CN112296994A

CN112296994A - Multi-angle adjusting mechanical gripper

Info

Publication number: CN112296994A
Application number: CN202011607279.1A
Authority: CN
Inventors: 李万虎; 李月超; 刘红亮; 戚航; 郑媛媛
Original assignee: Xinxiang Vocational and Technical College
Current assignee: Xinxiang Vocational and Technical College
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-02-02
Anticipated expiration: 2040-12-30
Also published as: CN112296994B

Abstract

The invention discloses a multi-angle adjusting mechanical gripper, which comprises an upper end connecting column, a lower end angle swinging piece, a grabbing driving piece, connecting claw teeth, a remote monitoring piece, a swinging driving piece, a rotating driving piece and a rotating connecting piece, wherein the lower end of the upper end connecting column is provided with the rotating connecting piece in rotating connection, the upper end connecting column is provided with the rotating driving piece driving the rotating connecting piece to rotate, the lower end of the rotating connecting piece is welded with the lower end angle swinging piece, the upper end side surface of the lower end angle swinging piece is provided with the swinging driving piece, the lower end of the lower end angle swinging piece is uniformly provided with the connecting claw teeth, the outer side of the angle swinging piece is provided with the grabbing driving piece driving the connecting claw teeth to open and close, and the lower end of the angle swinging piece is provided with the remote monitoring piece. The grabbing is firmer.

Description

Multi-angle adjusting mechanical gripper

Technical Field

The invention relates to the technical field of machinery, in particular to a multi-angle adjusting mechanical gripper.

Background

The mechanical claw is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operation tools according to a fixed program, the mechanical claw is along with the continuous development of scientific technology and the continuous progress of information technology, but the existing mechanical claw has a complex structure and a single grabbing angle, and in the patent application No. 201710646793.8, the high-speed mechanical arm convenient for multi-angle adjustment comprises a first mechanical arm and a second mechanical arm positioned below the first mechanical arm, a circular ring-shaped slideway is arranged around the bottom of the first mechanical arm, a rectangular cavity is arranged on the first mechanical arm and positioned above the circular ring-shaped slideway, a circular guide rail is welded on the side wall of the rectangular cavity, a first umbrella-shaped gear is placed inside the rectangular cavity, and a first slideway in sliding connection with the guide rail is arranged around the first umbrella-shaped gear, the meshing of the top of first umbrella type gear has the second umbrella type gear who rotates with rectangular cavity lateral wall and be connected, it is little consequently can cause the dynamics of snatching of gripper to rotate through two motors direct drive arm, make the gripper can not snatch heavier article, and every claw tooth of current ordinary manipulator all is controlled through a hydraulic stem, consequently damage easily, the angle of adjustment of manipulator can only be adjusted on a plane, and other regulations can only accomplish multi-angle and adjust through the arm, and current manipulator can not carry out the position that long-range observation snatched, can not satisfy people's demand.

Disclosure of Invention

The invention aims to overcome the existing defects, provides a multi-angle adjusting mechanical gripper, has a simple structure, can adjust the angle more comprehensively, can remotely observe the grabbing position, is firmer in grabbing, and can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a multi-angle adjustment gripper, includes upper end spliced pole, lower extreme angle swing piece, snatchs driving piece, connection claw tooth, remote monitoring spare, swing driving piece, rotation driving piece and rotation connecting piece, the lower extreme of upper end spliced pole is equipped with the rotation connecting piece of rotation connection, and is equipped with on the spliced pole of upper end and drives rotation connecting piece pivoted rotation driving piece, and the lower extreme welding of rotation connecting piece has lower extreme angle swing piece, the upper end side of lower extreme angle swing piece is equipped with the swing driving piece, and the lower extreme of lower extreme angle swing piece evenly is equipped with and connects the claw tooth, the outside of angle swing piece is equipped with the drive and connects the grabbing driving piece that the claw tooth opened and shut, and the lower extreme of angle.

Further, the upper end spliced pole includes the erection column, and the welding of the lower extreme outside of erection column has the connection shell, and one side of connecting the shell is equipped with the opening, and this open-ended one side is equipped with to its confined protective cover, can be connected with outside arm through the erection column to this is installed mechanical claw.

Further, rotate the connecting piece including rotating the post, the upper end of rotating the post is supported through the gyration and is connected with the lower extreme of erection column, and the lower extreme of rotating the post runs through and extends to the below of connecting the shell, and rotates the post and be connected through the bearing between the connecting shell, can be connected erection column and rotation post through the gyration support, makes to rotate the post and be connected more firmly with the upper end spliced pole through the bearing.

