CN110978031A - Adjustable gripper with pressing function - Google Patents
Adjustable gripper with pressing function Download PDFInfo
- Publication number
- CN110978031A CN110978031A CN201911199084.5A CN201911199084A CN110978031A CN 110978031 A CN110978031 A CN 110978031A CN 201911199084 A CN201911199084 A CN 201911199084A CN 110978031 A CN110978031 A CN 110978031A
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- China
- Prior art keywords
- plate
- rotating shaft
- splint
- adjusting
- finger
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- Pending
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Classifications
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an adjustable mechanical claw with a pressing function, which comprises a mounting plate, two clamps, a finger claw and a pressing mechanism, wherein the mounting plate is connected with the upper ends of the clamps, the two clamps are symmetrically arranged, each clamp comprises a first clamping plate, an adjusting plate and a second clamping plate, one end of each adjusting plate is connected with the first clamping plate, the other end of each adjusting plate is connected with the second clamping plate, the adjusting plates are vertically arranged, the first clamping plates and the second clamping plates are transversely arranged, first adjusting holes for fixing the second clamping plates are formed in the adjusting plates, second adjusting holes for fixing the finger claws are formed in the second clamping plates, the length of the finger claws is adjustable, and the pressing mechanism is connected between the two clamps. The problem of present indicate that claw length and width can't be adjusted to make and can not snatch the great article of volume is solved, set up hold-down mechanism simultaneously, guarantee snatching article in-process, article can not take place to rock, avoid article to fall, ensure the fastness of snatching.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to an adjustable mechanical claw with a pressing function.
Background
In many production fields, a conveying operation is involved, wherein a mechanical clamp is an important component, but many of the mechanical clamps generally adopted are fixed, and can only grab objects with fixed length and thickness, and the grabbed objects can shake in the moving process to cause object falling and damage, so that different clamps are required to be designed according to different processes and requirements, the production period is prolonged, the universality and the flexibility are poor, and the cost is increased.
Patent No. CN208034698U discloses an antiskid manipulator convenient to adjust, which can change the grabbing size of the gripper through the adjustment of the adjusting shafts on both sides, and has anti-skid patterns to prevent the object from falling, but the manipulator has two defects: firstly, the size of the mechanical claw is changed, only the width of the cross section is changed, and the mechanical claw cannot adapt to an object with larger thickness; second, the width of the gripper cannot be changed, so the contact area of the center bearing cannot be changed, and there is no hold-down device, which results in the object being easily shaken and dropped while moving.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the adjustable mechanical claw with the pressing function, solves the problem that the length and the width of the existing finger claw cannot be adjusted so as not to grab a large-size article, and meanwhile, the pressing mechanism is arranged so as to ensure that the article cannot shake in the process of grabbing the article, avoid article falling and ensure the grabbing firmness.
In order to realize the purpose, the invention provides the following technical scheme:
the utility model provides an area compresses tightly adjustable gripper of function, includes mounting panel, anchor clamps, finger claw and hold-down mechanism, the mounting panel is connected with the upper end of anchor clamps, the quantity of anchor clamps is two, and the symmetry sets up, anchor clamps include first splint, regulating plate and second splint, the one end and the first splint of regulating plate are connected, the other end and the second splint of regulating plate are connected, the vertical setting of regulating plate, first splint transversely set up with the second splint, be equipped with the first regulation hole that is used for fixed second splint on the regulating plate, be equipped with the second regulation hole that is used for fixed finger claw on the second splint, finger claw adjustable length, two even have hold-down mechanism between the anchor clamps.
Preferably, the mounting plate is connected to a middle portion of the first clamping plate.
Preferably, the number of the adjusting plates is two, and the first clamping plate and the second clamping plate are arranged between the two adjusting plates.
Preferably, a spring is arranged between the two clamps, and the end part of the spring is connected with the adjusting plate.
Preferably, the finger claws are provided with third adjusting holes for connection.
Preferably, the lower end of the finger claw is provided with a rubber block for skid resistance, and the rubber block is provided with skid-proof patterns.
Preferably, hold-down mechanism includes synchronous pivot, connecting plate, depression bar and pivot, parallel arrangement between synchronous pivot and the pivot, be connected through the connecting plate between synchronous pivot and the pivot, be equipped with the slipknot bolt of being connected with the finger claw in the synchronous pivot, be equipped with the depression bar in the pivot.
