CN111376292A - Mechanical claw - Google Patents
Mechanical claw Download PDFInfo
- Publication number
- CN111376292A CN111376292A CN202010267740.7A CN202010267740A CN111376292A CN 111376292 A CN111376292 A CN 111376292A CN 202010267740 A CN202010267740 A CN 202010267740A CN 111376292 A CN111376292 A CN 111376292A
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- clamping
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- connecting arm
- paw
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- 210000000078 claw Anatomy 0.000 title claims description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 81
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 12
- 238000004519 manufacturing process Methods 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
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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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
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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
- B25J15/08—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the field of mechanical arms, in particular to a mechanical gripper which comprises a clamping fixed seat, a clamping transmission cylinder, a fixed clamping gripper and a movable clamping device, wherein the movable clamping device comprises a clamping driving cylinder and a movable clamping device; a through hole is formed in the clamping fixed seat, and the clamping transmission cylinder is movably sleeved in the through hole; the fixed clamping paw and the movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, when the clamping transmission cylinder extends out, the fixed clamping paw and the movable clamping device are respectively and movably opened outwards to clamp a workpiece.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a mechanical gripper.
Background
With the technology changing day by day, people's living standard is continuously improved, and the cost of labor is improved along with the improvement, and more manufacturing industries are gradually tending to the development mode of mechanical automation and even intellectualization. The intelligent manipulator is generally needed for achieving a good grabbing effect, but the intelligent manipulator has more movable joints, often needs program control, is high in manufacturing cost and complex in maintenance, and non-intelligent manipulators on the market often cannot make various changes to adapt to workpieces of different specifications due to the fact that the non-intelligent manipulator mainly depends on mechanical transmission, so that the situation that the manipulators of different models need to be manufactured according to different workpieces or cannot firmly grab the workpieces occurs.
Therefore, it is necessary to provide a gripper that solves the above problems.
Disclosure of Invention
The present invention provides a gripper that overcomes at least one of the above-mentioned disadvantages of the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: a mechanical paw comprises a clamping fixed seat, a clamping transmission cylinder, a fixed clamping paw and a movable clamping device;
the clamping fixed seat is provided with a through hole, and the clamping transmission cylinder is movably sleeved in the through hole;
the fixed clamping paw and the movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, when the clamping transmission cylinder extends out, the fixed clamping paw and the movable clamping device are respectively and movably opened outwards to clamp a workpiece, the clamping transmission cylinder is movably sleeved in the through hole through the through hole formed in the clamping fixed seat, the clamping transmission cylinder can be stably installed on the clamping fixed seat, the fixed clamping paw and the movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, the clamping transmission cylinder can fully and uniformly transmit the stretching force formed by reciprocating motion to the fixed clamping paw and the movable clamping device, and the fixed clamping paw is arranged to jointly act with the clamping fixed seat and the clamping transmission cylinder to open and close to press most central positions of the workpiece from inside to outside, the movable clamping device is further automatically adjusted according to the specific shape of the workpiece, so that the movable clamping device and the clamping fixing seat and the clamping transmission cylinder act together to open and close to press the extra central position of the part of the workpiece from inside to outside, and finally the mechanical gripper can apply matched gripping force according to workpieces of different specifications, so that the workpiece can be stably moved and gripped.
Furthermore, the clamping transmission cylinder comprises a transmission cylinder body, a clamping ring and a transmission rod sleeved in the through hole;
the transmission cylinder body is connected with the transmission rod;
the clamping ring is sleeved on the outer side of the transmission rod, the length of an exposed piston rod of the transmission cylinder body is extended through the transmission rod, the transmission cylinder sleeve is convenient to clamp and is arranged in a through hole of the clamping fixing seat, the clamping ring is sleeved on the outer side of the transmission rod, and the fixed clamping claw and the movable clamping device are convenient to connect and fix, so that the clamping ring is driven to move up and down along with the reciprocating work of the transmission cylinder to be stressed and pulled, the clamping ring is opened and closed, and a workpiece is clamped in an elastic manner from inside to outside.