Further, the rotation driving piece includes the gear with rotation post upper end outside fixed connection, inside one side of connecting the shell is equipped with the screw thread post of rotating the connection, the screw thread post meshes with the gear mutually, one side of connecting the shell is equipped with and drives screw thread post pivoted servo motor, external switch's output is connected to servo motor's input electricity, can drive the screw thread post through servo motor and rotate, can drive gear revolve through the screw thread post, can drive through the gear and rotate the post rotation, it rotates to drive lower extreme angle swing piece through rotating the post.

Furthermore, the lower end angle swinging piece comprises a first U-shaped seat welded to the lower end of a rotating column of the rotating connecting piece, a swinging column is arranged inside the lower end of the first U-shaped seat and connected with the first U-shaped seat through a rotating pin shaft, and the swinging column can swing back and forth through the rotating pin shaft, so that the connecting claw teeth are driven to swing to adjust the angle.

Further, the swing driving part comprises a second hydraulic telescopic column, two ends of the second hydraulic telescopic column are respectively provided with a second rotating pin shaft, the second rotating pin shaft is connected with a second U-shaped seat, the two second U-shaped seats are respectively connected with the swing column and the first U-shaped seat, an inlet of the second hydraulic telescopic column is connected with an outlet of an external oil pump through an oil pipe, and the swing column can be driven to swing back and forth through the expansion of the second hydraulic telescopic column.

Further, the number of connecting the claw tooth is two more, and connects the claw tooth around the swing post axis evenly distributed of lower extreme angle swing piece, and connect the claw tooth be L type structure, and the inboard of connecting the claw tooth is equipped with anti-skidding line, opens and shuts through connecting the claw tooth and can snatch, and makes connecting the claw tooth through anti-skidding line and snatch article more firm.

Furthermore, the grabbing driving part comprises two lug seats connected with the outer side of the swinging column, the lower surface of each lug seat is connected with a first hydraulic telescopic column through a bolt, a sliding connecting part is connected between the telescopic ends of the first hydraulic telescopic column through a bolt and is connected with the outer side of the lower end of the swinging column in a sliding way, the edge of the lower end of the sliding connecting part is evenly connected with sliding connecting buckles through hinge seats, the sliding connecting buckles correspond to the connecting claw teeth one by one, the sliding connecting buckles are connected with the connecting claw teeth in a sliding way, the inlet of the first hydraulic telescopic column is connected with the outlet of an external oil pump through an oil pipe, the sliding connecting part can be driven to move downwards along the swinging column through the extension of the first hydraulic telescopic column, the sliding connecting buckles can be driven to move downwards through the sliding connecting parts, the connecting claw teeth can be driven to be closed towards the axis direction of the swinging column through the sliding connecting buckles, so, the connecting claw teeth can be driven to rotate upwards to open by sliding the connecting buckle.

Further, remote monitoring spare is including setting up the camera at the swing post lower extreme center of lower extreme angle swing spare, and the lower extreme of swing post is equipped with the transparent protective housing to the camera protection, and the camera passes through the wire to be connected with the external monitoring computer, can shoot the direction of connecting the claw tooth through the camera to this position that can observe the snatching, and can protect the camera through transparent protective housing.

Compared with the prior art, the invention has the beneficial effects that: this mechanical gripper is adjusted to multi-angle has following benefit:

1. the mechanical claw is installed by arranging the installation column which can be connected with an external mechanical arm, the installation column can be connected with the rotating column through the rotary support, and the rotating column is connected with the upper end connecting column more firmly through the bearing.

2. The hydraulic telescopic column is characterized in that the servo motor is arranged on the hydraulic telescopic column, the threaded column can be driven to rotate through the servo motor, the gear can be driven to rotate through the threaded column, the rotating column can be driven to rotate through the gear, the lower end angle swinging piece can be driven to rotate through the rotating column, the swinging column can be driven to swing back and forth through the expansion of the hydraulic telescopic column II, the swinging column can swing back and forth through the rotating pin shaft I, and therefore the connecting claw teeth are driven to swing to adjust the angle, the adjusted angle is made to be spherical, and the adjustment is more comprehensive.