Preferably, the compression bar is of an arc-shaped structure.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the first adjusting hole is formed in the adjusting plate, the second adjusting hole for adjusting the position of the finger claw is formed in the second clamping plate, the width of the finger claw is adjusted, the length of the finger claw can be adjusted, the finger claw can adapt to articles with different sizes, the problem that the large-size articles cannot be grabbed due to the fact that the length and the width of the finger claw cannot be adjusted at present is solved, meanwhile, the pressing mechanism is arranged, the articles cannot shake in the process of grabbing the articles, the articles are prevented from falling, and grabbing firmness is ensured.
2. The cross section area of the claw can be adjusted only by adjusting the connection between the third adjusting hole on the finger claw and the second clamping piece, and the width of the cross section and the height of the cross section can be changed because the finger claw is adjusted in an oblique direction.
3. The invention is provided with the spring, thereby playing a role in buffering and damping and increasing the use reliability.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic structural view of a pressing mechanism;
fig. 4 is a schematic structural view of the connection of the pressing mechanism and a single clamp.
In the figure: 1-mounting a plate; 2-clamping; 201-a first splint; 202-an adjusting plate; 203-a first adjustment aperture; 204-a second splint; 205-a second adjustment aperture; 3-finger claws; 301-a third adjustment aperture; 4-a pressing mechanism; 401-slipknot bolts; 402-synchronous rotating shaft; 403-connecting plate; 404-a pressure bar; 405-a rotating shaft; 5-a spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the first embodiment, the first step is,
as shown in fig. 1, an adjustable gripper with a pressing function comprises an installation plate 1, two clamps 2, fingers 3 and a pressing mechanism 4, the installation plate 1 is connected with the upper end of the two clamps 2, the number of the two clamps 2 is two, and the two clamps are symmetrically arranged, as shown in fig. 2, the two clamps 2 comprise a first clamping plate 201, an adjustment plate 202 and a second clamping plate 204, one end of the adjustment plate 202 is connected with the first clamping plate 201, the other end of the adjustment plate 202 is connected with the second clamping plate 204, the adjustment plate 202 is vertically arranged, the first clamping plate 201 and the second clamping plate 204 are transversely arranged, a first adjusting hole 203 for fixing the second clamping plate 204 is formed in the adjustment plate 202, a second adjusting hole 205 for fixing the fingers 3 is formed in the second clamping plate 204, the fingers 3 are adjustable in length, and the pressing mechanism 4 is connected between the two clamps 2.
In order to increase the structural rigidity, the mounting plate 1 is connected to the middle of the first clamping plate 201. The number of the adjusting plates 202 is two, and the first clamping plate 201 and the second clamping plate 204 are arranged between the two adjusting plates 202.
For the damping effect, as shown in fig. 4, a spring 5 is provided between the two clamps 2, and the end of the spring 5 is connected to the adjustment plate 202.
Specifically, a third adjusting hole 301 for connection is formed in the finger 3.
The lower end of the finger claw 3 is provided with a rubber block for skid resistance, and the rubber block is provided with skid-proof patterns.
As shown in fig. 3, the pressing mechanism 4 includes a synchronous rotating shaft 402, a connecting plate 403, a pressing rod 404 and a rotating shaft 405, the synchronous rotating shaft 402 and the rotating shaft 405 are arranged in parallel, the synchronous rotating shaft 402 and the rotating shaft 405 are connected through the connecting plate 403, a slipknot bolt 401 connected with the finger claw 3 is arranged on the synchronous rotating shaft 402, the rotating shaft 405 is provided with the pressing rod 404, and the pressing rod 404 is of an arc structure.
The second clamping plate 204 is connected with the first clamping plate 201 through the adjusting plate 202, the first clamping plate 201 and the mounting plate 1 are connected with the control end and only used for connection and fixation, two hole sites are arranged on the second clamping plate 204, one hole site is used for being connected with the adjusting plate 202, the other hole sites are transversely distributed and used for mounting the finger claws 3, the middle finger claw 3 is fixed in position under the common condition during mounting, and the finger claws 3 on the two sides are symmetrically mounted. The upper end hole of the adjusting plate 202 is used for connecting with the first clamping plate 201, and the lower end hole is used for adjusting the connecting position with the second clamping plate 204. The holes in the fingers 3 are used to adjust the position at which the fingers 3 are mounted.
