CN113799158A - Mechanical type tongs - Google Patents
Mechanical type tongs Download PDFInfo
- Publication number
- CN113799158A CN113799158A CN202110540863.8A CN202110540863A CN113799158A CN 113799158 A CN113799158 A CN 113799158A CN 202110540863 A CN202110540863 A CN 202110540863A CN 113799158 A CN113799158 A CN 113799158A
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- China
- Prior art keywords
- side plate
- grabbing
- cross rod
- clamping seat
- mechanical gripper
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- 238000009434 installation Methods 0.000 claims abstract description 14
- 238000013459 approach Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
Images
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical gripper, which comprises an installation clamping seat, a gripping mechanism, a driving mechanism and at least one side plate, wherein the gripping mechanism is arranged on the installation clamping seat; the curb plate is the back taper, works as during the curb plate rebound, thereby first horizontal pole and second horizontal pole can respectively along the curb plate lapse drives first portion of snatching and the second portion of snatching opens, works as during the curb plate lapse, thereby first horizontal pole and second horizontal pole can respectively along thereby the curb plate lapse drives first portion of snatching and the second portion of snatching is closed. Compared with the prior art, the invention has simple and compact structure, does not need to use power sources such as pneumatic, hydraulic or electric power and the like, can save energy consumption, and can prevent objects from falling off in the grabbing process.
Description
Technical Field
The invention relates to a mechanical gripper, and belongs to the technical field of mechanical equipment.
Background
The gripper has wide application in the processes of mechanization, automation production and transportation. Most of the existing grippers use pneumatic power, hydraulic power or electric power to provide driving force, energy consumption is needed, the structure is complex, the failure rate is high, the working efficiency is low, and objects are easy to fall off in the gripping process.
Disclosure of Invention
The invention aims to provide a mechanical gripper which is simple and compact in structure, does not need power sources such as pneumatic power, hydraulic power or electric power and the like, can save energy consumption, can prevent an object from falling off in the gripping process, and improves the use efficiency.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a mechanical gripper comprises an installation clamping seat, a gripping mechanism, a driving mechanism and at least one side plate, wherein the side plate is movably connected with the installation clamping seat and can slide up and down along the outer surface of the installation clamping seat; the grabbing mechanism comprises a first grabbing part and a second grabbing part, one end of the first grabbing part and one end of the second grabbing part are rotatably connected with the mounting clamping seat, the other end of the first grabbing part and the other end of the second grabbing part are free ends, the first grabbing part is provided with a first cross rod and a third cross rod, and the second grabbing part is provided with a second cross rod and a fourth cross rod; one side of the driving mechanism is fixedly connected with the mounting clamping seat, the other side of the driving mechanism is fixedly connected with the side plate, and the driving mechanism can drive the side plate to slide up and down; the side plate is in an inverted cone shape, when the side plate moves upwards, the first cross rod and the second cross rod can respectively slide downwards along the side plate so as to drive the first grabbing part and the second grabbing part to open, the downward sliding refers to that the cross rods slide downwards from top to bottom along the inclined plane of the side plate, when the side plate moves downwards, the first cross rod and the second cross rod can respectively slide upwards along the side plate so as to drive the first grabbing part and the second grabbing part to close, and the upward sliding refers to that the cross rods slide upwards from bottom to top along the inclined plane of the side plate; the lower end of the side plate is provided with at least two buckle openings, and when the first grabbing portion and the second grabbing portion are in a closed state, the third cross rod and the fourth cross rod can be clamped into the buckle openings respectively.
Furthermore, a through hole is formed in the vertical direction of the installation clamping seat, the driving mechanism is arranged in the through hole and comprises a base assembly, a fixing piece A and a fixing piece B, the fixing piece A and the fixing piece B are fixedly connected with the installation clamping seat, and the base assembly is fixedly connected with the side plate; a rotatable rotating body is arranged on the base assembly, a plurality of first inclined blocks are arranged on the rotating body, a plurality of second inclined blocks matched with the first inclined blocks are arranged on the fixing piece B, and the upper surfaces of the first inclined blocks and the lower surfaces of the second inclined blocks are inclined planes; the fixing piece A is of a hollow structure and is provided with a plurality of first grooves and supporting teeth at intervals, when the first inclined block approaches the second inclined block, the rotating body can be forced to rotate under the action of the inclined plane, and the first inclined block can be switched between the first grooves and the supporting teeth.
Preferably, an included angle between the upper surface of the first inclined block and the lower surface of the second inclined block and a horizontal plane is 45 °.