Furthermore, the movable clamping device comprises a movable claw, a rotating pin, a return spring and a movable connector connected with the clamping ring;
the movable paw is rotatably arranged on the movable connector through a rotating pin;
one end of the reset spring is connected with the movable paw, the other end of the reset spring is connected with the movable connector after bypassing the rotating pin, the movable connector can swing with the joint of the movable connector and the clamping ring as the center along with the up-and-down movement of the clamping ring through the arrangement of the movable connector connected with the clamping ring, the movable connector can perform opening and closing actions to press a workpiece from inside to outside, the movable paw is rotatably arranged on the movable connector through the rotating pin, one end of the reset spring is connected with the movable paw, the other end of the reset spring is connected with the movable connector after bypassing the rotating pin, so that the movable paw can automatically adjust the included angle formed by the movable paw and the movable connector through the elastic action of the reset spring along with the shape of the contacted workpiece, the movable paw and the movable paw are tightly attached to the workpiece, and therefore the workpiece is not easy to loosen when the mechanical paw moves.
Further, the movable connector comprises a movable connecting arm and a clamping connecting arm connected with the clamping ring;
the clamping fixed seat is provided with a movable connecting seat, one end of the movable connecting arm is hinged on the movable connecting seat, and the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm;
the movable claw is rotatably arranged at the head end of the clamping connecting arm through a rotating pin, the clamping connecting arm can swing by taking the bottom end of the clamping connecting arm connected with the clamping ring as the center along with the up-and-down movement of the clamping ring through the arrangement of the clamping connecting arm connected with the clamping ring, one end of the movable connecting arm is hinged on the movable connecting seat, the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is limited by the movable connecting arm, when the transmission cylinder drives the clamping ring to move downwards, the clamping connecting arm is opened and closed along with the opening and closing of the head end side, so that the workpiece can be pressed and controlled from inside to outside to a certain extent, the movable claw is rotatably arranged at the head end of the clamping connecting arm through the rotating pin, so that the movable claw and the clamping connecting arm can further press the workpiece under the combined action of the movable claw and the clamping connecting arm close to the head end side, and the mechanical claw can clamp the workpiece more stably.
Furthermore, the bottom end of the clamping connecting arm is provided with a limiting hole, the clamping ring is provided with a plurality of rotating pins, the limiting hole is matched with the rotating pins in size, the bottom end of the clamping connecting arm is hinged with the clamping ring through the rotating pins and the limiting hole, and therefore the bottom end of the clamping connecting end can reciprocate along with the transmission cylinder to drive the clamping ring to move up and down and swing by taking the hinged position of the bottom end of the clamping connecting arm as a center.
Furthermore, the fixed clamping paw comprises a fixed paw, a fixed connecting arm and a fixed limiting hole matched with the rotating pin in size;
a fixed connecting seat is arranged on the clamping fixed seat, one end of the fixed connecting arm is hinged on the fixed connecting seat, and the other end of the fixed connecting arm is hinged with the middle part of the fixed paw;
the fixed limiting hole is formed in the fixed claw, the fixed limiting hole is matched with the rotating pin in size through the fixed claw, the clamping ring is hinged to the bottom end of the fixed claw, one end of the fixed connecting arm is hinged to the fixed connecting seat, the other end of the fixed connecting arm is hinged to the middle of the fixed claw, when the transmission cylinder reciprocates through the transmission rod to enable the clamping ring to move up and down, the bottom end of the fixed claw is pulled by the rotating pin, the middle of the fixed claw is limited by the fixed connecting arm, and therefore the fixed claw is opened and closed by moving up and down along with the clamping ring on the side of the head end, and the workpiece is subjected to tightness compression from inside to outside.
Further, press from both sides tight fixing base including fixed frame and the erection joint board of setting in fixed frame, the through-hole sets up on the erection joint board, through the setting of fixed frame, makes to provide the support and be convenient for press from both sides tight fixing base and be connected with other apparatus for the work piece on the horizontal mode, and the erection joint board of band-pass hole then is convenient for fixed clamping hand claw, movable clamping device and presss from both sides tight transmission cylinder and install on mechanical gripper.
Furthermore, the clamping fixing seats are provided with limiting supports for limiting the workpieces, the limiting supports are symmetrically arranged, and the workpieces can be quickly and uniformly positioned by the clamping fixing seats under stress through the symmetrical limiting supports, so that the workpieces are not easy to displace in the horizontal direction.
Furthermore, the limiting upright posts are arranged on the limiting supporting bodies, and the workpiece and the clamping fixing seat can be accurately matched and positioned through the limiting upright posts, so that the mechanical gripper is convenient to fix the workpiece quickly from the inner side of the workpiece to the periphery of the workpiece through the clamping traditional cylinder, and the workpiece is not easy to shake in the process of moving the workpiece.