The finger claws 3 are provided with a plurality of mounting holes, and the mounting hole positions can be selected according to the actual diameter of the object to be grabbed, so that the finger claws are suitable for objects with different diameters. The second clamping plate 204 is also provided with a plurality of mounting holes, and the mounting hole positions can be selected according to the length of an object to be actually grabbed, so that the contact area of the central bearing is enlarged. The mounting holes on the adjusting plate 202 are used for preventing the closing of the mechanical claw from being influenced by the short length of the finger claw 3, and when the mechanical claw cannot be completely closed after the length of the finger claw 3 is adjusted, the adjusting plate 202 needs to be properly adjusted according to actual conditions, so that the distance between the first clamping plate 201 and the second clamping plate 204 is increased. The mounting plate 1 serves to provide a switching function in the case of pneumatic clamps or motor control. The rubber blocks 7 on the finger claws 3 are provided with wavy anti-slip patterns, so that the rubber blocks not only can play a role of fastening when being closed, but also can play a role of buffering, reduce the vibration of the finger claws 3 on two sides and prevent the abrasion caused by direct contact, and simultaneously can prevent the deformation or damage to objects caused by overlarge tension. Two bayonets of the spring 5 are mounted on the bolts of the adjusting plate 202, which mainly plays a role of buffering.
The pressing mechanism 4 is connected with the finger claws 3 through a slipknot bolt 401, the slipknot bolt 401 is connected with a synchronous rotating shaft 402, a connecting plate 403 is strung on the synchronous rotating shaft 402 and clamped at a corresponding position by a flat washer and a plastic rubber ring, a lower pressing rod 404 is also connected with the connecting plate 403, and the fixing mode of the lower pressing rod 404 is the same as that of the upper layer. The embodiment of the pressing mechanism 4 is that when the mechanical claw is closed, the pressing rod 404 can be pressed downwards to prevent the object from shaking during moving through the hinging action of the connecting plate 403 and the synchronous rotating shaft 402, and the pressing rod 404 is provided with a soft rubber pad to prevent the object from deforming due to too large pressure when the object is pressed. Conversely, when the gripper is opened, the pressing mechanism 4 is pulled up to release the object.
If a single mechanical claw cannot meet the requirement of an object with an overlong length, the two claws can be integrated by using the connecting block, and the problem that the bearing center is small due to the overlong object can be solved by connecting the two claws through the lengthened connecting block and then connecting the two claws into the pneumatic clamp or driving the mechanical claw by using the motor.
In the second embodiment, the first embodiment of the method,
the utility model provides an area compresses tightly adjustable gripper of function, includes mounting panel 1, anchor clamps 2, finger 3 and hold-down mechanism 4, mounting panel 1 is connected with the upper end of anchor clamps 2, the quantity of anchor clamps 2 is two, and the symmetry sets up, anchor clamps 2 include first splint 201, regulating plate 202 and second splint 204, the one end and the first splint 201 of regulating plate 202 are connected, the other end and the second splint 204 of regulating plate 202 are connected, the vertical setting of regulating plate 202, first splint 201 transversely sets up with second splint 204, be equipped with the first regulation hole 203 that is used for fixed second splint 204 on the regulating plate 202, be equipped with the second regulation hole 205 that is used for fixed finger 3 on the second splint 204, finger 3 adjustable length, two even have hold-down mechanism 4 between anchor clamps 2.
In order to increase the structural rigidity, the mounting plate 1 is connected to the middle of the first clamping plate 201. The number of the adjusting plates 202 is two, and the first clamping plate 201 and the second clamping plate 204 are arranged between the two adjusting plates 202.
For the damping effect, a spring 5 is provided between the two clamps 2, the end of the spring 5 being connected to the adjusting plate 202.
Specifically, a third adjusting hole 301 for connection is formed in the finger 3.
The lower end of the finger claw 3 is provided with a rubber block for skid resistance, and the rubber block is provided with skid-proof patterns.
The pressing mechanism 4 comprises a synchronous rotating shaft 402, a connecting plate 403, a pressing rod 404 and a rotating shaft 405, the synchronous rotating shaft 402 and the rotating shaft 405 are arranged in parallel, the synchronous rotating shaft 402 is connected with the rotating shaft 405 through the connecting plate 403, a slipknot bolt 401 connected with the finger claw 3 is arranged on the synchronous rotating shaft 402, the pressing rod 404 is arranged on the rotating shaft 405, and the pressing rod 404 is of an arc-shaped structure.
On the basis of the first embodiment, elastic sponge can be additionally arranged on the inner wall of the finger claw 3 to reduce the influence of the pressing of the claw hand on the object and prevent the object from being deformed or damaged.