Preferably, the support teeth are in a V shape.
Further, the depth of the first groove is larger than that of the support tooth.
Further, the first grabbing part and/or the second grabbing part are/is L-shaped.
Furthermore, the side plates are 2 and are respectively and symmetrically arranged on two sides of the mounting clamping seat.
Furthermore, the side plate further comprises a clamping groove, a convex block is arranged on the outer side of the mounting clamping seat, and the convex block and the clamping groove are matched with each other to enable the side plate to slide up and down along the convex block.
Preferably, the buckling opening is a semicircular buckling opening.
Preferably, the third cross bar and the fourth cross bar are both cylindrical bars.
Compared with the prior art, the gripper is a purely mechanical gripper, is simple and compact in structure, can be closed and opened by utilizing the gravity of the gripper and the resistance when the gripper contacts an object, does not need power sources such as pneumatic power, hydraulic power or electric power, can save energy consumption, can prevent the object from falling off in the gripping process, and improves the use efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention.
Fig. 2 is an exploded view schematically showing the structure of example 1 of the present invention.
Fig. 3 is a schematic structural view of the mounting socket in embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of a side panel of embodiment 1 of the present invention.
Fig. 5 is a schematic structural view of a grasping mechanism according to embodiment 1 of the present invention.
Fig. 6 is a schematic configuration diagram of a drive mechanism of embodiment 1 of the present invention.
Fig. 7 is a schematic structural view of embodiment 1 of the present invention in a closed state.
FIG. 8 is a schematic structural view of example 1 of the present invention in an open state.
Shown in the figure: the structure comprises an end cover 1, an installation clamping seat 2, a side plate 3, a first wedge-shaped part 4, a second wedge-shaped part 5, a clamping groove 6, a protruding block 7, a first grabbing part 8, a second grabbing part 9, a first cross rod 10, a second cross rod 11, a through hole 12, a fixing hole A12-1, a fixing hole B12-2, a base component 13, a fixing part A14, a fixing part B15, a first inclined block 16, a second inclined block 17, a first groove 18, a supporting tooth 19, a tip part 20, a clamping opening 21, a third cross rod 22, a fourth cross rod 23 and a rotating body 24.
Detailed Description
Preferred embodiments of the present invention are described in detail below.
Example 1: referring to fig. 1 to 8, which are schematic structural views of embodiment 1 of the present invention, a mechanical gripper includes an installation clamping seat 2, a gripping mechanism, a driving mechanism, and at least one side plate 3, where the side plate 3 is movably connected to the installation clamping seat 2, and the side plate 3 can slide up and down along an outer surface of the installation clamping seat 2; the grabbing mechanism comprises a first grabbing part 8 and a second grabbing part 9, one end of each of the first grabbing part 8 and the second grabbing part 9 is rotatably connected with the mounting clamping seat 2, the other end of each of the first grabbing part 8 and the second grabbing part 9 is a free end, the first grabbing part 8 is provided with a first cross rod 10 and a third cross rod 22, and the second grabbing part 9 is provided with a second cross rod 11 and a fourth cross rod 23; one side of the driving mechanism is fixedly connected with the mounting clamping seat 2, the other side of the driving mechanism is fixedly connected with the side plate 3, and the driving mechanism can drive the side plate 3 to slide up and down; the side plate 3 is in an inverted cone shape, when the side plate 3 moves upwards, the first cross rod 10 and the second cross rod 11 can respectively slide downwards along the side plate 3 to drive the first grabbing part 8 and the second grabbing part 9 to open, and when the side plate 3 moves downwards, the first cross rod 10 and the second cross rod 11 can respectively slide upwards along the side plate 3 to drive the first grabbing part 8 and the second grabbing part 9 to close; the lower end of the side plate 3 is provided with at least two buckle openings 21, and when the first grabbing part 8 and the second grabbing part 9 are in a closed state, the third cross bar 22 and the fourth cross bar 23 can be respectively clamped in the buckle openings 21.
A through hole 12 is formed in the mounting clamp base 2 in the vertical direction, the driving mechanism is arranged in the through hole 12 and comprises a base assembly 13, a fixing piece A14 and a fixing piece B15, the fixing piece A14 and the fixing piece B15 are fixedly connected with the mounting clamp base 2, and the base assembly 13 is fixedly connected with the side plate 3; a rotatable rotating body 24 is arranged on the base assembly 13, a plurality of first inclined blocks 16 are arranged on the rotating body 24, a plurality of second inclined blocks 17 matched with the first inclined blocks 16 are arranged on the fixing piece B15, and both the upper surface of the first inclined blocks 16 and the lower surface of the second inclined blocks 17 are inclined planes; the fixing piece a14 is a hollow structure and is provided with a plurality of first grooves 18 and supporting teeth 19 at intervals, when the first sloping block 16 approaches the second sloping block 17, the rotating body 24 can be forced to rotate under the action of the inclined surface, and the position of the first sloping block 16 can be switched between the first grooves 18 and the supporting teeth 19.