Furthermore, a clamping stop block is arranged on the clamping fixing seat on one side of the movable clamping device, and through the arrangement of the clamping stop block, a force towards the inner side of the workpiece can be applied to the outer side of the workpiece, so that the workpiece can be positioned on the clamping fixing seat to a certain extent, and the workpiece can be clamped stably under the combined action of the movable clamping device and the movable clamping device.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
(1) the invention discloses a mechanical paw, a through hole is arranged on a clamping fixed seat, a clamping transmission cylinder is movably sleeved in the through hole, so that the clamping transmission cylinder can be stably installed on the clamping fixed seat, a fixed clamping paw and a movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, the clamping transmission cylinder can fully and uniformly transmit stretching force formed by reciprocating motion to the fixed clamping paw and the movable clamping device, the fixed clamping paw is arranged to jointly act with the clamping fixed seat and the clamping transmission cylinder to carry out opening and closing actions to press most central positions of a workpiece from inside to outside, the movable clamping device further carries out automatic adjustment according to the specific shape of the workpiece, and thus, the movable clamping device jointly acts with the clamping fixed seat and the clamping transmission cylinder to carry out opening and closing actions to press the additional central positions of the workpiece from inside to outside, finally, the mechanical gripper can apply matched gripping force according to workpieces of different specifications, so that the workpieces can be stably moved and gripped.
(2) The invention discloses a mechanical paw, which can lead a movable connector to swing by taking the joint of the movable connector and a clamping ring as the center along with the up-and-down movement of the clamping ring through the arrangement of the movable connector connected with the clamping ring, lead the movable connector to do opening and closing actions to press a workpiece from inside to outside, lead the movable paw to be rotatablely arranged on the movable connector through a rotating pin, lead one end of a return spring to be connected with the movable paw, lead the other end to be connected with the movable connector after bypassing the rotating pin, lead the movable paw to automatically adjust the included angle formed by the movable paw and the movable connector along with the shape of the contacted workpiece through the elastic action of the return spring, lead the movable paw and the movable connector to be tightly attached to the workpiece, and lead the mechanical paw to move the workpiece and be difficult to have the loosening.
(3) The invention discloses a mechanical gripper, which is characterized in that a clamping connecting arm connected with a clamping ring is arranged, so that the clamping connecting arm can swing around the bottom end of the clamping connecting arm connected with the clamping ring as the center along with the up-and-down movement of the clamping ring, one end of a movable connecting arm is hinged on a movable connecting seat, the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is limited by the movable connecting arm, when a transmission cylinder drives the clamping ring to move downwards, the clamping connecting arm is opened and closed along with the front end side, so that a workpiece can be pressed and controlled from inside to outside to a certain extent, and the movable gripper is rotatably arranged on the clamping connecting arm at the front end through a rotating pin, so that the movable gripper can further press the workpiece along with the combined action of the
(4) The invention discloses a mechanical paw, wherein a fixed paw is provided with a fixed limiting hole matched with a rotary pin in size, a clamping ring is hinged with the bottom end of the fixed paw, one end of a fixed connecting arm is hinged on a fixed connecting seat, the other end of the fixed connecting arm is hinged with the middle part of the fixed paw, when a transmission cylinder reciprocates through a transmission rod to enable the clamping ring to move up and down, the bottom end of the fixed paw is pulled by the rotary pin, the middle part of the fixed paw is limited by the fixed connecting arm, and therefore the fixed paw moves up and down along with the clamping ring near the front end side to perform opening and closing actions, and a workpiece is tightly pressed from inside to outside.
Drawings
FIG. 1 is a schematic view of the structure of a gripper according to the present invention.
Fig. 2 is a schematic structural view of the gripper of the present invention.
Fig. 3 is a schematic structural view of the gripper of the present invention.
Fig. 4 is a schematic view of the bottom structure of the gripper of the present invention.
