CN111015712A

CN111015712A - Vertical mechanical gripper capable of freely controlling movement

Info

Publication number: CN111015712A
Application number: CN202010007067.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Lanxi Microcloud Automation Technology Co ltd
Current assignee: Lanxi Microcloud Automation Technology Co ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-04-17

Abstract

The invention discloses a vertical mechanical gripper capable of freely controlling movement, which comprises a machine body, wherein a movement cavity 67 is arranged in the machine body 10, a supporting wall 24 is fixedly arranged on the lower side surface of the machine body 10, four uniformly distributed supporting rods 25 are slidably connected in the supporting wall 24, a lifting cavity 37 is rotatably connected among the four supporting rods 25, a lifting cavity 68 is arranged in the lifting cavity 37, a rotating device 71 is arranged in the rotating cavity 69, and the mechanical gripper can freely move in three directions and can convert different grabbing and clamping functions.

Description

Vertical mechanical gripper capable of freely controlling movement

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a vertical mechanical gripper capable of freely controlling movement.

Background

At present, with the development of society, the manipulator is widely used in automatic production line, the manipulator has the characteristics of continuously repeated work and labor, not knowing fatigue, not afraid of danger, and the force for grabbing heavy objects is larger than the hand force, the manipulator can replace the heavy work of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely used in the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

Disclosure of Invention

Aiming at the technical defects, the invention provides a vertical mechanical gripper capable of freely controlling movement, which can overcome the defects.

The invention relates to a vertical mechanical gripper capable of freely controlling movement, which comprises a gripper body, wherein a movement cavity is arranged in the gripper body, a supporting wall is fixedly arranged on the lower side surface of the gripper body, four uniformly distributed supporting rods are slidably connected in the supporting wall, a lifting cavity is rotatably connected among the four supporting rods, a lifting cavity is arranged in the lifting cavity, a rotating device is arranged in the rotating cavity, a power cavity is fixedly arranged on the upper side surface of the lifting cavity, a moving device for moving the mechanical gripper is arranged in the movement cavity;

the moving device comprises a hydraulic system fixedly mounted on the upper side surface of the lifting cavity, a moving body is fixedly arranged in the machine body, three moving hydraulic cylinders which are uniformly distributed are arranged in the moving body, a hydraulic piston is connected to each moving hydraulic cylinder in a sliding manner, a piston rod is fixedly arranged on each hydraulic piston, a moving rod is hinged to each piston rod, a triangular connecting block is connected between the three moving rods, a first rotating shaft which is rotatably connected between the moving cavity and the moving piston and fixedly connected with the lifting cavity is rotatably connected to each triangular connecting block, and a hydraulic pipe is connected between each hydraulic system and each moving hydraulic cylinder;

two fixed connecting rods which are symmetrical left and right are fixedly arranged on the lower side of the lifting cavity, a rotating cavity is fixedly arranged in each fixed connecting rod, a rotating cavity is arranged in each rotating cavity, and a lifting device is arranged in each lifting cavity.

Preferably, the rotating means includes a main motor fixedly installed in the moving body, the main motor being power-connected with a motor shaft, a first belt wheel is fixedly arranged on the motor shaft, a spline shaft is rotatably connected between the motor shaft and the lifting cavity, the upper side of the spline shaft is connected with a meshing gear in a sliding way, a spring is connected between the meshing gear and the lower side wall, the right side wall is fixedly provided with an engaging hydraulic cylinder which is controlled by the hydraulic system, a fourth belt wheel is fixedly arranged on the lower side of the spline shaft, a fifth belt wheel fixedly connected with the spline shaft is arranged on the lower side of the fourth belt wheel, the lower side of the first rotating shaft is fixedly provided with a first gear which can be meshed with the meshing gear, the upper side of the first gear is provided with a third belt wheel fixedly connected to the first rotating shaft, and a belt is connected between the third belt wheel and the first belt wheel.