Preferably, the included angle between the horizontal plane and the lower surface of the first sloping block 16 and the second sloping block 17 is 45 °, and the support teeth 19 are V-shaped, so that the clamping force for clamping the object can be increased, and the object is prevented from falling off from the grabbing mechanism in the transferring process.
Further, the depth of the first groove 18 is greater than the depth of the support teeth 19. The first grabbing part 8 and/or the second grabbing part 9 are L-shaped, so that the grabbing hand can not fall off when grabbing round objects. The side plates 3 are 2 and are respectively and symmetrically arranged on two sides of the mounting clamping seat 2.
The side plate 3 further comprises a clamping groove 6, a convex block 7 is arranged on the outer side of the mounting clamping seat 2, and the convex block 7 and the clamping groove 6 are mutually matched to enable the side plate 3 to slide up and down along the convex block 7. The curb plate 3 contains first wedge 4 and second wedge 5, first wedge 4 and second wedge 5 are the inclined plane, and when the curb plate 3 upward movement, first horizontal pole 10 and second horizontal pole 11 can respectively along first wedge 4 and second wedge 5 slide down thereby drive first portion 8 and the second portion 9 that snatchs and open, when the curb plate 3 when the downward movement, first horizontal pole 10 and second horizontal pole 11 can respectively along first wedge 4 and second wedge 5 slide up thereby drive first portion 8 and the second portion 9 that snatchs and close. Further, the buckling opening 21 is a semicircular buckling opening. The third cross bar 22 and the fourth cross bar 23 are both cylindrical bars.
Mounting B15 is cylindrical hollow structure, be equipped with on the mounting B15 a plurality of with first sloping block 16 assorted second sloping block 17, the lower surface of second sloping block 17 is the inclined plane, and the inclined plane inclination of a plurality of second sloping block 17 is the same, base subassembly 13 passes mounting A14 makes first sloping block 16 with the laminating of second sloping block 17, second sloping block 17 is equipped with point portion 20. The fixing piece A14 is a hollow structure and is provided with a plurality of first grooves 18 and supporting teeth 19 at intervals, and the first grooves 18 can be rectangular grooves or U-shaped grooves. The support teeth 19 are "V" or "W" shaped, and may also be saw-toothed, and the function of the support teeth 19 is to provide support for the first ramp 16 when the first ramp 16 is switched to the position of the support teeth 19. Be equipped with the rotator 24 that can rotate on the base subassembly 13, rotator 24 passes through cylindrical pole and base subassembly 13 fixed connection or integrated into one piece, be equipped with the first sloping block 16 of a plurality of on the rotator 24, the upper surface of first sloping block 16 is the inclined plane, and the inclined plane inclination of the first sloping block 16 of a plurality of is the same. The rotating body 24 is fixedly connected with the first sloping block 16 or integrally formed. The base assembly 13 is fixedly connected with the side plate 3 through bolts. The fixing hole A12-1 is used for fixedly connecting the fixing piece B15 with the mounting clamping seat 2 by using a bolt, and the fixing hole B12-2 is used for fixedly connecting the base assembly 13 with the side plate 3 by using a bolt.
The specific working process of the driving mechanism is that the rotating body 24 moves up and down under the action of external air pressure or hydraulic pressure, the first inclined block 16 is contacted with the second inclined block 17, and the inclined surfaces of the first inclined block 16 and the second inclined block 17 slide mutually to force the rotating body 24 to rotate. When the rotator 24 moves upwards, the first swash block 16 falls into the support teeth 19. When the rotating body 24 moves downwards, the first inclined block 16 falls in the first groove 18, and the opening or the closing of the gripper is realized in sequence in a reciprocating mode. When the first sloping block 16 falls into the first groove 18, the driving mechanism drives the side plate 3 to move downwards, and the first cross rod 10 and the second cross rod 11 can slide upwards along the first wedge-shaped part 4 and the second wedge-shaped part 5 respectively so as to drive the first grabbing part 8 and the second grabbing part 9 to close. When the first inclined block 16 falls into the supporting teeth 19, the driving mechanism drives the side plate 3 to move upwards, and the first cross rod 10 and the second cross rod 11 can slide downwards along the first wedge-shaped portion 4 and the second wedge-shaped portion 5 respectively so as to drive the first grabbing portion 8 and the second grabbing portion 9 to open.