In the figure, 1 is a clamping fixed seat, 2 is a clamping transmission cylinder, 3 is a fixed clamping paw, 4 is a movable clamping device, 5 is a through hole, 6 is a transmission cylinder body, 7 is a clamping ring, 8 is a transmission rod, 9 is a movable paw, 10 is a rotating pin, 11 is a movable connector, 12 is a movable connecting arm, 13 is a clamping connecting arm, 14 is a movable connecting seat, 15 is a limiting hole, 16 is a rotating pin, 17 is a fixed paw, 18 is a fixed connecting arm, 19 is a fixed limiting hole, 20 is a fixed connecting seat, 21 is a fixed frame, 22 is an installation connecting plate, 23 is a limiting support, 24 is a limiting upright post, and 25 is a clamping stop block.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, so to speak, as communicating between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1-4, a mechanical gripper comprises a clamping fixed seat 1, a clamping transmission cylinder 2, a fixed clamping gripper 3 and a movable clamping device 4; a through hole 5 is arranged on the clamping fixed seat, and the clamping transmission cylinder is movably sleeved in the through hole; the fixed clamping paw and the movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, when the clamping transmission cylinder extends out, the fixed clamping paw and the movable clamping device are respectively and movably opened outwards to clamp a workpiece, the clamping transmission cylinder is movably sleeved in the through hole through the through hole formed in the clamping fixed seat, the clamping transmission cylinder can be stably installed on the clamping fixed seat, the fixed clamping paw and the movable clamping device are distributed outside the through hole and are respectively connected with the clamping transmission cylinder, the clamping transmission cylinder can fully and uniformly transmit the stretching force formed by reciprocating motion to the fixed clamping paw and the movable clamping device, and the fixed clamping paw is arranged to jointly act with the clamping fixed seat and the clamping transmission cylinder to open and close to press the central position of most of the workpiece from inside to outside, the movable clamping device is further automatically adjusted according to the specific shape of the workpiece, so that the movable clamping device and the clamping fixing seat and the clamping transmission cylinder act together to open and close to press the extra central position of the part of the workpiece from inside to outside, and finally the mechanical gripper can apply matched gripping force according to workpieces of different specifications, so that the workpiece can be stably moved and gripped.
In the invention, the clamping transmission cylinder comprises a transmission cylinder body 6, a clamping ring 7 and a transmission rod 8 sleeved in the through hole; the transmission cylinder body is connected with the transmission rod; the clamping ring is sleeved on the outer side of the transmission rod, the length of the exposed piston rod of the transmission cylinder body is extended through the arrangement of the transmission rod, the transmission cylinder sleeve is convenient to clamp and is arranged in the through hole of the clamping fixing seat, the clamping ring is sleeved on the outer side of the transmission rod, the fixed clamping claw and the movable clamping device are convenient to connect, the clamping ring is driven to move up and down along with the reciprocating work of the transmission cylinder, and the clamping ring is stressed and pulled, so that the clamping ring is opened and closed, and the workpiece is clamped in an elastic manner from. Wherein, the movable clamping device comprises a movable paw 9, a rotating pin 10, a return spring and a movable connector 11 connected with the clamping ring; the movable paw is rotatably arranged on the movable connector through a rotating pin; one end of a return spring is connected with the movable paw, the other end of the return spring is connected with the movable connector after bypassing the rotating pin, the movable connector can swing with the joint of the movable connector and the clamping ring as the center along with the up-and-down movement of the clamping ring through the arrangement of the movable connector connected with the clamping ring, the movable connector can perform opening and closing actions to press a workpiece from inside to outside, the movable paw is rotatably arranged on the movable connector through the rotating pin, one end of the return spring is connected with the movable paw, the other end of the return spring is connected with the movable connector after bypassing the rotating pin, so that the movable paw can automatically adjust the included angle formed by the movable paw and the movable connector through the elastic action of the return spring along with the shape of the contacted workpiece, the movable paw and the movable paw are tightly attached to the workpiece, and therefore the workpiece can be moved by the mechanical paw without loosening. Furthermore, the movable connector comprises a movable connecting arm 12 and a clamping connecting arm 13 connected with the clamping ring; a movable connecting seat 14 is arranged on the clamping fixed seat, one end of a movable connecting arm is hinged on the movable connecting seat, and the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm; the movable claw is rotatably arranged at the head end of the clamping connecting arm through the rotating pin, the clamping connecting arm connected with the clamping ring is arranged, so that the clamping connecting arm can swing by taking the bottom end of the clamping connecting arm connected with the clamping ring as the center along with the up-and-down movement of the clamping ring, one end of the movable connecting arm is hinged on the movable connecting seat, the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is limited by the movable connecting arm, when the transmission cylinder drives the clamping ring to move downwards, the clamping connecting arm is opened and closed along with the opening and closing of the head end side, so that the workpiece can be pressed and controlled from inside to outside to a certain extent, the movable claw is rotatably arranged at the head end of the clamping connecting arm through the rotating pin, so that the movable claw and the clamping connecting arm can further press the workpiece under the combined action of the movable claw and the clamping connecting arm close to the head end side, and the mechanical claw can clamp the workpiece more stably.
