体及固定壳体,固定壳体套设于旋转主体外且与旋转主体转动连接,旋转主体的后端固定有电机轴套法兰,旋转主体内设有液压缸,旋转主体的前端固定连接有前端盖,前端盖的中心设有供液压缸的活塞杆进出的通孔一,前端盖前端面中部固定有钩体组件,旋转主体外侧壁上沿周向环设有进油槽和回油槽,进油槽和回油槽的槽底分别设有与缸体进油孔和回油孔连通的进油通道和回油通道,固定壳体上分别设有与进油槽和回油槽连通的进油管接口和回油管接口,固定壳体的外壁上设有与机械臂固定连接的连接件。优点为,旋转主体转动时,固定壳体上连接的进油管和回油管不随之转动,不会出现缠绕问题,抓手可无限旋转。(The invention relates to an infinite rotary gripper, which comprises a rotary main body and a fixed shell, wherein the fixed shell is sleeved outside the rotary main body and is rotationally connected with the rotary main body, a motor shaft sleeve flange is fixed at the rear end of the rotary main body, a hydraulic cylinder is arranged in the rotary main body, the front end of the rotary main body is fixedly connected with a front end cover, a through hole I for a piston rod of the hydraulic cylinder to enter and exit is arranged in the center of the front end cover, a hook body assembly is fixed in the middle of the front end surface of the front end cover, an oil inlet groove and an oil return groove are circumferentially and annularly arranged on the outer side wall of the rotary main body, an oil inlet channel and an oil return channel which are communicated with an oil inlet hole and an oil return hole of a cylinder body are respectively arranged at the bottoms of the oil inlet groove and the oil return groove, an oil inlet. The advantage does, when the rotating body rotates, advances oil pipe and returns oil pipe of connecting on the fixed casing and do not rotate thereupon, can not appear winding problem, and the tongs can infinitely rotate.)

1. The infinite rotary gripper is characterized by comprising a columnar rotary main body (1) and a cylindrical fixed shell (2), wherein the fixed shell (2) is sleeved outside the rotary main body (1) and can be rotatably connected with the rotary main body (1) through bearings (3) clamped at two ends, a motor shaft sleeve flange (4) for enabling a motor output shaft at the front end of a mechanical arm to extend into and be clamped is fixedly arranged at the rear end of the rotary main body (1), a cavity for filling a cylinder body (5) of a hydraulic cylinder is arranged in the rotary main body (1), a front end cover (18) is fixedly connected with the front end of the rotary main body (1), a first through hole for enabling the front end of a piston rod (6) of the hydraulic cylinder to enter and exit is formed in the center of the front end cover (18), the front end of the piston rod (6) is fixedly connected with the rear end of a locking ejector rod (7), a hook body assembly (8) is fixedly arranged in the middle of the front end face, hook body subassembly (8) with locking ejector pin (7) cooperation snatchs or unblock release is waited to snatch handle (17) of gripping of work piece with the locking, the cylindric lateral wall of rotating body (1) is gone up and is equipped with oil feed tank (9) and oil gallery (10) along the circumference ring, the tank bottom of oil feed tank (9) and oil gallery (10) be equipped with respectively with oil feed passageway (11) and oil gallery (12) of cylinder body (5) inlet port and oil gallery one-to-one intercommunication, be equipped with respectively on fixed casing (2) with oil feed tank (9) with oil feed pipe interface (13) and oil return pipe interface (14) of oil gallery (10) one-to-one intercommunication, be equipped with on the outer wall of fixed casing (2) extend backward in order with arm fixed connection's connecting piece (16).

2. An infinite rotary gripper according to claim 1, wherein the hook assembly (8) comprises a base (80) fixedly connected to the front end cover (18) and two hooks (81) parallelly and alternately disposed on a front side wall of the base (80), the base (80) is provided with a second through hole corresponding to the first through hole for the locking rod (7) to pass through, and the second through hole is located between the two hooks (81).

