Tightening type mechanical hand and loading and unloading robot

Abstract

The invention discloses a tightening type mechanical hand and a loading and unloading robot. The mechanical hand comprises at least three clamping jaws distributed in a polygon shape, the plurality ofclamping jaws can synchronously rotate forwards or reversely around longitudinally-extending shafts correspondingly, during forward rotation, a tail end opening defined by the plurality of clamping jaws is expanded or contracted, during reverse rotation, the change tendency of the tail end opening defined by the plurality of clamping jaws is opposite to that of the forward rotation, and the tailend opening defined by the plurality of clamping jaws is larger than the outer circumference of a to-be-clamped part when being in the largest state and smaller than the outer circumference of the to-be-clamped part when being in the smallest state. According to the scheme, the clamping jaws are in contact with the peripheral surface of the part, and therefore, the upper surface and the lower surface of the part cannot be damaged, meanwhile, the problems that pollution and damage occur again after cleaning can be solved, the wiping effect and quality of the part can be guaranteed, and when thespecial clamping jaw movement mode is applied to the parts with the same size, the clamping jaws can be shorter and smaller compared with clamping jaws with rotating shafts rotating horizontally, andthen the operation in a smaller space is facilitated.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to screw-on manipulators and loading and unloading robots. Background technique [0002] For disc-shaped or ring-shaped parts, when processing or testing or surface cleaning or grinding or polishing, it is necessary to make the upper and lower surfaces of the parts face up to facilitate the corresponding operations. The existing operation is mainly to manually place the parts in a After the position is wiped by a wiping machine, the efficiency of manual loading and unloading is low and the labor intensity is high. [0003] There are also some structures that use manipulators to load and unload parts. However, conventional two-jaw manipulators often move by clamping the upper and lower surfaces or the outer peripheral surface of the parts. Contacting and applying force can easily cause damage to the surface of the part, resulting in defective products and reducing the yield rate. Moreove...

AI Technical Summary

Problems solved by technology

[0002] For disc-shaped or ring-shaped parts, when processing or testing or surface cleaning or grinding or polishing, it is necessary to make the upper and lower surfaces of the parts face up to facilitate the corresponding operations. The existing operation is mainly to manually place the parts in a Wipe with a wiping machine after positioning, the efficiency of manual loading and unloading is low, and the labor intensity is high

[0003] There are also some structures that use manipulators to load and unload parts. However, conventional two-jaw manipulators often move by clamping the upper and lower surfaces or the outer peripheral surface of the parts. Contacting and applying force can easily cause damage to the surface of the part, resulting in defective products and reducing the yield rate. Moreover, when the surface is cleaned or ground or polished, the jaws are also likely to cause re-contamination and damage to the surface of the part. Affect cleaning, grinding, polishing quality

[0004] For the clamping scheme using the circumferential surface, such as the two-jaw clamp with the patent number 201521127869.9, there must be sufficient clamping force to ensure the stability of the clamping when the two jaws are clamped, otherwise the parts may turn over during the movement process. In the case of tilting and falling, this is not conducive to stable and accurate feeding, and the clamping force is too large, and it is easy to deform parts, especially thin parts, which affects product quality

[0005] There is also a plan to use multiple jaws to clamp from the outer peripheral surface of a disc-shaped part, such as a three-jaw clamp with application number 201610280777.7, which realizes clamping by rotating the three jaws along a horizontal axis respectively. expansion and contraction, the problem is that each jaw needs a large length or a large rotation angle to ensure that the final contracted state can surround the parts, which is not conducive to the miniaturization of the equipment

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