When the gripper is used, the end cover 1 is connected with the travelling mechanism, the travelling mechanism moves downwards to contact with an object to be gripped, the driving mechanism drives the side plate 3 to move upwards, the first gripping part 8 and the second gripping part 9 are opened, the gripping mechanism is in an open state until the object to be gripped completely enters a clamping area between the first gripping part 8 and the second gripping part 9, the travelling mechanism moves upwards again, the side plate 3 moves downwards due to the action of gravity, the first gripping part 8 and the second gripping part 9 are gradually closed until the object to be gripped is tightly gripped, and then the travelling mechanism transfers the object to a destination. After the walking mechanism reaches the destination and controls the gripper to descend to the ground, the side plate 3 moves upwards, the first gripping part 8 and the second gripping part 9 are opened, the gripping mechanism is in an open state until the object to be gripped is separated from the gripping mechanism, and next gripping is carried out.
The gripper is a purely mechanical gripper, has a simple and compact structure, realizes the closing and opening of the gripping mechanism by utilizing the gravity of the gripper and the resistance when the gripper contacts an object, does not need power sources such as pneumatic power, hydraulic power or electric power, can save energy consumption, can not lead the object to fall off in the gripping process, improves the use efficiency, and can be used on automatic control equipment needing to grip the object.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (10)
1. The utility model provides a mechanical type tongs, includes installation cassette (2), its characterized in that: the clamping device is characterized by further comprising a grabbing mechanism, a driving mechanism and at least one side plate (3), wherein the side plate (3) is movably connected with the mounting clamping seat (2), and the side plate (3) can slide up and down along the outer surface of the mounting clamping seat (2); the grabbing mechanism comprises a first grabbing part (8) and a second grabbing part (9), one end of the first grabbing part (8) and one end of the second grabbing part (9) are rotatably connected with the mounting clamping seat (2), the other end of the first grabbing part is a free end, the first grabbing part (8) is provided with a first cross rod (10) and a third cross rod (22), and the second grabbing part (9) is provided with a second cross rod (11) and a fourth cross rod (23); one side of the driving mechanism is fixedly connected with the mounting clamping seat (2), the other side of the driving mechanism is fixedly connected with the side plate (3), and the driving mechanism can drive the side plate (3) to slide up and down; the side plate (3) is in an inverted cone shape, when the side plate (3) moves upwards, the first cross rod (10) and the second cross rod (11) can respectively slide downwards along the side plate (3) to drive the first grabbing portion (8) and the second grabbing portion (9) to be opened, and when the side plate (3) moves downwards, the first cross rod (10) and the second cross rod (11) can respectively slide upwards along the side plate (3) to drive the first grabbing portion (8) and the second grabbing portion (9) to be closed; the lower extreme of curb plate (3) is equipped with two at least buckle mouths (21) when first portion (8) of snatching and second portion (9) are in the closure state, third horizontal pole (22) and fourth horizontal pole (23) can be blocked respectively in buckle mouth (21).
2. A mechanical gripper as claimed in claim 1, characterised in that: a through hole (12) is formed in the vertical direction of the installation clamping seat (2), the driving mechanism is arranged in the through hole (12), the driving mechanism comprises a base assembly (13), a fixing piece A (14) and a fixing piece B (15), the fixing piece A (14) and the fixing piece B (15) are fixedly connected with the installation clamping seat (2), and the base assembly (13) is fixedly connected with the side plate (3); a rotatable rotating body (24) is arranged on the base assembly (13), a plurality of first inclined blocks (16) are arranged on the rotating body (24), a plurality of second inclined blocks (17) matched with the first inclined blocks (16) are arranged on the fixing piece B (15), and the upper surfaces of the first inclined blocks (16) and the lower surfaces of the second inclined blocks (17) are inclined surfaces; the fixing piece A (14) is of a hollow structure and is provided with a plurality of first grooves (18) and supporting teeth (19) at intervals, when the first inclined block (16) approaches to the second inclined block (17), the rotating body (24) can be forced to rotate under the action of an inclined plane, and the first inclined block (16) can be switched between the first grooves (18) and the supporting teeth (19).
3. A mechanical gripper as claimed in claim 2, characterised in that: the included angle between the upper surface of the first inclined block (16) and the lower surface of the second inclined block (17) and the horizontal plane is 45 degrees.