3. An infinite rotary gripper according to claim 1, characterized in that the inner wall of the fixed housing (2) is provided with a plurality of annular grooves into which the greige ring (15) is inserted to prevent the oil in the oil inlet groove (9) and the oil return groove (10) from overflowing through the gap between the fixed housing (2) and the rotary body (1).

4. An infinite rotary gripper according to claim 3, wherein the number of annular grooves is 4, two of which are located on the front and rear sides of the oil feed groove (9) and the other two of which are located on the front and rear sides of the oil return groove (10).

5. An infinite rotary gripper according to claim 1, wherein the inner walls of the front end and the rear end of the fixed housing (2) are provided with annular mounting grooves for the bearing (3) to be clamped in, and the positions where the front end of the fixed housing (2) is tightly attached to the front end cover (18) and the positions where the rear end of the fixed housing (2) is tightly attached to the rotary main body (1) are respectively provided with grooves for the dust ring to be clamped in.

6. An infinite rotary gripper according to claim 1, wherein the first through hole is lined with a first copper sleeve, which is a clearance fit with the piston rod (6).

7. An infinite rotary gripper according to claim 2, wherein the second through hole is lined with a second copper sleeve, and the second copper sleeve is in clearance fit with the locking ejector rod (7).

8. An infinite rotary grab handle according to any of claims 1 to 7, characterised in that the outer wall of the locking ejector rod (7) is provided with a circumferential groove for the O-ring to snap into.

9. An infinite rotary grab handle according to any of claims 1 to 7, characterised in that the front end cap (18) is bolted to the rotary body (1).

10. an infinite rotary grab handle according to any of claims 1 to 7, characterised in that the front cover end and hook member assembly (8) is integrally formed of stainless steel.

Technical Field

The invention relates to a mechanical gripper, in particular to an infinite rotary gripper.

Background

During investment casting, it is often necessary to use a gripper at the front end of a robotic arm to lift and suspend the heavy formwork in a drying box or to remove the dried formwork from the drying box. When the formwork is taken out and put down, the gripper also needs to be capable of rotating properly to enable the formwork to be in a proper position when the formwork is put down.

The existing gripper pushes the ejector rod through the hydraulic cylinder to enable a holding handle of the formwork hanging mechanism to be propped and locked in the hook, and in order to ensure that the locking and the loosening are easy to control and are not easy to loosen when being locked, the hydraulic cylinder needs to be communicated with a hydraulic system through an oil inlet and oil return pipeline. The oil inlet and return pipeline is connected to the outside of the gripper, and the gripper is easy to wind the oil inlet and return pipeline (hose) on the gripper when rotating, so that the gripper cannot rotate infinitely and can only rotate by a certain angle and then rotate, and the use is inconvenient.

Disclosure of Invention

The invention provides an infinite rotary gripper, aiming at overcoming the defects that the existing gripper cannot rotate infinitely due to the influence of an oil inlet and return pipeline of a hydraulic cylinder, and the existing gripper can realize free rotation to a certain degree but has a non-compact structure and a large volume, cannot conveniently extend into a drying box to grab a formwork or cannot effectively grab a gripping handle of a locking formwork hooking mechanism due to an unreasonable gripper structure, and the like.

The technical scheme for solving the technical problems is as follows: an infinite rotary gripper comprises a columnar rotary main body and a cylindrical fixed shell, wherein the fixed shell is sleeved outside the rotary main body and can be rotatably connected with the rotary main body through bearings clamped at two ends, a motor shaft sleeve flange for allowing a motor output shaft at the front end of a mechanical arm to extend into and be clamped is fixedly arranged at the rear end of the rotary main body, a cavity for accommodating a cylinder body of a hydraulic cylinder is arranged in the rotary main body, a front end cover is fixedly connected with the front end of the rotary main body, a through hole I for allowing the front end of a piston rod of the hydraulic cylinder to enter and exit is arranged in the center of the front end cover, the front end of the piston rod is fixedly connected with the rear end of a locking ejector rod, a hook body assembly is fixed in the middle of the front end face of the front end cover and matched with the locking ejector rod to lock and grip a grip handle for gripping or unlocking and releasing a workpiece to be gripped, an oil inlet groove and, the oil inlet device comprises a cylinder body, an oil inlet hole, an oil return hole, an oil inlet pipe connector, an oil return pipe connector, a connecting piece and a mechanical arm, wherein the oil inlet hole is communicated with the oil return hole, the oil return hole is communicated with the oil inlet hole, the oil return hole is communicated with the oil return hole in a one-to-one correspondence mode, the oil inlet pipe connector and the oil return pipe connector are communicated with the oil inlet hole and the oil return hole in a one-to-one correspondence mode.