Preferably, elevating gear includes the hydraulic press of fixed mounting at the lift cavity downside, hydraulic press power connection has the hydraulic stem, the lifter plate has set firmly on the hydraulic stem, on the lifter plate in the gliding location slide bar of side wall on the lift chamber, the side wall of rotation chamber has set firmly the fixed block, it is connected with the rotary ball to rotate in the fixed block, the rotary ball upside has set firmly upper rotating shaft, the rotary ball downside has set firmly lower rotating shaft, the third gear has set firmly on the lower rotating shaft, upper rotating shaft, rotary ball and sliding connection has the lift integral key shaft in the lower rotating shaft, lift integral key shaft upside has set firmly the spring block, the spring block with be connected with the lift spring between the upper rotating shaft, lift integral key shaft downside supplier claw piece, claw piece one side sliding connection has the compression bar, the compression pole with be connected with compression spring between the cleft hand piece, the compression pole opposite side rotates and is connected with the contact plate, the contact plate with be connected with contact spring between the cleft hand piece, cleft hand piece opposite side has set firmly fixed montant, fixed horizontal pole has set firmly on the fixed montant, articulated on the fixed horizontal pole have clamping jaw pneumatic cylinder, clamping jaw pneumatic cylinder has hydraulic system control, it has the clamping jaw connecting rod to articulate on the fixed montant, clamping jaw connecting rod downside has set firmly clamping jaw pole, set firmly on the clamping jaw pole with clamping jaw pneumatic cylinder articulated turning block, it has set firmly the promotion pneumatic cylinder to rotate the chamber lateral wall, the promotion pneumatic cylinder by hydraulic system control, the lift integral key shaft with the lifter plate butt.

Preferably, each rotation chamber with it is connected with the second pivot to rotate between the lift chamber, second pivot downside set firmly can with the second gear of third gear engagement, every second pivot upside set firmly respectively with the fourth band pulley with be connected with the second band pulley of belt between the fifth band pulley.

The beneficial effects are that: a vertical mechanical gripper capable of freely controlling movement is characterized in that a moving device can freely control the horizontal position of the mechanical gripper to freely move on an X axis and a Y axis, a rotating device can control the switching of different functions of the mechanical gripper, the mechanical gripper can grip and clamp the object and can turn the object to be clamped, a lifting device can control the vertical position of the mechanical gripper to freely move on a Z axis, and the mechanical gripper can freely move in three directions and can convert different functions of gripping and clamping.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic view of a freely controlled and movable vertical mechanical gripper of the present invention, which is a front view of the gripper;

FIG. 2 is a cross-sectional view of the rear side of FIG. 1 in accordance with the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 in accordance with the present invention;

fig. 4 is a partial enlarged view of the invention at B in fig. 1.

Detailed Description

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a vertical mechanical gripper capable of freely controlling movement, which comprises a machine body 10, wherein a moving cavity 67 is arranged in the machine body 10, a supporting wall 24 is fixedly arranged on the lower side surface of the machine body 10, four uniformly distributed supporting rods 25 are slidably connected in the supporting wall 24, a lifting cavity 37 is rotatably connected among the four supporting rods 25, a lifting cavity 68 is arranged in the lifting cavity 37, a rotating device 71 is arranged in the rotating cavity 69, a power cavity 30 is fixedly arranged on the upper side surface of the

lifting cavity

37, 73 is arranged in the power cavity 30, a moving device 70 for moving the mechanical gripper is arranged in the moving cavity 67, the moving device 70 comprises a hydraulic system 23 fixedly arranged on the upper side surface of the lifting cavity 37, a moving body 31 is fixedly arranged in the machine body 10, three uniformly distributed moving hydraulic cylinders 26 are arranged in the moving body 31, a hydraulic piston 27 is slidably connected in each moving hydraulic cylinder 26, hydraulic piston 27 is last to have set firmly piston rod 28, it has movable rod 29, three to articulate on the piston rod 28 be connected with triangle connecting block 32 between the movable rod 29, swivelling joint is in triangle connecting block 32 remove the chamber 67 with rotate between 73 connect and with lift cavity 37 fixed connection's first pivot 33, hydraulic system 23 respectively with every be connected with the hydraulic pressure pipe between the removal pneumatic cylinder 26, lift cavity 37 downside sets firmly two bilateral symmetry's fixed connecting rod 39, every set firmly in the fixed connecting rod 39 and rotate cavity 38, be equipped with rotation cavity 69 in the rotation cavity 38, be equipped with elevating gear 72 in the lift cavity 68.

