CN111452077A - Grabbing mechanical claw with good adaptability - Google Patents
Grabbing mechanical claw with good adaptability Download PDFInfo
- Publication number
- CN111452077A CN111452077A CN202010485034.XA CN202010485034A CN111452077A CN 111452077 A CN111452077 A CN 111452077A CN 202010485034 A CN202010485034 A CN 202010485034A CN 111452077 A CN111452077 A CN 111452077A
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- CN
- China
- Prior art keywords
- piston
- chamber
- intercommunication
- gas
- wall
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- 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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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
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
-
- 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)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing mechanical gripper with good adaptability, which comprises a connecting block, wherein a first motor is fixedly arranged in the lower end surface of the connecting block, the lower end of the first motor is in power connection with a control block, a grabbing control device is arranged in the control block, the grabbing control device comprises a first piston cavity arranged in the control block, a first piston is arranged in the first piston cavity in a vertically sliding manner, the lower end surface of the first piston is fixedly connected with a first piston rod with the lower end extending outwards, and a grabbing device is arranged on the lower side of the grabbing control device, the mechanical claw can be suitable for grabbing articles with different sizes and shapes, and the adaptability is good.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a grabbing mechanical claw with good adaptability.
Background
Along with the development of science and technology, in order to improve the quality and the production efficiency of work piece, adopted the manipulator gradually to take the place of manual operation in industrial production, in many occasions, article appearance that generally presss from both sides as required presss from both sides and presss from both sides designs manipulator or gripper specially, however its motion generally needs great space, and when changing the article that needs to press from both sides and press from both sides the use, adaptability is relatively poor, needs to design new gripper, wastes time and energy. The present invention sets forth a device that solves the above problems.
Disclosure of Invention
The technical problem is as follows: generally, a manipulator or a mechanical claw is specially designed according to the appearance of an article to be clamped, however, the movement of the manipulator or the mechanical claw generally needs a larger space, and when the article to be clamped is replaced, the manipulator or the mechanical claw cannot be adapted or even cannot be clamped for use, and the adaptability is poor.
In order to solve the problems, the gripping gripper with good adaptability comprises a connecting block, a first motor is fixedly arranged in the lower end face of the connecting block, the lower end of the first motor is in power connection with a control block, a gripping control device is arranged in the control block, the gripping control device comprises a first piston cavity arranged in the control block, a first piston is arranged in the first piston cavity in a vertically sliding manner, a first piston rod with the lower end extending out is fixedly connected to the lower end face of the first piston, a first gas pipe is communicated and arranged on the upper wall of the first piston, slide rod cavities are symmetrically arranged on the first gas pipe in a vertically through manner, slide rods are arranged in the slide rod cavities in a vertically sliding manner, first gas passages with opposite openings are arranged on the slide rods on the left side and the right side, a second gas pipe is communicated and arranged on the close inner wall on one side of the slide rod cavities on the left side and the right side, when the slide bar is in last extreme position, first air route upper end intercommunication first piston upside with the second gas-supply pipe, the grabbing controlling means downside is equipped with grabbing device, grabbing device is including fixed locating the supporting shoe of first piston rod lower extreme, the fixed ring that is equipped with of terminal surface under the supporting shoe, the circumference terminal surface equipartition of fixed ring just fixes and is equipped with four connecting rods, just be located between the connecting rod the fixed axle that is equipped with in position of the supporting shoe outside, the pivoted is equipped with the upset pole on the fixed axle, the upset pole is in the one end of fixed axle upside is equipped with the spread groove, wall symmetry and intercommunication are equipped with the spacing groove around the spread groove, gliding front and back both ends extend to the gag lever post in the spacing groove around being equipped with from top to bottom in the spread groove. Preferably, the grabbing control device comprises a communicating and locating device and a limiting cavity, the left side and the right side of the sliding rod cavity are respectively far away from the inner wall of one side of the limiting cavity, a limiting block is arranged in the limiting cavity in a vertically sliding mode, the upper end face of the limiting block is fixedly connected with a first spring between the inner walls of the limiting cavity, the lower wall of the first piston cavity is located under the sliding rod, a push rod is fixedly arranged, when the first piston slides downwards to the lower limit position, the push rod can be inserted into the sliding rod cavity and pushed, and the sliding rod slides upwards to the upper limit position.