On the basis of the technical scheme, the invention can be further improved as follows.

Further, the hook body assembly is provided with a second through hole through which a seat body fixedly connected with the front end cover penetrates, and the second through hole is positioned on two inner walls of the hooks and is provided with a plurality of annular grooves for clamping the GRILL ring so as to prevent oil in the oil inlet groove and the oil return groove from overflowing through a gap between the fixed shell and the rotating main body.

Adopt above-mentioned further institutional advancement's benefit to be, outside the rotatory main part was located to fixed casing cover, inevitable meeting is gapped, and rotatory main part will rotate relative fixed casing simultaneously, so use many glacier circles can be fine reach sealed while reduce sliding friction's purpose, oil feed tank and oil return tank seal into independent space each other relatively after setting up the glacier circle, prevent to pass through the oil impregnate each other in clearance between oil feed and the oil return tank, also prevent in addition that oil from fixing the casing both ends outwards oozes.

Furthermore, the number of the annular grooves is 4, two of the annular grooves are positioned on the front side and the rear side of the oil inlet groove, and the other two annular grooves are positioned on the front side and the rear side of the oil return groove.

The advantage of adopting above-mentioned further institutional advancement does, better realization oil feed tank and oil gallery independent airtight space respectively.

Further, the inner wall of fixed casing front end and rear end all is equipped with the confession the annular mounting groove that the bearing card was gone into, fixed casing front end with the front end housing pastes tight department and fixed casing rear end with rotatory main part pastes tight department and is equipped with the recess that supplies dust ring card to go into respectively.

Adopt above-mentioned further institutional advancement's benefit to be, can prevent that the dust in factory from getting into the hydro-cylinder in the rotatory main part through the gap in, avoid influencing the normal work of hydro-cylinder.

Furthermore, a first copper sleeve is lined in the first through hole, and the first copper sleeve is in clearance fit with the piston rod.

The advantage of adopting above-mentioned further configuration amendment is, effectively prevent that the piston rod from producing the swing or vibrations in through-hole one footpath.

Furthermore, a second copper sleeve is lined in the second through hole, and the second copper sleeve is in clearance fit with the locking ejector rod.

Adopt above-mentioned further institutional advancement's benefit to be, effectively prevent that locking ejector pin from producing swing or vibrations in through-hole two footpath.

Furthermore, the outer wall of the locking ejector rod is circumferentially provided with a ring groove for clamping the O-shaped sealing ring.

Adopt above-mentioned further institutional advancement's benefit to do, guarantee better sealed effect, avoid the dust to get into the cavity of rotating the main part in and influence the pneumatic cylinder normal work.

Further, the front end cover is fixedly connected with the rotating body through bolts.

Adopt above-mentioned further institutional advancement's benefit to do, simple structure, firm in connection just is convenient for the dismouting.

Further, the front cover end and the hook body assembly are integrally formed by stainless steel.

Adopt above-mentioned further institutional advancement's benefit to be, integrated into one piece back, front end housing and coupler body subassembly are linked into an organic whole, and structural strength is good, and the durability is good.