Advantageously, the rotating device 71 comprises a main motor 11 fixedly installed in the moving body 31, the main motor 11 is in power connection with a motor shaft 12, a first belt pulley 13 is fixedly installed on the motor shaft 12, a spline shaft 16 is rotatably connected between the lifting cavity 68 and the 73, an engaging gear 18 is slidably connected to the upper side of the spline shaft 16, a spring is connected between the engaging gear 18 and the lower side wall of the 73, an engaging hydraulic cylinder 17 is fixedly installed on the right side wall of the 73, the engaging hydraulic cylinder 17 is controlled by the hydraulic system 23, a fourth belt pulley 14 is fixedly installed on the lower side of the spline shaft 16, a fifth belt pulley 15 is fixedly connected to the spline shaft 16 on the lower side of the fourth belt pulley 14, a first gear 19 capable of engaging with the engaging gear 18 is fixedly installed on the lower side of the first rotating shaft 33, a third belt pulley 34 is fixedly connected to the first rotating shaft 33 on the upper side of the first gear 19, a belt is connected between the third belt wheel 34 and the first belt wheel 13, so that the main motor 11 is started to drive the motor shaft 12 to rotate, the first belt wheel 13 is driven to rotate, the third belt wheel 34, the first gear 19 and the lifting cavity 37 are driven to rotate, and the whole mechanical gripper is driven to rotate.

Beneficially, the lifting device 72 comprises a hydraulic press 22 fixedly mounted on the lower side of the lifting cavity 37, the hydraulic press 22 is power-connected with a hydraulic rod 21, a lifting plate 36 is fixedly arranged on the hydraulic rod 21, a positioning slide bar 35 sliding on the side wall of the lifting cavity 68 is arranged on the lifting plate 36, a fixing block 42 is fixedly arranged on the side wall of the rotating cavity 69, a rotating sphere 43 is rotatably connected in the fixing block 42, an upper rotating shaft 48 is fixedly arranged on the upper side of the rotating sphere 43, a lower rotating shaft 44 is fixedly arranged on the lower side of the rotating sphere 43, a third gear 45 is fixedly arranged on the lower rotating shaft 44, a lifting spline shaft 46 is slidably connected in the upper rotating shaft 48, the rotating sphere 43 and the lower rotating shaft 44, a spring block 50 is fixedly arranged on the upper side of the lifting spline shaft 46, and a lifting spring 51 is connected between the spring block 50 and, supplier claw block 47 at the lower side of the lifting spline shaft 46, a compression rod 54 is connected to one side of the claw block 47 in a sliding manner, a compression spring 53 is connected between the compression rod 54 and the claw block 47, a contact plate 55 is connected to the other side of the compression rod 54 in a rotating manner, a contact spring 56 is connected between the contact plate 55 and the claw block 47, a fixed vertical rod 57 is fixedly arranged at the other side of the claw block 47, a fixed cross rod 58 is fixedly arranged on the fixed vertical rod 57, a claw hydraulic cylinder 60 is hinged on the fixed cross rod 58, the claw hydraulic cylinder 60 is controlled by the hydraulic system 23, a claw connecting rod 61 is hinged on the fixed vertical rod 57, a claw rod 59 is fixedly arranged at the lower side of the claw connecting rod 61, a rotating block 62 hinged with the claw hydraulic cylinder 60 is fixedly arranged on the claw rod 59, a pushing hydraulic cylinder 52 is fixedly arranged on the side wall of the rotating cavity 69, the pushing hydraulic cylinder 52, the lifting spline shaft 46 abuts against the lifting plate 36, so that the hydraulic press 22 is started, the hydraulic rod 21 is driven to move downwards, the lifting plate 36 is pulled to move downwards, the lifting plate 36 pushes the lifting spline shaft 46 downwards, when the hydraulic press 22 pushes upwards, the hydraulic rod 21 pushes the lifting plate 36, the lifting spring 51 pushes the spring block 50 and the lifting spline shaft 46 to move upwards, a mechanical paw hand moves vertically, and the lifting spline shaft 46 slides vertically in the upper rotating shaft 48, the rotating ball 43 and the lower rotating shaft 44.