3. The multi-angle adjusting mechanical gripper is simple in structure, not only can the angle be adjusted more comprehensively, but also the grabbing position can be remotely observed, and the grabbing is firmer to grab.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic view of the internal structure of the connecting shell of the present invention;

fig. 4 is a schematic view of the connection structure of the rotary connector of the present invention.

In the figure: 1 upper end spliced pole, 11 erection columns, 12 connecting shell, 13 protective cover, 2 lower extreme angle swing pieces, 21U type seat I, 22 rotation round pin axle I, 23 swing post, 3 snatch the driving piece, 31 ear seat, 32 hydraulic pressure flexible post I, 33 sliding connection spare, 34 sliding connection detain, 4 connection claw teeth, 5 remote monitoring spare, 51 transparent protective shell, 52 camera, 6 swing driving piece, 61U type seat II, 62 hydraulic pressure flexible post II, 63 rotation round pin axle II, 7 rotation driving piece, 71 servo motor, 72 gear, 73 screw post, 8 rotation connecting piece, 81 gyration support, 82 bearings, 83 rotation post.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a multi-angle adjustment gripper, including upper end spliced pole 1, lower extreme angle swing 2, snatch driving piece 3, connect claw tooth 4, remote monitoring spare 5, swing driving piece 6, rotate driving piece 7 and rotation connecting piece 8, the lower extreme of upper end spliced pole 1 is equipped with the rotation connecting piece 8 of rotation connection, and be equipped with on the spliced pole of upper end and drive 8 pivoted rotation driving piece 7 of rotation connecting piece, the lower extreme welding of rotation connecting piece 8 has lower extreme angle swing 2, the upper end side of lower extreme angle swing 2 is equipped with swing driving piece 6, and the lower extreme of lower extreme angle swing 2 evenly is equipped with connects claw tooth 4, the outside of angle swing 2 is equipped with the drive and connects 4 snatchs driving piece 3 that open and shut of claw tooth, the lower extreme of angle swing 2 is equipped with remote monitoring spare 5.

Further, upper end spliced pole 1 includes erection column 11, and the welding of the lower extreme outside of erection column 11 has connection shell 12, and one side of connection shell 12 is equipped with the opening, and this open-ended one side is equipped with to its confined protective cover 13, can be connected with outside arm through erection column 11 to this installs the gripper.

Further, the rotating connection piece 8 comprises a rotating column 83, the upper end of the rotating column 83 is connected with the lower end of the mounting column 11 through a rotating support 81, the lower end of the rotating column 83 penetrates through and extends to the lower portion of the connecting shell 12, the rotating column 83 is connected with the connecting shell 12 through a bearing 82, the mounting column 11 and the rotating column 83 can be connected through the rotating support 81, and the rotating column 83 is connected with the upper end connecting column 1 through the bearing 82 more firmly.

Further, the rotary driving member 7 comprises a gear 72 fixedly connected with the outer side of the upper end of the rotary column 83, a screw column 73 rotatably connected with one side of the inside of the connecting shell 12 is arranged, the screw column 73 is engaged with the gear 72, a servo motor 71 driving the screw column 73 to rotate is arranged on one side of the connecting shell 12, the input end of the servo motor 71 is electrically connected with the output end of the external switch, the screw column 73 can be driven to rotate by the servo motor 71, the gear 72 can be driven to rotate by the screw column 73, the rotation of the rotary post 83 is made possible by the gear 72, the adjustment being made more precise by the engagement of the threaded post 73 with the gear 72, and can realize the rotation with larger force, the rotating column 83 drives the lower end angle swinging piece 2 to rotate, the positive and negative rotating angles of the rotating column 83 are both 180 degrees, thereby preventing the hose or wire connecting the remote monitoring unit 5 and the swing driving unit 6 from being twisted off when the rotation post 83 is rotated.

Furthermore, the lower end angle swinging piece 2 comprises a U-shaped seat I21 welded with the lower end of a rotating column 83 of the rotating connecting piece 8, a swinging column 23 is arranged inside the lower end of the U-shaped seat I21, the swinging column 23 is connected with the U-shaped seat I21 through a rotating pin shaft I22, and the swinging column 23 can swing back and forth through the rotating pin shaft I22 so as to drive the connecting claw teeth 4 to swing to adjust the angle.