Compared with the prior art, the invention has the beneficial effects that:

1. The fixed shell is fixedly connected with the mechanical arm and does not rotate, the oil inlet pipe and the oil return pipe are correspondingly connected with the oil inlet pipe connector and the oil return pipe connector on the fixed shell (the rotating main body is provided with the oil inlet groove and the oil return groove, and the normal work of the oil cylinder is not influenced in the rotating process), the rotating main body and the hook assembly at the front end of the rotating main body can infinitely and freely rotate under the driving of the motor at the front end of the mechanical wall, and the oil inlet pipe and the oil return pipe do not rotate along with the rotating main body, so that the rotation of the hook assembly is not influenced by the oil inlet pipe and the oil return pipe, and the defect that the gripper needs to rotate after rotating to a certain degree due to;

2. The hydraulic cylinder is arranged in the rotating main body, the structure is compact, the whole gripper can be smaller in size, and the workpiece can be conveniently taken and placed in and out of the drying box;

3. The hook body component adopts a structure of combining the seat body and the two hooks and is matched with the locking ejector rod, so that the holding handle (namely, a workpiece handle) of the mold shell hanging mechanism can be stably and effectively locked and grabbed, and the explanation and the release are also more convenient.

Drawings

FIG. 1 is a schematic view of an infinite rotary gripper according to the present invention in locking engagement with a workpiece;

FIG. 2 is an isometric view of an infinitely rotatable grip provided by the present invention;

FIG. 3 is an isometric view of the infinite rotary gripper of FIG. 2 with the stationary housing removed;

Fig. 4 is a cross-sectional view of the infinite rotary handle of fig. 2 taken along the medial plane.

In the drawings, the components represented by the respective reference numerals are listed below:

1. A rotating body; 2. a stationary housing; 3. a bearing; 4. a motor shaft sleeve flange; 5. a cylinder body; 6. a piston rod; 7. locking the ejector rod; 8. a hook body component; 9. an oil inlet groove; 10. an oil return groove; 11. an oil inlet channel; 12. an oil return passage; 13. an oil inlet pipe interface; 14. an oil return pipe interface; 15. a Glare circle; 16. a connecting member; 17. a grip handle; 18. a front end cover; 80. a base body; 81. and (4) hanging hooks.

Detailed Description

the principles and features of this invention are described in connection with the drawings and the detailed description of the invention, which are set forth below as examples to illustrate the invention and not to limit the scope of the invention.

In the description of the present invention, if terms indicating orientation such as "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc., are used, they indicate orientation or positional relationship based on that shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 4, the present invention provides an infinite rotary gripper, which includes a cylindrical rotary main body 1 and a cylindrical fixed housing 2, wherein the fixed housing 2 is sleeved outside the rotary main body 1 and is rotatably connected to the rotary main body 1 through bearings 3 clamped at two ends, a motor shaft sleeve flange 4 for inserting and clamping a motor output shaft at the front end of a mechanical arm is fixedly disposed at the rear end of the rotary main body 1, a cavity for accommodating a cylinder body 5 of a hydraulic cylinder is disposed in the rotary main body 1, a front end cover 18 is fixedly connected to the front end of the rotary main body 1, a first through hole for allowing the front end of a piston rod 6 of the hydraulic cylinder to enter and exit is disposed at the center of the front end cover 18, the front end of the piston rod 6 is fixedly connected to the rear end of a locking ejector rod 7, a hook assembly 8 is fixed at the middle part of the front end surface of the front end cover 18, the hook assembly 8 is matched with the locking ejector rod 7 to lock and release, an oil inlet groove 9 and an oil return groove 10 are circumferentially and annularly arranged on the cylindrical outer side wall of the rotating main body 1, oil inlet channels 11 and oil return channels 12 communicated with oil inlet holes and oil return holes of the cylinder body 5 in a one-to-one correspondence mode are respectively arranged at the bottoms of the oil inlet groove 9 and the oil return groove 10, oil inlet pipe connectors 13 and oil return pipe connectors 14 communicated with the oil inlet groove 9 and the oil return groove 10 in a one-to-one correspondence mode are respectively arranged on the fixed shell 2, and a connecting piece 16 extending backwards to be fixedly connected with the mechanical arm is arranged on the outer wall of the fixed shell 2.

