CN109591042B - Mechanical claw - Google Patents
Mechanical claw Download PDFInfo
- Publication number
- CN109591042B CN109591042B CN201910001639.4A CN201910001639A CN109591042B CN 109591042 B CN109591042 B CN 109591042B CN 201910001639 A CN201910001639 A CN 201910001639A CN 109591042 B CN109591042 B CN 109591042B
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- CN
- China
- Prior art keywords
- claw
- fixed plate
- moving block
- spring
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000078 claw Anatomy 0.000 title claims abstract description 112
- 230000001788 irregular Effects 0.000 abstract description 6
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention provides a mechanical claw, which comprises a fixed plate, a moving block, a pushing mechanism, an upper spring, a lower spring and claw pieces, wherein the pushing mechanism is arranged on the fixed plate, the moving block is positioned below the fixed plate, a first through hole is formed in the fixed plate, the pushing mechanism is connected with the moving block through the first through hole, the pushing mechanism drives the moving block to move in the vertical direction, a plurality of claw pieces are circumferentially arranged on the fixed plate, the upper part of each claw piece is hinged on the fixed plate, the claw pieces are connected on the moving block through the upper spring and the lower spring, one end of the upper spring is connected on the moving block, the other end of the upper spring is connected on the upper part of each claw piece, one end of the lower spring is connected on the moving block, the other end of the lower spring is connected in the middle of each claw piece, the joint of the upper spring and the claw pieces and the joint of the lower spring and the fixed plate are respectively positioned on two sides of the joint of each claw piece, and the supporting capacity is large, and objects with irregular surfaces can be accurately grasped.
Description
Technical Field
The invention relates to the field of mechanical claws, in particular to a mechanical claw.
Background
Currently, in the development of the mechanical automation industry, the mechanical gripper is widely applied to the automated production industry. The development of mechanical claws is also towards more functions and wider adaptability. The existing mechanical claws in the market at present have the following defects: 1. the existing mechanical claw adopts a rigid joint, and the grabbing force and the position of the mechanical claw need to be accurately controlled. 2. Most of objects which can be grasped by the existing mechanical claws are objects with regular surfaces, but when the objects have different sizes or shapes among individuals, accurate grasping is difficult, or a pressure sensor is needed to be pressed on the mechanical claws, and the feedback value of the pressure sensor is used as an input signal of closed-loop control, so that the difficulty of control is increased. 3. The existing mechanical claw has small weight capable of bearing the load, and the target object is easy to fall off.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the mechanical claw which can accurately grasp objects with irregular surfaces and has large bearing capacity.
In order to solve the technical problems, the mechanical claw provided by the invention comprises a fixed plate, a moving block, a pushing mechanism, an upper spring, a lower spring and claw pieces, wherein the pushing mechanism is arranged on the fixed plate, the moving block is positioned below the fixed plate, a first through hole is formed in the fixed plate, the pushing mechanism is connected with the moving block through the first through hole and drives the moving block to move in the vertical direction, a plurality of claw pieces are circumferentially arranged on the fixed plate, the upper parts of the claw pieces are hinged on the fixed plate, one ends of the upper spring are connected on the moving block through the upper spring and the lower spring, the other ends of the upper spring are connected on the upper parts of the claw pieces, one ends of the lower spring are connected on the moving block, the other ends of the lower spring are connected with the middle parts of the claw pieces, and the connection parts of the upper spring and the claw pieces, the connection parts of the lower spring and the claw pieces are positioned at the connection parts of the two sides of the claw pieces and the fixed plate.
Further, the pushing mechanism comprises a motor, a screw rod and a screw rod nut, the screw rod is connected to an output shaft of the motor, the screw rod penetrates through the first through hole to extend to the lower portion of the fixed plate, the screw rod nut is sleeved outside the screw rod, and the moving block is connected to the screw rod nut.
Further, the device also comprises a guide rod, wherein the guide rod is connected to the fixed plate, two opposite sides of the moving block are respectively provided with a second through hole, and the guide rod penetrates through the second through holes.
Optionally, a plurality of fixed blocks are circumferentially arranged on the fixed plate, each claw piece is located between two fixed blocks, a fixed shaft is connected between the fixed blocks, a third through hole is formed in each claw piece, and the fixed shaft penetrates through the third through hole.