In the third embodiment, the first step is that,
on the basis of the second embodiment, in order to enhance the flexibility of finger regulation, the second regulation holes 205 on the second clamping plate 204 can be changed into U-shaped grooves, the second regulation hole in the middle is unchanged, the second regulation holes 205 on two sides are changed into U-shaped grooves, the position fixed by the slipknot bolt can be freely selected, and the use is more convenient.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. The utility model provides an adjustable gripper of function is compressed tightly in area which characterized in that: including mounting panel, anchor clamps, finger claw and hold-down mechanism, the mounting panel is connected with the upper end of anchor clamps, the quantity of anchor clamps is two, and the symmetry sets up, anchor clamps include first splint, regulating plate and second splint, the one end and the first splint of regulating plate are connected, the other end and the second splint of regulating plate are connected, the vertical setting of regulating plate, first splint transversely set up with the second splint, be equipped with the first regulation hole that is used for fixed second splint on the regulating plate, be equipped with the second regulation hole that is used for fixed finger claw on the second splint, finger claw adjustable length, two even have hold-down mechanism between the anchor clamps.
2. The adjustable gripper with the pressing function according to claim 1, wherein: the mounting plate is connected with the middle part of the first clamping plate.
3. The adjustable gripper with the pressing function according to claim 1, wherein: the number of the adjusting plates is two, and the first clamping plate and the second clamping plate are arranged between the two adjusting plates.
4. The adjustable gripper with the pressing function according to claim 1, wherein: a spring is arranged between the two clamps, and the end part of the spring is connected with the adjusting plate.
5. The adjustable gripper with the pressing function according to claim 1, wherein: and a third adjusting hole for connection is formed in the finger claw.
6. The adjustable gripper with the pressing function according to claim 1, wherein: the lower end of the finger claw is provided with a rubber block for skid resistance, and the rubber block is provided with skid-proof patterns.
7. The adjustable gripper with the pressing function according to claim 1, wherein: the pressing mechanism comprises a synchronous rotating shaft, a connecting plate, a pressing rod and a rotating shaft, the synchronous rotating shaft and the rotating shaft are arranged in parallel, the synchronous rotating shaft and the rotating shaft are connected through the connecting plate, a slipknot bolt connected with the finger claw is arranged on the synchronous rotating shaft, and the pressing rod is arranged on the rotating shaft.
8. The adjustable gripper with the pressing function according to claim 7, wherein: the pressure lever is of an arc-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911199084.5A CN110978031A (en) | 2019-11-29 | 2019-11-29 | Adjustable gripper with pressing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911199084.5A CN110978031A (en) | 2019-11-29 | 2019-11-29 | Adjustable gripper with pressing function |
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| Publication Number | Publication Date |
|---|---|
| CN110978031A true CN110978031A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911199084.5A Pending CN110978031A (en) | 2019-11-29 | 2019-11-29 | Adjustable gripper with pressing function |
Country Status (1)
| Country | Link |
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|---|---|---|---|---|
| EP2168892A1 (en) * | 2008-09-27 | 2010-03-31 | Overveld Machines B.V. | Pick and place device, gripper and method |
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| CN207030460U (en) * | 2017-08-12 | 2018-02-23 | 深圳市金胜晖米业有限公司 | A kind of palletizing mechanical arm |
| CN108214535A (en) * | 2017-12-29 | 2018-06-29 | 南京理工大学 | A kind of Synchronization Control manipulator |
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| US20190077025A1 (en) * | 2017-09-11 | 2019-03-14 | Applied Robotics, Inc. | Self-locking rotory handwheel assemly for a robotic parallel gripper assembly |
| CN208744862U (en) * | 2018-08-14 | 2019-04-16 | 大科机械(厦门)有限公司 | A kind of huge legendary turtle clamp tool of boosting manipulator |
| CN110421589A (en) * | 2019-07-09 | 2019-11-08 | 哈尔滨商业大学 | A kind of e-commerce product show robot manipulator and application method |
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2019
- 2019-11-29 CN CN201911199084.5A patent/CN110978031A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2168892A1 (en) * | 2008-09-27 | 2010-03-31 | Overveld Machines B.V. | Pick and place device, gripper and method |
| CN202765855U (en) * | 2012-07-24 | 2013-03-06 | 西安磁林电气有限公司 | Robot gripper |
| CN204997685U (en) * | 2015-07-27 | 2016-01-27 | 浙江杰泰电子科技有限公司 | Accurate pile up neatly machine people tongs in location |
| CN205380688U (en) * | 2016-01-04 | 2016-07-13 | 六和饲料（淮安）有限公司 | Be suitable for not bag packing pile machinery hand of equidimension |
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| US20190077025A1 (en) * | 2017-09-11 | 2019-03-14 | Applied Robotics, Inc. | Self-locking rotory handwheel assemly for a robotic parallel gripper assembly |
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Application publication date: 20200410 |
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| RJ01 | Rejection of invention patent application after publication |