Preferably, the gripping device comprises a clamping jaw fixedly arranged at one end of the lower side of the fixed shaft, the lower side of the clamping jaw is close to one side end face of the supporting block axis, a rubber mat is fixedly arranged on the side end face of the supporting block axis, four second piston cavities are arranged in the supporting block in an annular array mode, second pistons are arranged in the second piston cavities in a sliding mode, second piston rods are fixedly arranged on one side end face of the supporting block axis far away from the second pistons, one end, far away from the supporting block axis, of each second piston rod extends to the outside and is fixedly connected to the limiting rod, one side end face of the supporting block axis far away from the second piston cavities, and second springs are fixedly connected between the inner walls of the second piston cavities.
But preferably, just be located in the backup pad position between the second piston chamber is equipped with the carousel chamber, carousel chamber lower wall internal fixation is equipped with the second motor, second motor upper end power connection has the reposition of redundant personnel carousel, be equipped with the reposition of redundant personnel chamber in the reposition of redundant personnel carousel, reposition of redundant personnel chamber upper wall intercommunication is equipped with the third gas-supply pipe, third gas-supply pipe upper end and the second gas-supply pipe intercommunication of the left and right sides, reposition of redundant personnel chamber week inner wall annular array just link up and be equipped with eight second gas circuits, the carousel chamber with communicate respectively between the second piston chamber be equipped with can with the intercommunication mouth of second gas circuit intercommunication.
But preferably, wherein two are relative the fixed shutoff piece that is equipped with of relative one end in the second gas circuit, the shutoff piece is sealed the second gas circuit with the intercommunication department in reposition of redundant personnel chamber, second gas circuit lower wall just is located the shutoff piece is kept away from reposition of redundant personnel chamber one side intercommunication is equipped with the first mouth that loses heart of opening decurrent, carousel chamber lower wall annular array has four second that open side down and loses heart, works as by the shutoff piece shutoff when second gas circuit and intercommunication mouth communicate, the second that first loses heart and this department loses heart intercommunication.
The invention has the beneficial effects that: the grabbing control device controls the grabbing device to grab after sliding down to the lower limit position, prevents the mechanical claw from opening and overturning to touch other objects when descending, improves the safety and reliability when grabbing in some special places, can be flexibly adjusted according to grabbed objects in different shapes through the shunting turntable in the grabbing device, enables the mechanical claw to be suitable for grabbing objects in different sizes and shapes, and has good adaptability.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic view of the overall structure of a gripping gripper according to the present invention;
FIG. 2 is a sectional view taken in the direction "A-A" of FIG. 1;
FIG. 3 is an enlarged schematic view of "B" of FIG. 1;
FIG. 4 is an enlarged schematic view of "C" of FIG. 1;
fig. 5 is a cross-sectional view taken in the direction "D-D" of fig. 2.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, for ease of description, the orientations described below will now be defined as follows: 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 grabbing mechanical claw with good adaptability, which is mainly used for controlling grabbing and transferring articles, and the invention is further explained by combining the attached drawings of the invention: the invention relates to a grabbing gripper with good adaptability, which comprises a connecting block 11, wherein a first motor 12 is fixedly arranged in the lower end surface of the connecting block 11, the lower end of the first motor 12 is in power connection with a control block 13, a grabbing control device 101 is arranged in the control block 13, the grabbing control device 101 comprises a first piston cavity 14 arranged in the control block 13, a first piston 15 is arranged in the first piston cavity 14 in a vertical sliding manner, a first piston rod 16 with the lower end extending to the outside is fixedly connected to the lower end surface of the first piston 15, a first air conveying pipe 17 is communicated with the upper wall of the first piston 15, sliding rod cavities 18 are symmetrically arranged on the first air conveying pipe 17 in a vertical through manner, sliding rods 19 are arranged in the sliding rod cavities 18 in a vertical sliding manner, first air passages 23 with opposite openings are arranged on the sliding rods 19 on the left side and the right side, a second air conveying pipe 24 is communicated with the inner wall of the sliding rod cavities 18 on the left side and the right, when the slide rod 19 is at the upper limit position, the upper end of the first air passage 23 is communicated with the upper side of the first piston 15 and the second air conveying pipe 24, a gripping device 102 is arranged at the lower side of the gripping control device 101, the gripping device 102 comprises a supporting block 26 fixedly arranged at the lower end of the first piston rod 16, the lower end surface of the supporting block 26 is fixedly provided with a fixed ring 27, the circumferential end surface of the fixed ring 27 is uniformly and fixedly provided with four connecting rods 28, a fixed shaft 49 is fixedly arranged between the connecting rods 28 and at the position outside the supporting block 26, the fixed shaft 49 is provided with a turning rod 29 in a rotating way, one end of the turning rod 29 at the upper side of the fixed shaft 49 is provided with a connecting groove 30, the wall symmetry just communicates before connecting groove 30 and is equipped with spacing groove 31, both ends extend to gag lever post 32 in the spacing groove 31 around gliding being equipped with in the connecting groove 30.