Further, the bottom of the claw piece is provided with an anti-slip sheet.
Optionally, the stiffness coefficient of the lower spring is greater than the stiffness coefficient of the upper spring.
The beneficial effects of the invention are as follows:
1. according to the invention, the moving block is driven to descend by the pushing mechanism, and the upper spring is pulled to open the mechanical claw; the moving block rises to pull the lower spring, and the mechanical claw folds to grab the object. The invention is provided with a plurality of claw pieces, and the pressure of an object to a single claw piece is reduced by utilizing a multi-claw structure, so that the whole bearing capacity of the mechanical claw is improved; and the spring is used for replacing the rigid rod piece to drive the claw piece to realize flexible grabbing of the mechanical claw to objects, so that objects with different shapes can be self-adapted, objects with irregular surfaces can be accurately grabbed, the contact area between the claw piece and the objects is increased, and the clamping force is improved.
2. The pushing mechanism adopts the motor, the screw rod and the screw rod nut, and realizes the opening and the tightening of the mechanical claw by controlling the rotation of the single motor, so that the structure of the mechanical claw can be simplified, the operation difficulty is reduced, and the clamping accuracy is improved. The invention also arranges an antiskid sheet at the bottom of the claw piece, improves the friction of the claw piece of the mechanical claw to the object, and prevents the object from falling off.
Drawings
FIG. 1 is a schematic view of a gripper of an embodiment.
Fig. 2 is a schematic diagram of the connection of the claw members of the embodiment.
Wherein, 1, a fixing plate; 2. a moving block; 3. a spring is arranged; 4. a lower spring; 5. a claw member; 6. a motor; 7. a screw rod; 8. a screw nut; 9. a guide rod; 10. a fixed block; 11. a fixed shaft; 12. and a non-slip sheet.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus 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 invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Furthermore, in the description of the invention, unless otherwise indicated, the meaning of "a number" is two or more.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, the mechanical claw of this embodiment includes a fixed plate 1, a moving block 2, a pushing mechanism, an upper spring 3, a lower spring 4 and a claw member 5, the pushing mechanism is mounted on the fixed plate 1, the moving block 2 is located below the fixed plate 1, a first through hole is formed in the fixed plate 1, the pushing mechanism is connected with the moving block 2 through the first through hole and drives the moving block 2 to move in the vertical direction, a plurality of claw members 5 are circumferentially arranged on the fixed plate 1, the upper portion of the claw member 5 is hinged to the fixed plate 1, the claw member 5 is connected to the moving block 2 through the upper spring 3 and the lower spring 4, one end of the upper spring 3 is connected to the moving block 2, the other end of the upper spring 3 is connected to the upper portion of the claw member 5, one end of the lower spring 4 is connected to the moving block 2, the other end of the lower spring 4 is connected to the middle of the claw member 5, and the connection portion of the upper spring 3 and the claw member 5 and the connection portion of the lower spring 4 are located at two sides of the connection portion of the claw member 5 and the fixed plate 1 respectively. The movable block 2 of the embodiment is driven by a pushing mechanism, in the working process of expanding the mechanical claw, the movable block 2 moves downwards to drive the upper spring 3 and the lower spring 4 to move downwards, at the moment, the lower spring 4 is contracted, the upper spring 3 is stretched, the upper spring 3 provides pulling force for the upper part of the claw piece 5, the lower spring 4 provides pushing force for the lower part of the claw piece 5, the claw piece 5 turns outwards around the hinging position with the fixed plate 1, so that the mechanical claw is expanded, and when the lower spring 3 is in a horizontal position, the mechanical claw reaches the maximum value of the expansion angle; in the working process of the tightening mechanical claw, the moving block 2 moves upwards to drive the upper spring 3 and the lower spring 4 to move upwards, at the moment, the lower spring 3 stretches, the upper spring 4 contracts, the upper spring 3 provides pushing force for the upper part of the claw member 5, the lower spring 4 provides pulling force for the lower part of the claw member 5, and the claw member 5 is engaged around the hinge joint with the fixed plate 1, so that the mechanical claw is tightened. The fixed plate 1 is circumferentially provided with a plurality of claw pieces 5, the pressure of an object to a single claw piece is reduced by utilizing a multi-claw structure, the overall bearing capacity of the mechanical claw is further improved, the claw pieces are driven by utilizing springs to replace rigid rod pieces to realize flexible grabbing of the mechanical claw to the object, when the mechanical claw contacts with the grabbed object, each claw piece 5 can be self-adapted to the surface of the object due to the flexibility of the springs, the surface of the object can be better clung to the surface of the object, the contact area of each claw piece 5 and the object is enlarged, the contact area of each claw piece 5 and the object can be adapted to various irregular objects, the grabbing force is improved, compared with a rigid mechanical claw, because the pushing rod piece of each claw piece 5 is replaced by the springs, when the mechanical claw is gradually tightened, each claw piece 5 can buffer the object to be clamped, the force of the object is not required to be excessively accurately clamped, and the object cannot be clamped when the clamping force is excessively large. In addition, the number and the installation positions of the claw pieces 5 on the fixing plate 1 can be changed according to the general shape of the object to be clamped, so that the claw pieces 5 can be better close to the surface of the object, the contact area between the claw pieces 5 and the object is increased, the claw pieces can be suitable for various irregular objects, and the grabbing force is improved.