Further, swing driving piece 6 includes two 62 of hydraulic stretching post, the both ends of two 62 of hydraulic stretching posts are equipped with respectively and rotate two 63 of round pin axle, it is connected with two 61 of U type seat to rotate two 63 of round pin axle, two 61 of U type seats are connected with swing post 23 and one 21 of U type seat respectively, oil pipe and the exit linkage of outside oil pump are passed through in the import of two 62 of hydraulic stretching posts, it can drive swing post 23 swing back and forth to stretch out and draw back through two 62 of hydraulic stretching posts, drive with this, realize plane angle's regulation through swing driving piece 6, drive through rotating driving piece 7 and rotate post 83 and lower extreme angle swing piece 2 and rotate, realize with this that the gripper is the sphere and adjusts, make and adjust more comprehensively.

Further, the number of connecting claw teeth 4 is two more, and connects claw teeth 4 around the 23 axis evenly distributed of swing post of lower extreme angle swinging member 2, and connect claw teeth 4 be L type structure, and the inboard of connecting claw teeth 4 is equipped with anti-skidding line, opens and shuts through connecting claw teeth 4 and can snatch, and makes connecting claw teeth 4 snatch article more firmly through anti-skidding line.

Furthermore, the grabbing driving part 3 comprises two lug seats 31 connected with the outer side of the swing column 23, the lower surface of the lug seat 31 is connected with a first hydraulic telescopic column 32 through a bolt, a sliding connecting part 33 is connected between the telescopic ends of the first hydraulic telescopic column 32 through a bolt, the sliding connecting part 33 is connected with the outer side of the lower end of the swing column 23 in a sliding way, the lower edge of the sliding connecting part 33 is evenly connected with sliding connecting buckles 34 through hinged supports, the sliding connecting buckles 34 correspond to the connecting claw teeth 4 one by one, the sliding connecting buckles 34 are connected with the connecting claw teeth 4 in a sliding way, the inlet of the first hydraulic telescopic column 32 is connected with the outlet of an external oil pump through an oil pipe, the sliding connecting part 33 can be driven to move downwards along the swing column 23 through the extension of the first hydraulic telescopic column 32, the sliding connecting buckles 34 can be driven to move downwards through the sliding connecting claw teeth 34, the connecting claw teeth 4 can be driven, snatch article with this, and can drive sliding connection buckle 34 rebound through sliding connection 33, can drive through sliding connection buckle 34 and connect claw tooth 4 and upwards rotate and make it open, can reduce the use of electrical part to it drives the operation of connecting claw tooth 4 and makes the dynamics of snatching stronger to snatch driving piece 3, makes the gripper application range wider.

Further, remote monitoring spare 5 is including setting up the camera 52 at the swing post 23 lower extreme center of lower extreme angle swing 2, and the lower extreme of swing post 23 is equipped with the transparent protecting crust 51 to camera 52 protection, and camera 52 passes through the wire and is connected with the outside monitoring computer, can shoot connecting claw tooth 4 direction through camera 52 to this position of snatching can be observed, and can protect camera 52 through transparent protecting crust 51.

When in use: the mechanical claw is installed by connecting the installation column 11 with an external mechanical arm, the swing column 23 can be driven to swing back and forth by the expansion and contraction of the hydraulic expansion column II 62, the connecting claw teeth 4 can be driven to swing, the connecting claw teeth 4 swing in an arc shape, the threaded column 73 can be driven to rotate by the servo motor 71, the gear 72 can be driven to rotate by the threaded column 73, the rotating column 83 can be driven to rotate by the gear 72, the lower end angle swing piece 2 is driven to rotate by the rotating column 83, the adjusting angle adjusted by the connecting claw teeth 4 is in a spherical shape, the sliding connecting piece 33 can be driven to move downwards along the swing column 23 by the extension of the hydraulic expansion column I32, the sliding connecting buckle 34 can be driven to move downwards by the sliding connecting buckle 34, the connecting claw teeth 4 can be driven to close towards the axial direction of the swing column 23, and articles can be grabbed, and can drive sliding connection button 34 rebound through sliding connection 33, can drive through sliding connection button 34 and connect claw tooth 4 and upwards rotate and make it open to this snatchs article, can shoot connecting claw tooth 4 direction through camera 52, with this position that can observe and snatch, make remote observation more convenient, and can protect camera 52 through transparent protective housing 51.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multi-angle adjustment mechanical gripper, includes upper end spliced pole (1), lower extreme angle swing piece (2), snatchs driving piece (3), connecting jaw tooth (4), remote monitoring spare (5), swing driving piece (6), rotates driving piece (7) and rotates connecting piece (8), its characterized in that: the lower extreme of upper end spliced pole (1) is equipped with rotation connecting piece (8) of connecting, and is equipped with on upper end spliced pole (1) to drive rotation connecting piece (8) pivoted rotation driving piece (7), and the lower extreme welding of rotation connecting piece (8) has lower extreme angle swing piece (2), the upper end side of lower extreme angle swing piece (2) is equipped with swing driving piece (6), and the lower extreme of lower extreme angle swing piece (2) evenly is equipped with and connects claw tooth (4), the outside of angle swing piece (2) is equipped with to drive and connects grabbing driving piece (3) that claw tooth (4) opened and shut, and the lower extreme of angle swing piece (2) is equipped with remote monitoring spare (5).