It should be noted that the front end cover mainly has the following functions: firstly, be convenient for fixed casing from the front end cover after the rotating body on, the front end housing passes through bolted connection and can follow the bearing that the front portion compressed tightly the front end behind the rotating body front end, prevents that the bearing from producing the displacement in rotating body axial, also prevents fixed casing relative rotation main part from producing the displacement in the axial, secondly the fixed casing of being convenient for after the front end housing is pulled down and is pulled down change and maintenance, also is convenient for change the maintenance of the inside pneumatic cylinder of rotating body.

Further, the hook body assembly 8 is composed of a seat body 80 fixedly connected with the front end cover 18 and two hooks 81 parallelly arranged on the front side wall of the seat body 80 at intervals, a second through hole corresponding to the first through hole is formed in the seat body 80 and used for the locking ejector rod 7 to pass through, and the second through hole is located between the two hooks 81.

It should be noted that, as shown in fig. 3, the two hooks are parallel and spaced apart, the two hooks are both bent backward so that the two ends of the holding handle are clamped into the hooks, the locking ejector rod can press the middle part of the holding handle (the middle part of the handle is provided with a groove matched with the locking ejector rod) when being ejected out along with the piston rod of the hydraulic cylinder, so that the holding handle is stably locked and gripped, a workpiece can rotate along with the holding handle, and the situation when the workpiece is gripped is as shown in fig. 1. The unlimited rotary handle of the invention is mainly used for grabbing a holding handle of the formwork hanging mechanism so as to be put into or taken out of the drying box, and the concrete structure of the formwork hanging mechanism can be seen from the content disclosed in the Chinese utility model patent CN 201821325145.9.

Further, a plurality of annular grooves into which the gray rings 15 are inserted are formed in the inner wall of the fixed housing 2 to prevent the oil in the oil inlet groove 9 and the oil return groove 10 from overflowing through a gap between the fixed housing 2 and the rotating body 1.

Further, the number of the annular grooves is 4, two of the annular grooves are located on the front side and the rear side of the oil inlet groove 9, and the other two annular grooves are located on the front side and the rear side of the oil return groove 10.

It should be noted that, besides the above-mentioned structure arrangement of 4 annular grooves, the number of the annular grooves may also be more, and the sealing effect may also be better.

Further, the inner wall of fixed casing 2 front end and rear end all is equipped with the confession the annular mounting groove that bearing 3 card was gone into, fixed casing 2 front end with the tight department of front end housing 18 subsides with fixed casing 2 rear end with the tight department of rotatory main part 1 subsides is equipped with the recess that supplies the dust ring card to go into respectively.

Furthermore, a first copper sleeve is lined in the first through hole, and the first copper sleeve is in clearance fit with the piston rod 6.

Furthermore, a second copper sleeve is lined in the second through hole, and the second copper sleeve is in clearance fit with the locking ejector rod 7.

Furthermore, the outer wall of the locking ejector rod 7 is circumferentially provided with a ring groove for clamping an O-shaped sealing ring.

Further, the front end cover 18 is fixedly connected with the rotating body 1 through bolts.

Further, the front cover end and the hook body component 8 are integrally formed by stainless steel.

The basic working principle of the infinite rotary gripper provided by the invention is briefly described as follows: the infinite rotary gripper is arranged at the front end of the mechanical arm, when a workpiece is to be gripped, the mechanical arm drives the infinite rotary gripper to be close to the workpiece and enables two ends of a gripping handle of the workpiece to correspondingly extend into two hooks, then oil is fed into an oil inlet pipe and returned to the oil return pipe, a piston rod extends, a locking ejector rod is ejected out of the middle of the gripping handle along with the locking gripper to be locked, the mechanical arm is lifted up to enable the workpiece to be lifted, when the position of the workpiece is not suitable for being directly placed on a hanging frame of a drying box, a motor at the front end of the mechanical arm rotates to enable a rotating main body to rotate along with the rotating main body (a fixed shell is kept still), the workpiece rotates along with the rotating main body to be adjusted to a proper position when the rotating main body rotates, then the workpiece is hung on the hanging frame in a drying oven, then the oil return pipe is fed with. Whole working process need not worry when the rotatory adjustment work piece position of tongs, advances oil pipe and returns oil pipe winding problem, and the tongs can infinitely rotate convenient to use.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.