In this embodiment, pushing mechanism includes motor 6, lead screw 7 and screw nut 8, and lead screw 7 connects on motor 6's output shaft, and lead screw 7 passes the below that first through-hole extends to fixed plate 1, and screw nut 8 suit is outside lead screw 7, and movable block 2 connects on screw nut 8, realizes opening and tightening up of gripper through the rotation of control single motor, can simplify the gripper structure, improves the accuracy of gripping when reducing the operation degree of difficulty. The pushing mechanism of the invention can also adopt an air cylinder or a push rod motor and the like.
In addition, the mechanical claw of this embodiment further includes a guide rod 9, the guide rod 9 is connected to the fixed plate 1, two opposite sides of the moving block 2 are respectively provided with a second through hole, and the guide rod 9 passes through the second through holes to restrict the movement of the moving block 2 so that the moving block can only move along the axial direction. In addition, circumference is provided with a plurality of fixed blocks 10 on the fixed plate 1 of this embodiment, and fixed plate 1 of this embodiment includes two parallels and the plate that connects through the backup pad, and two plates all are equipped with first through-hole, and motor 6 sets up on the plate of top, and fixed block 10 sets up on the plate of below, and every claw piece 5 is located between two fixed blocks 10, is connected with fixed axle 11 between the fixed block 10, is provided with the third through-hole on the claw piece 5, and fixed axle 11 passes the third through-hole, simple structure, connects reliably.
The bottom of the claw member 5 of the embodiment is provided with the anti-slip sheet 12, which can give larger friction force to the object to be clamped, so that the object to be clamped is not easy to slip. In addition, the stiffness coefficient of the lower spring 4 of the present embodiment is larger than that of the upper spring 3, and the lower spring 4 mainly provides the tensile force of the object to be clamped after the object to be clamped is clamped by the gripper.
In summary, the mechanical claw of this embodiment is hinged on the fixed plate 1 through the claw member 5, a moving block 2 driven by a pushing mechanism to move up and down is arranged below the fixed plate 1, and an upper spring 3 and a lower spring 4 are provided, one end of the upper spring 3 is connected on the moving block 2, the other end of the upper spring 3 is connected on the upper portion of the claw member 5, one end of the lower spring 4 is connected on the moving block 2, the other end of the lower spring 4 is connected in the middle of the claw member 5, the moving block 2 moves down, the upper spring 3 and the lower spring 4 are driven to move down, the upper spring 3 stretches, the lower spring 4 contracts, the moving block 2 moves up, the upper spring 3 and the lower spring 4 are driven to move up, the lower spring 4 stretches, the claw member 5 contracts around the hinge with the fixed plate 1, the mechanical claw is tightened, the pressure of the object to the single claw member is reduced by utilizing the multi-claw structure, and the whole bearing capacity of the mechanical claw is improved; and the spring is used for replacing the rigid rod piece to drive the claw piece to realize flexible grabbing of the mechanical claw to objects, so that objects with different shapes can be self-adapted, objects with irregular surfaces can be accurately grabbed, the contact area between the claw piece and the objects is increased, and the clamping force is improved.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (6)
1. The mechanical claw is characterized by comprising a fixed plate, a moving block, a pushing mechanism, an upper spring, a lower spring and claw pieces, wherein the pushing mechanism is arranged on the fixed plate, the moving block is positioned below the fixed plate, a first through hole is formed in the fixed plate, the pushing mechanism is connected with the moving block through the first through hole and drives the moving block to move in the vertical direction, a plurality of claw pieces are circumferentially arranged on the fixed plate, the upper parts of the claw pieces are hinged to the fixed plate, one ends of the upper springs are connected to the moving block through the upper springs, the other ends of the upper springs are connected to the upper parts of the claw pieces, one ends of the lower springs are connected to the moving block, the other ends of the lower springs are connected to the middle parts of the claw pieces, and the joints of the upper springs and the claw pieces are respectively positioned at the two sides of the joints of the claw pieces and the fixed plate.