Beneficially, as detailed in the following, the grasping control device 101 is described in detail, the grasping control device 101 includes a limiting cavity 20 disposed on the left and right sides of the sliding rod cavity 18 and far away from the inner wall of one side, a limiting block 21 is disposed in the limiting cavity 20 in a vertically sliding manner, a first spring 22 is fixedly connected between the upper end surface of the limiting block 21 and the inner wall of the limiting cavity 20, a push rod 25 is fixedly disposed on the lower wall of the first piston cavity 14 and located directly below the sliding rod 19, and when the first piston 15 slides down to the lower limit position, the push rod 25 can be inserted into the sliding rod cavity 18 and push the sliding rod 19 to slide up to the upper limit position.
Advantageously, as will be described in detail below, the gripping device 102 includes a clamping jaw 47 fixedly disposed at one end of the turning rod 29 at the lower side of the fixed shaft 49, a rubber pad 48 is fixedly disposed at one side end face of the lower side of the clamping jaw 47 close to the axis of the supporting block 26, four second piston cavities 33 are disposed in the supporting block 26 in an annular array, a second piston 34 is slidably disposed in the second piston cavity 33, a second piston rod 35 is fixedly disposed at one side end face of the second piston 34 away from the axis of the supporting block 26, one end of the second piston rod 35 away from the axis of the supporting block 26 extends to the outside and is fixedly connected to the limiting rod 32, and a second spring 36 is fixedly connected between one side end face of the second piston cavity 33 away from the axis of the supporting block 26 and the inner wall of the second piston cavity 33.
Beneficially, a rotating disc cavity 37 is arranged in the supporting block 26 and between the second piston cavities 33, a second motor 38 is fixedly arranged in the lower wall of the rotating disc cavity 37, a diversion rotating disc 39 is dynamically connected to the upper end of the second motor 38, a diversion cavity 40 is arranged in the diversion rotating disc 39, a third air pipe 46 is arranged on the upper wall of the diversion cavity 40 in a communication mode, the upper end of the third air pipe 46 is communicated with the second air pipes 24 on the left side and the right side, eight second air passages 41 are arranged in the diversion cavity 40 in a circular array on the circumferential inner wall of the diversion cavity 40 in a penetrating mode, and communication ports 42 which can be communicated with the second air passages 41 are respectively arranged between the rotating disc cavity 37 and the second piston cavities 33 in a communication mode.
Beneficially, wherein two opposite one ends in the second air channel 41 are fixedly provided with a blocking block 43, the blocking block 43 is closed the second air channel 41 and the communication position of the diversion cavity 40, the lower wall of the second air channel 41 is located and the blocking block 43 is far away from the diversion cavity 40 side and is communicated with a first air release opening 44 with a downward opening, the annular array of the lower wall of the turntable cavity 37 is provided with four second air release openings 45 with a downward opening, and when the second air channel 41 is blocked by the blocking block 43 and is communicated with the communication opening 42, the first air release opening 44 is communicated with the second air release opening 45 at the position.