4. A mechanical gripper as claimed in claim 2, characterised in that: the supporting teeth (19) are V-shaped.
5. A mechanical gripper as claimed in claim 2, characterised in that: the depth of the first groove (18) is greater than the depth of the support tooth (19).
6. A mechanical gripper as claimed in claim 2, characterised in that: the first grabbing part (8) and/or the second grabbing part (9) are L-shaped.
7. A mechanical gripper as claimed in claim 2, characterised in that: the side plates (3) are 2 and are respectively and symmetrically arranged on two sides of the mounting clamping seat (2).
8. A mechanical gripper as claimed in claim 2, characterised in that: the side plate (3) further comprises a clamping groove (6), a convex block (7) is arranged on the outer side of the mounting clamping seat (2), and the convex block (7) is matched with the clamping groove (6) to enable the side plate (3) to slide up and down along the convex block (7).
9. A mechanical gripper as claimed in any one of claims 1 to 8, wherein: the buckling opening (21) is a semicircular buckling opening.
10. A mechanical gripper as claimed in claim 9 wherein: the third cross rod (22) and the fourth cross rod (23) are both cylindrical rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110540863.8A CN113799158B (en) | 2021-05-18 | 2021-05-18 | Mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110540863.8A CN113799158B (en) | 2021-05-18 | 2021-05-18 | Mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113799158A true CN113799158A (en) | 2021-12-17 |
| CN113799158B CN113799158B (en) | 2024-05-31 |
Family
ID=78942438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110540863.8A Active CN113799158B (en) | 2021-05-18 | 2021-05-18 | Mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113799158B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1095657A (en) * | 1993-04-05 | 1994-11-30 | 克雷斯电气电动马达有限公司 | The fast fixture of blade of wire saw |
| WO1998018126A1 (en) * | 1996-10-24 | 1998-04-30 | Grundig Ag | Process and device for gripping objects having a through hole |
| CN201090645Y (en) * | 2007-09-06 | 2008-07-23 | 川方企业股份有限公司 | Brake of gearing device |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN103419205A (en) * | 2012-05-22 | 2013-12-04 | 中国科学院物理研究所 | Vacuum mechanical arm grabbing and releasing sample support |
| CN207044195U (en) * | 2017-10-20 | 2018-02-27 | 深圳市代田机电技术有限公司 | A kind of novel robot joint arrangement |
| CN108189060A (en) * | 2018-01-30 | 2018-06-22 | 湖北工程学院 | Grabber and industrial robot |
| CN111086872A (en) * | 2019-12-30 | 2020-05-01 | 格力电器（武汉）有限公司 | Clamping device and clamping equipment |
| CN212738602U (en) * | 2020-06-08 | 2021-03-19 | 苏州健能新材料科技有限公司 | Grabbing mechanism for boxing device |
| CN215149197U (en) * | 2021-05-18 | 2021-12-14 | 新疆天业节水灌溉股份有限公司 | Mechanical type tongs |
-
2021
- 2021-05-18 CN CN202110540863.8A patent/CN113799158B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1095657A (en) * | 1993-04-05 | 1994-11-30 | 克雷斯电气电动马达有限公司 | The fast fixture of blade of wire saw |
| WO1998018126A1 (en) * | 1996-10-24 | 1998-04-30 | Grundig Ag | Process and device for gripping objects having a through hole |
| CN201090645Y (en) * | 2007-09-06 | 2008-07-23 | 川方企业股份有限公司 | Brake of gearing device |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN103419205A (en) * | 2012-05-22 | 2013-12-04 | 中国科学院物理研究所 | Vacuum mechanical arm grabbing and releasing sample support |
| CN207044195U (en) * | 2017-10-20 | 2018-02-27 | 深圳市代田机电技术有限公司 | A kind of novel robot joint arrangement |
| CN108189060A (en) * | 2018-01-30 | 2018-06-22 | 湖北工程学院 | Grabber and industrial robot |
| CN111086872A (en) * | 2019-12-30 | 2020-05-01 | 格力电器（武汉）有限公司 | Clamping device and clamping equipment |
| CN212738602U (en) * | 2020-06-08 | 2021-03-19 | 苏州健能新材料科技有限公司 | Grabbing mechanism for boxing device |
| CN215149197U (en) * | 2021-05-18 | 2021-12-14 | 新疆天业节水灌溉股份有限公司 | Mechanical type tongs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113799158B (en) | 2024-05-31 |
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