The bottom end of the clamping connecting arm is provided with a limiting hole 15, the clamping ring is provided with a plurality of rotating pins 16, the limiting hole is matched with the rotating pins in size, the bottom end of the clamping connecting arm is hinged with the clamping ring through the rotating pins and the limiting hole, and therefore the bottom end of the clamping connecting end can work in a reciprocating mode along with the transmission cylinder to drive the clamping ring to move up and down and swing around the hinged position of the bottom end of the clamping connecting arm. The fixed clamping paw comprises a fixed paw 17, a fixed connecting arm 18 and a fixed limiting hole 19 matched with the rotating pin in size; a fixed connecting seat 20 is arranged on the clamping fixed seat, one end of the fixed connecting arm is hinged on the fixed connecting seat, and the other end of the fixed connecting arm is hinged with the middle part of the fixed paw; fixed spacing hole sets up on fixed hand claw, set up through fixed hand claw and rotatory round pin size assorted fixed spacing hole, make chucking ring and fixed hand claw bottom hinged joint, and fixed link arm one end articulates on fixed connection seat, the other end is articulated mutually with fixed hand claw middle part, when transmission cylinder reciprocating motion made chucking ring reciprocate through the transfer line, fixed hand claw bottom received rotatory round pin pull thereupon, and fixed hand claw middle part is injectd by the fixed link arm again, thereby make fixed hand claw reciprocate along with chucking ring by the head end side and open and shut the action, thereby carry out from inside to outside elasticity oppression to the work piece. In addition, press from both sides tight fixing base and include fixed frame 21 and the erection joint board 22 of setting in fixed frame, the through-hole setting is on the erection joint board, through the setting of fixed frame, makes for the work piece in the horizontal mode provide support and be convenient for press from both sides tight fixing base and be connected with other apparatus, and the erection joint board of band pass through-hole is then convenient for fixed clamping hand claw, movable clamping device and press from both sides tight transmission cylinder and install on mechanical gripper.
In order to enable the workpiece to be positioned by the clamping fixing seat quickly and uniformly under stress and enable the workpiece not to displace easily in the horizontal direction, the clamping fixing seat is provided with limiting supports 23 for limiting the workpiece, and the limiting supports are symmetrically arranged. And the limiting upright post 24 is arranged on the limiting support, so that the workpiece and the clamping fixing seat can be accurately matched and positioned through the arrangement of the limiting upright post, the mechanical gripper is convenient to fix the workpiece quickly by clamping the traditional cylinder from the inner side of the workpiece to the periphery and applying force, and the workpiece is not easy to shake in the process of moving the workpiece. In addition, a clamping stop block 25 is arranged on the clamping fixed seat on one side of the movable clamping device, and through the arrangement of the clamping stop block, a force towards the inner side of the workpiece can be applied to the outer side of the workpiece, so that the workpiece can be positioned on the clamping fixed seat to a certain extent, and the workpiece can be clamped stably under the combined action of the movable clamping device and the movable clamping device. .
When the clamping device is used, the transmission cylinder body drives the transmission rod to do stretching work in the through hole through reciprocating motion, the clamping ring is sleeved outside the transmission rod and is hinged with the bottom end of the fixed claw and the bottom end of the clamping connecting arm respectively, so that the fixed claw and the clamping connecting arm can drive the clamping ring sleeve to move up and down along with the reciprocating work of the transmission cylinder to generate tearing movement, wherein the middle part of the fixed claw is limited by the fixed connecting arm, so that the side, close to the front end, of the fixed claw can only move up and down along with the clamping ring sleeve to generate opening and closing actions, and a workpiece is pressed from inside to outside to a certain degree; the head end of the clamping connecting arm is hinged to the movable claw, the middle part of the clamping connecting arm is limited by the movable connecting arm, one end of the reset spring is connected with the movable claw, and the other end of the reset spring is connected with the movable connector after bypassing the rotating pin, so that the movable claw and the head end of the clamping connecting arm can be tightly attached to a workpiece together, and the workpiece can be pressed from inside to outside together with the fixed claw even if the movable claw faces an irregular workpiece. In addition, the workpiece is further pressed from outside to inside by the clamping stop blocks and the limiting supports which are symmetrically arranged, so that the mechanical gripper can stably grab the workpiece.
In the drawings, the positional relationship is described for illustrative purposes only and is not to be construed as limiting the present patent; it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a mechanical gripper, includes and presss from both sides tight fixing base, presss from both sides tight transmission cylinder and fixed clamping gripper, its characterized in that: the device also comprises a movable clamping device;
the clamping fixed seat is provided with a through hole, and the clamping transmission cylinder is movably sleeved in the through hole;
the fixed clamping paw and the movable clamping device are distributed on the outer side of the through hole and are respectively connected with the clamping transmission cylinder, and when the clamping transmission cylinder extends out, the fixed clamping paw and the movable clamping device respectively move outwards and open to clamp a workpiece.