The following describes in detail the use steps of a gripping gripper with good adaptability with reference to fig. 1 to 5: at the beginning, the first piston 15 is at the upper limit position, the sliding rod 19 and the limiting block 21 are at the lower limit position, the first spring 22 is always in a compressed state, the second piston 34 is at the middle position of the stroke, and the communication port 42 is in a communication state with the second air passage 41 which is not blocked by the blocking block 43.
When the lifting device is ready to work, the connecting block 11 is fixedly connected to the lower end of the lifting arm, the lifting arm moves the mechanical claw to be above a gripped object, if the size of the gripped object is smaller than the distance between the four clamping jaws 47, compressed gas is conveyed into the first piston cavity 14 through the first gas pipe 17, then the gas pushes the first piston 15 to slide downwards, further the first piston rod 16 slides downwards and drives the supporting block 26 to slide downwards and extend to the object to be conveyed and transferred, when the first piston 15 slides downwards to a lower limit position, the upper end of the ejector rod 25 is inserted into the sliding rod cavity 18 and pushes the sliding rod 19 to slide upwards to the upper limit position, then the upper end of the first gas path 23 is communicated with the upper side of the first piston 15 and the second gas pipe 24, further the compressed gas enters the diversion cavity 40 through the second gas pipe 24 and the third gas pipe 46, and then enters the second piston cavity 33 through the second gas path 41 and the communication port 42, the second piston 34 is further pushed to slide in a direction away from the diversion cavity 40, then the end of the turning rod 29 on the upper side of the fixed shaft 49 is turned in a direction away from the supporting block 26, and the end of the turning rod 29 on the lower side of the fixed shaft 49 drives the clamping jaw 47 to turn in a direction close to the axis of the supporting block 26 to grab the article.
If the grabbed article is in a rod shape, the second motor 38 is started to drive the diversion turntable 39 to rotate for forty-five degrees, so that the second air channel 41 blocked by the blocking block 43 is communicated with two of the communication ports 42, the first air release port 44 is communicated with the second air release port 45 below the blocking block, the second piston cavity 33 is communicated with the outside, when the article is grabbed, the clamping jaw 47 can be pushed by the article to turn upwards, the clamping jaw 47 presses the article downwards under the action of the second spring 36 to keep balance, and the second piston 34 in the second piston cavity 33 in a normal communication state is pushed by compressed gas to grab the article.
The invention has the beneficial effects that: the grabbing control device controls the grabbing device to grab after sliding down to the lower limit position, prevents the mechanical claw from opening and overturning to touch other objects when descending, improves the safety and reliability when grabbing in some special places, can be flexibly adjusted according to grabbed objects in different shapes through the shunting turntable in the grabbing device, enables the mechanical claw to be suitable for grabbing objects in different sizes and shapes, and has good adaptability.
In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.
Claims (5)
1. The utility model provides a snatch gripper that adaptability is good, includes the connecting block, the terminal internal fixation is equipped with first motor under the connecting block, first motor lower extreme power is connected with the control block, be equipped with in the control block and snatch controlling means, its characterized in that: the grabbing control device comprises a first piston cavity arranged in the control block, a first piston is arranged in the first piston cavity in a vertically sliding mode, the lower end face of the first piston is fixedly connected with a first piston rod with the lower end extending outwards, the upper wall of the first piston is communicated with a first gas pipe, slide rod cavities are symmetrically arranged on the first gas pipe in a vertically through mode, slide rods are arranged in the slide rod cavities in a vertically sliding mode, first gas paths with opposite openings are arranged on the slide rods on the left side and the right side, a second gas pipe is communicated with the inner wall of the side, close to the slide rod cavities, on the left side and the right side, the upper end of the first gas path is communicated with the upper side of the first piston and the second gas pipe when the slide rods are located at the upper limit position, a grabbing device is arranged on the lower side of the grabbing control device, and the grabbing device comprises a supporting block fixedly arranged at the, the fixed round ring that is equipped with of terminal surface under the supporting shoe, the circumference terminal surface equipartition of fixed round ring just fixes and is equipped with four connecting rods, just be located between the connecting rod the fixed axle that is equipped with in position in the supporting shoe outside, the pivoted is equipped with the trip lever on the fixed axle, the trip lever is in the one end of fixed axle upside is equipped with the spread groove, wall symmetry and intercommunication are equipped with the spacing groove around the spread groove, gliding front and back both ends extend to the spacing rod of spacing inslot about being equipped with in the spread groove.