2. The mechanical claw according to claim 1 wherein the pushing mechanism comprises a motor, a screw and a screw nut, the screw is connected to an output shaft of the motor, the screw extends to below the fixed plate through the first through hole, the screw nut is sleeved outside the screw, and the moving block is connected to the screw nut.
3. The gripper according to claim 1, further comprising a guide bar connected to the fixed plate, wherein the two opposite sides of the moving block are respectively provided with a second through hole, and the guide bar passes through the second through holes.
4. The mechanical claw according to claim 1, wherein a plurality of fixing blocks are circumferentially arranged on the fixing plate, each claw piece is located between two fixing blocks, a fixing shaft is connected between the fixing blocks, a third through hole is formed in each claw piece, and the fixing shaft penetrates through the third through hole.
5. A gripper according to any one of claims 1 to 4, wherein the bottom of the jaw piece is provided with a non-slip sheet.
6. The gripper of claim 1, wherein the stiffness coefficient of the lower spring is greater than the stiffness coefficient of the upper spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910001639.4A CN109591042B (en) | 2019-01-02 | 2019-01-02 | Mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910001639.4A CN109591042B (en) | 2019-01-02 | 2019-01-02 | Mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591042A CN109591042A (en) | 2019-04-09 |
| CN109591042B true CN109591042B (en) | 2024-04-16 |
Family
ID=65965702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910001639.4A Active CN109591042B (en) | 2019-01-02 | 2019-01-02 | Mechanical claw |
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| Country | Link |
|---|---|
| CN (1) | CN109591042B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394807A (en) * | 2019-07-11 | 2019-11-01 | 广西万鑫源环境科技工程有限公司 | A kind of underwater manipulator |
| CN110815262B (en) * | 2019-11-06 | 2021-03-02 | 中国电子科技集团公司第三十八研究所 | Mechanical claw for hole |
| CN110861064A (en) * | 2019-11-28 | 2020-03-06 | 广州大学 | Automatic rescue robot |
| CN111037909A (en) * | 2019-12-12 | 2020-04-21 | 荆门微田智能科技有限公司 | Non-contact high-precision conformal laminating manipulator for flexible curved electronic film |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | Electromagnet-driven flexible micro-clamping device |
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| CN206686586U (en) * | 2017-04-21 | 2017-12-01 | 河南省翰绿市政园林工程有限公司 | A kind of flower seedlings transplant clamping manipulator |
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| CN209566141U (en) * | 2019-01-02 | 2019-11-01 | 广州大学 | A kind of gripper |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6564611B2 (en) * | 2001-07-30 | 2003-05-20 | Wilson Tool International, Inc. | Hydraulic press brake tool holder |
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2019
- 2019-01-02 CN CN201910001639.4A patent/CN109591042B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206686586U (en) * | 2017-04-21 | 2017-12-01 | 河南省翰绿市政园林工程有限公司 | A kind of flower seedlings transplant clamping manipulator |
| CN107745390A (en) * | 2017-10-29 | 2018-03-02 | 长沙无道工业设计有限公司 | A kind of robot device of convenient regulation |
| CN108068133A (en) * | 2017-12-08 | 2018-05-25 | 常州大学 | A kind of crucible special machine machinery claw with three fingers |
| CN108436959A (en) * | 2018-05-02 | 2018-08-24 | 江西昌浩实业有限公司 | A kind of glass processing clamp device |
| CN209566141U (en) * | 2019-01-02 | 2019-11-01 | 广州大学 | A kind of gripper |
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| CN109591042A (en) | 2019-04-09 |
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