2. The multi-angle adjustable gripper as recited in claim 1, further comprising: the upper end connecting column (1) comprises an installing column (11), a connecting shell (12) is welded on the outer side of the lower end of the installing column (11), an opening is formed in one side of the connecting shell (12), and a protective cover (13) for sealing the opening is arranged on one side of the opening.

3. The multi-angle adjustable gripper as recited in claim 2, further comprising: the rotary connecting piece (8) comprises a rotary column (83), the upper end of the rotary column (83) is connected with the lower end of the mounting column (11) through a rotary support (81), the lower end of the rotary column (83) penetrates through and extends to the lower portion of the connecting shell (12), and the rotary column (83) is connected with the connecting shell (12) through a bearing (82).

4. The multi-angle adjustable gripper as recited in claim 3, further comprising: the rotary driving piece (7) comprises a gear (72) fixedly connected with the outer side of the upper end of the rotary column (83), a threaded column (73) connected in a rotating mode is arranged on one side of the inside of the connecting shell (12), the threaded column (73) is meshed with the gear (72), a servo motor (71) driving the threaded column (73) to rotate is arranged on one side of the connecting shell (12), and the output end of an external switch is electrically connected with the input end of the servo motor (71).

5. The multi-angle adjustable gripper as recited in claim 1, further comprising: the lower end angle swing piece (2) comprises a first U-shaped seat (21) welded with the lower end of a rotating column (83) of the rotating connecting piece (8), a swing column (23) is arranged inside the lower end of the first U-shaped seat (21), and the swing column (23) is connected with the first U-shaped seat (21) through a rotating pin shaft (22).

6. The multi-angle adjustable gripper as recited in claim 5, further comprising: the swing driving piece (6) comprises a second hydraulic telescopic column (62), two ends of the second hydraulic telescopic column (62) are respectively provided with a second rotating pin shaft (63), the second rotating pin shaft (63) is connected with a second U-shaped seat (61), the two second U-shaped seats (61) are respectively connected with the swing column (23) and the first U-shaped seat (21), and an inlet of the second hydraulic telescopic column (62) is connected with an outlet of an external oil pump through an oil pipe.

7. The multi-angle adjustable gripper as recited in claim 1, further comprising: the number of the connecting claw teeth (4) is not less than two, the connecting claw teeth (4) are uniformly distributed around the axis of the swing column (23) of the lower end angle swing piece (2), the connecting claw teeth (4) are of an L-shaped structure, and the inner sides of the connecting claw teeth (4) are provided with anti-skid grains.

8. The multi-angle adjustable gripper as recited in claim 6, further comprising: snatch driving piece (3) and include two ear seats (31) of being connected with swing post (23) outside, there are hydraulic telescoping post (32) lower surface of ear seat (31) through bolted connection, there are sliding connection spare (33) through bolted connection between the flexible end of hydraulic telescoping post (32), sliding connection spare (33) and the lower extreme outside sliding connection of swing post (23), the lower extreme edge of sliding connection spare (33) evenly is connected with sliding connection knot (34) through the free bearing, sliding connection knot (34) and connection claw tooth (4) one-to-one, and sliding connection knot (34) and connection claw tooth (4) sliding connection, the export connection of oil pipe and outside oil pump is passed through in the import of hydraulic telescoping post (32).

9. The multi-angle adjustable gripper as recited in claim 1, further comprising: the remote monitoring piece (5) comprises a camera (52) arranged at the center of the lower end of a swinging column (23) of the lower end angle swinging piece (2), a transparent protective shell (51) for protecting the camera (52) is arranged at the lower end of the swinging column (23), and the camera (52) is connected with an external monitoring computer through a wire.