2. A conformable gripping gripper as in claim 1 further comprising: snatch controlling means locates the left and right sides including the intercommunication the spacing chamber of one side inner wall is kept away from mutually in the slide bar chamber, gliding stopper that is equipped with about the spacing intracavity, the stopper up end with the first spring of fixedly connected with between the spacing intracavity wall, first piston chamber lower wall just is located the fixed ejector pin that is equipped with under the slide bar, works as when first piston glides to lower extreme position, the ejector pin can insert the slide bar intracavity and promote slide up to extreme position on the slide bar.
3. A conformable gripping gripper as in claim 1 further comprising: grabbing device is including fixed locating the trip bar is in the clamping jaw of fixed axle downside one end, the clamping jaw downside is close to a side end face of supporting shoe axle center is fixed and is equipped with the cushion, annular array is equipped with four second piston chambeies in the supporting shoe, the gliding second piston that is equipped with in the second piston intracavity, the second piston is kept away from a side end face of supporting shoe axle center is fixed and is equipped with the second piston rod, the second piston rod is kept away from the one end in supporting shoe axle center extends to outside and fixed connection in the gag lever post, the second piston chamber is kept away from a side end face of supporting shoe axle center with fixedly connected with second spring between the second piston intracavity wall.
4. A conformable gripping gripper as in claim 1 further comprising: just be located in the backup pad position between the second piston chamber is equipped with the carousel chamber, carousel chamber lower wall internal fixation is equipped with the second motor, second motor upper end power is connected with the reposition of redundant personnel carousel, be equipped with the reposition of redundant personnel chamber in the reposition of redundant personnel carousel, reposition of redundant personnel chamber upper wall intercommunication is equipped with the third gas-supply pipe, third gas-supply pipe upper end and the second gas-supply pipe intercommunication of the left and right sides, reposition of redundant personnel chamber week inner wall annular array just link up and be equipped with eight second gas circuits, the carousel chamber with communicate respectively between the second piston chamber be equipped with can with the intercommunication mouth of second gas circuit intercommunication.
5. A conformable gripping gripper according to claim 4 wherein: wherein two are relative the fixed shutoff piece that is equipped with of relative one end in the second gas circuit, the shutoff piece is sealed the second gas circuit with the intercommunication department in reposition of redundant personnel chamber, second gas circuit lower wall just is located the shutoff piece is kept away from reposition of redundant personnel chamber one side intercommunication is equipped with the first mouth that loses heart of opening decurrent, carousel chamber lower wall annular array has four second that open side down to lose heart, works as the quilt the shutoff of shutoff piece the second gas circuit is during with the intercommunication mouth intercommunication, the second that first loses heart and this department loses heart intercommunication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010485034.XA CN111452077A (en) | 2020-06-01 | 2020-06-01 | Grabbing mechanical claw with good adaptability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010485034.XA CN111452077A (en) | 2020-06-01 | 2020-06-01 | Grabbing mechanical claw with good adaptability |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111452077A true CN111452077A (en) | 2020-07-28 |
Family
ID=71673982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010485034.XA Withdrawn CN111452077A (en) | 2020-06-01 | 2020-06-01 | Grabbing mechanical claw with good adaptability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111452077A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229462A (en) * | 2021-12-17 | 2022-03-25 | 张毅 | Sheet metal component piles up strorage device |
-
2020
- 2020-06-01 CN CN202010485034.XA patent/CN111452077A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229462A (en) * | 2021-12-17 | 2022-03-25 | 张毅 | Sheet metal component piles up strorage device |
| CN114229462B (en) * | 2021-12-17 | 2024-03-08 | 张毅 | Sheet metal part stacking and storing device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200728 |