Advantageously, a second rotating shaft 40 is rotatably connected between each rotating chamber 69 and the lifting chamber 68, a second gear 41 capable of meshing with the third gear 45 is fixedly arranged on the lower side of the second rotating shaft 40, a second pulley 20 connected with a belt between the fourth pulley 14 and the fifth pulley 15 is fixedly arranged on the upper side of each second rotating shaft 40, so that when the gripper function needs to be switched, the hydraulic system 23 is started, the engaging hydraulic cylinder 17 is controlled to push the engaging gear 18, the engaging gear 18 is moved upwards to mesh with the first gear 19, the fourth pulley 14 and the fifth pulley 15 are driven to rotate, when the engaging hydraulic cylinder 17 is reset, the engaging gear 18 is reset under the action of a spring, and the fourth pulley 14 and the fifth pulley 15 drive the second pulley 20 and the second gear 41 to rotate, the second gear 41 drives the third gear 45 to rotate, so that the lower rotating shaft 44 rotates, the rotating ball 43 rotates in the fixed block 42, the claw block 47 rotates to switch the claw function, the hydraulic system 23 controls three moving hydraulic cylinders 26 to push the hydraulic piston 27 to move, so that the triangular connecting block 32 and the first rotating shaft 33 move in the moving cavity 67, the supporting rod 25 moves in the supporting wall 24 and rotates in the lifting cavity 37 to drive the mechanical claw to move, the hydraulic system 23 controls the pushing hydraulic cylinder 52 to push the upper rotating shaft 48, the rotating ball 43 rotates in the fixed block 42 to drive the lifting spline shaft 46 to rotate, the claw blocks 47 approach each other, and when the claw rods 59 oppose each other, the hydraulic system 23 controls the claw hydraulic cylinder 60, the jaw connecting rod 61 is pushed to rotate, so that the two jaw rods 59 are close to each other to realize a jaw function, when the contact plates 55 are opposite to each other, a clamping function is realized, and the contact springs 56 can enable the contact plates 55 to change the contact angle, so that the object can be clamped conveniently.

In the initial state, the main motor 11, the hydraulic system 23, and the hydraulic press 22 are not activated, the elevation plate 36 is on the upper side of the elevation chamber 68, the second gear 41 is engaged with the third gear 45, and the elevation spline shaft 46 is kept upright.

When the mechanical paw is switched, the hydraulic system 23 is started, the meshing hydraulic cylinder 17 is controlled to push the meshing gear 18, the meshing gear 18 is moved upwards to mesh with the first gear 19, the fourth belt wheel 14 and the fifth belt wheel 15 are driven to rotate, the meshing hydraulic cylinder 17 is reset, the meshing gear 18 is reset under the action of a spring, the fourth belt wheel 14 and the fifth belt wheel 15 drive the second belt wheel 20 and the second gear 41 to rotate, the second gear 41 drives the third gear 45 to rotate, the lower rotating shaft 44 rotates, the rotating ball 43 rotates in the fixed block 42, the claw block 47 rotates to switch the claw function, the hydraulic system 23 controls the three moving hydraulic cylinders 26 to push the hydraulic piston 27 to move, the triangular connecting block 32 and the first rotating shaft 33 move in the moving cavity 67, the supporting rod 25 moves in the supporting wall 24 and rotates in the lifting cavity 37 to drive the mechanical claw to move, the hydraulic system 23 controls the pushing hydraulic cylinder 52 to push the upper rotating shaft 48, the rotating ball 43 rotates in the fixed block 42 to drive the lifting spline shaft 46 to rotate, the claw blocks 47 approach each other, when the claw rods 59 are opposite, the hydraulic system 23 controls the hydraulic cylinder 60 to push the claw connecting rod 61 to rotate, the two jaw levers 59 are moved toward each other to perform a jaw function, and when the contact plates 55 are opposed to each other, a clamping function is performed, and the contact springs 56 change a contact angle of the contact plates 55 to facilitate clamping of an object.