2. The gripper of claim 1, wherein: the clamping transmission cylinder comprises a transmission cylinder body, a clamping ring and a transmission rod sleeved in the through hole;
the transmission cylinder body is connected with the transmission rod;
the clamping ring is sleeved on the outer side of the transmission rod.
3. The gripper of claim 2, wherein: the movable clamping device comprises a movable claw, a rotating pin, a return spring and a movable connector connected with the clamping ring;
the movable paw is rotatably arranged on the movable connector through a rotating pin;
one end of the reset spring is connected with the movable paw, and the other end of the reset spring is connected with the movable connector after bypassing the rotating pin.
4. The gripper of claim 3, wherein: the movable connector comprises a movable connecting arm and a clamping connecting arm connected with the clamping ring;
the clamping fixed seat is provided with a movable connecting seat, one end of the movable connecting arm is hinged on the movable connecting seat, and the other end of the movable connecting arm is hinged with the middle part of the clamping connecting arm;
the movable claw is rotatably arranged at the head end of the clamping connecting arm through a rotating pin.
5. The gripper of claim 4, wherein: the bottom end of the clamping connecting arm is provided with a limiting hole, the clamping ring is provided with a plurality of rotating pins, and the limiting hole is matched with the rotating pins in size.
6. The gripper of claim 5, wherein: the fixed clamping paw comprises a fixed paw, a fixed connecting arm and a fixed limiting hole matched with the rotating pin in size;
a fixed connecting seat is arranged on the clamping fixed seat, one end of the fixed connecting arm is hinged on the fixed connecting seat, and the other end of the fixed connecting arm is hinged with the middle part of the fixed paw;
the fixed limiting hole is formed in the fixed paw.
7. The gripper of claim 1, wherein: the clamping fixing seat comprises a fixing frame and an installation connecting plate arranged in the fixing frame, and the through hole is formed in the installation connecting plate.
8. The gripper of claim 1, wherein: the clamping fixing seat is provided with limiting supports for limiting workpieces, and the limiting supports are symmetrically arranged.
9. The gripper of claim 8, wherein: and the limiting support is provided with a limiting upright post.
10. The gripper of claim 1, wherein: and a clamping stop block is arranged on the clamping fixed seat on one side of the movable clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010267740.7A CN111376292A (en) | 2020-04-08 | 2020-04-08 | Mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010267740.7A CN111376292A (en) | 2020-04-08 | 2020-04-08 | Mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111376292A true CN111376292A (en) | 2020-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010267740.7A Pending CN111376292A (en) | 2020-04-08 | 2020-04-08 | Mechanical claw |
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| CN (1) | CN111376292A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114001100A (en) * | 2021-11-30 | 2022-02-01 | 中车贵阳车辆有限公司 | Bearing fitting robot |
| CN114110027A (en) * | 2021-11-30 | 2022-03-01 | 中车贵阳车辆有限公司 | Bearing clamp |
| CN114135587A (en) * | 2021-11-30 | 2022-03-04 | 中车贵阳车辆有限公司 | Bearing fit cleaning system |
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| JP2015033751A (en) * | 2013-08-09 | 2015-02-19 | 本田技研工業株式会社 | Gripping mechanism and workpiece moving mechanism |
| CN204585235U (en) * | 2014-09-22 | 2015-08-26 | 长春工业大学 | A kind of pneumatic brake cable drives and has the manipulator of staff feature |
| CN108297120A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot handgrip fixture |
| CN209453590U (en) * | 2018-12-05 | 2019-10-01 | 无锡进源科技开发有限公司 | A kind of inner bearing type mechanical gripper |
| CN211867841U (en) * | 2020-04-08 | 2020-11-06 | 肇庆华信高精密机械有限公司 | Mechanical claw |
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| CN114001100A (en) * | 2021-11-30 | 2022-02-01 | 中车贵阳车辆有限公司 | Bearing fitting robot |
| CN114110027A (en) * | 2021-11-30 | 2022-03-01 | 中车贵阳车辆有限公司 | Bearing clamp |
| CN114135587A (en) * | 2021-11-30 | 2022-03-04 | 中车贵阳车辆有限公司 | Bearing fit cleaning system |
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