The above description is only an embodiment of the invention, but the scope of the invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a vertical mechanical gripper who freely controls removal, includes the organism, its characterized in that: a moving cavity is arranged in the machine body, a supporting wall is fixedly arranged on the lower side surface of the machine body, four uniformly distributed supporting rods are slidably connected in the supporting wall, a lifting cavity is rotatably connected among the four supporting rods, a lifting cavity is arranged in the lifting cavity, a rotating device is arranged in the rotating cavity, a power cavity is fixedly arranged on the upper side surface of the lifting cavity, a moving device for moving a mechanical gripper is arranged in the moving cavity;

2. The vertical gripper of claim 1, wherein: the rotating device comprises a main motor fixedly arranged in the moving body, the main motor is in power connection with a motor shaft, a first belt wheel is fixedly arranged on the motor shaft, a spline shaft is rotatably connected between the motor shaft and the lifting cavity, the upper side of the spline shaft is connected with a meshing gear in a sliding way, a spring is connected between the meshing gear and the lower side wall, the right side wall is fixedly provided with an engaging hydraulic cylinder which is controlled by the hydraulic system, a fourth belt wheel is fixedly arranged on the lower side of the spline shaft, a fifth belt wheel fixedly connected with the spline shaft is arranged on the lower side of the fourth belt wheel, the lower side of the first rotating shaft is fixedly provided with a first gear which can be meshed with the meshing gear, the upper side of the first gear is provided with a third belt wheel fixedly connected to the first rotating shaft, and a belt is connected between the third belt wheel and the first belt wheel.

3. The vertical gripper of claim 1, wherein: the lifting device comprises a hydraulic press fixedly arranged on the lower side surface of the lifting cavity, the hydraulic press is in power connection with a hydraulic rod, a lifting plate is fixedly arranged on the hydraulic rod, a positioning slide rod sliding on the side wall of the lifting cavity is arranged on the lifting plate, a fixed block is fixedly arranged on the side wall of the rotating cavity, a rotating ball body is rotatably connected in the fixed block, an upper rotating shaft is fixedly arranged on the upper side of the rotating ball body, a lower rotating shaft is fixedly arranged on the lower side of the rotating ball body, a third gear is fixedly arranged on the lower rotating shaft, a lifting spline shaft is slidably connected in the upper rotating shaft and the lower rotating shaft, a spring block is fixedly arranged on the upper side of the lifting spline shaft, a lifting spring is connected between the spring block and the upper rotating shaft, a gripper block is provided on the lower side of the lifting spline shaft, a compression rod is slidably connected on one side of the gripper block, the compression pole opposite side rotates and is connected with the contact plate, the contact plate with be connected with contact spring between the claw hand piece, claw hand piece opposite side has set firmly fixed montant, fixed horizontal pole has set firmly on the fixed montant, it has the clamping jaw pneumatic cylinder to articulate on the fixed horizontal pole, the clamping jaw pneumatic cylinder has hydraulic system controls, it has the clamping jaw connecting rod to articulate on the fixed montant, clamping jaw connecting rod downside has set firmly the clamping jaw pole, set firmly on the clamping jaw pole with clamping jaw pneumatic cylinder articulated turning block, it has set firmly the promotion pneumatic cylinder to rotate the chamber lateral wall, the promotion pneumatic cylinder by hydraulic system controls, the lift integral key shaft with the lifter plate butt.

4. The vertical gripper according to claim 3, characterized in that: every rotate the chamber with it is connected with the second pivot to rotate between the lift chamber, second pivot downside set firmly can with third gear engagement's second gear, every second pivot upside set firmly respectively with the fourth band pulley with be connected with the second band pulley of belt between the fifth band pulley.