CN114619470A - Mechanical claw - Google Patents
Mechanical claw Download PDFInfo
- Publication number
- CN114619470A CN114619470A CN202210172529.6A CN202210172529A CN114619470A CN 114619470 A CN114619470 A CN 114619470A CN 202210172529 A CN202210172529 A CN 202210172529A CN 114619470 A CN114619470 A CN 114619470A
- Authority
- CN
- China
- Prior art keywords
- fixing ring
- fixedly connected
- spring
- side wall
- ring
- Prior art date
- 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.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 title abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 13
- 239000000758 substrate Substances 0.000 claims abstract description 13
- 238000003780 insertion Methods 0.000 claims description 16
- 230000037431 insertion Effects 0.000 claims description 16
- 230000007480 spreading Effects 0.000 claims description 9
- 238000003892 spreading Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 5
- 229920003023 plastic Polymers 0.000 abstract description 21
- 239000004033 plastic Substances 0.000 abstract description 21
- 239000002689 soil Substances 0.000 abstract description 8
- 239000007787 solid Substances 0.000 description 31
- 239000011159 matrix material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a mechanical claw which comprises a substrate, wherein the bottom end of the substrate is fixedly connected with a first fixing ring, the middle part of the substrate is provided with a through hole, the through hole and the first fixing ring are coaxially arranged, the bottom of the first fixing ring is provided with a plurality of accommodating grooves, an opening mechanism is arranged in the accommodating grooves, the middle part of the outer side wall of the first fixing ring is fixedly provided with a second fixing ring, the bottom end of the second fixing ring is fixedly provided with a plurality of clamping parts, and the clamping parts are in one-to-one correspondence with the opening mechanism; the opening mechanism comprises a second cylinder, the second cylinder is fixedly connected with the top end of the accommodating groove, the opening portion is fixedly connected with the piston end of the second cylinder, the action portion is arranged below the opening portion, the action portion is connected with the bottom of the first fixing ring in a sliding mode, the automation of the soft plastic bagged soil work is achieved, the work efficiency is improved, and the labor force is saved.
Description
Technical Field
The invention belongs to the technical field of agricultural engineering, and particularly relates to a mechanical gripper.
Background
In the agricultural production process, soil or a matrix is usually required to be filled in a soft plastic bag for planting or cultivation, at present, the work is completed manually, at least two persons are required to cooperate, one person props open the soft plastic bag, the other person fills the soil or the matrix in the bag, the working efficiency is low, and labor is wasted, so that a mechanical claw needs to be designed urgently to solve the problem.
Disclosure of Invention
The invention aims to provide a mechanical claw, which solves the problems and achieves the purposes of saving labor force and improving working efficiency.
In order to achieve the purpose, the invention provides the following scheme: a mechanical claw comprises a substrate, wherein a first fixing ring is fixedly connected to the bottom end of the substrate, a through hole is formed in the middle of the substrate, the through hole and the first fixing ring are coaxially arranged, a plurality of accommodating grooves are formed in the bottom of the first fixing ring, a spreading mechanism is arranged in the accommodating grooves, a second fixing ring is fixedly arranged in the middle of the outer side wall of the first fixing ring, a plurality of clamping portions are fixedly arranged at the bottom end of the second fixing ring, and the clamping portions correspond to the spreading mechanism one by one;
the opening mechanism comprises a second cylinder, the second cylinder is fixedly connected with the top end of the accommodating groove, the piston end of the second cylinder is fixedly connected with an opening part, an action part is arranged below the opening part, and the action part is connected with the bottom of the first fixing ring in a sliding mode.
Preferably, action portion includes the connecting axle, the connecting axle with first solid fixed ring lateral wall bottom sliding connection, connecting axle one end fixedly connected with backup pad, the backup pad is located the first solid fixed ring outside, the spacing piece of connecting axle other end fixedly connected with, spacing piece is located first solid fixed ring is inboard, connecting axle outside cover is equipped with the second spring, second spring one end with spacing piece fixed connection, the second spring other end with first solid fixed ring inside wall fixed connection, the jack has been seted up at the connecting axle middle part, the jack with it corresponds the setting to prop open the portion.
Preferably, the portion of strutting includes the voussoir, the voussoir is isosceles right triangle, a right-angle side level setting of voussoir and with the piston end fixed connection of second cylinder, the vertical setting in another right-angle side of voussoir, the hypotenuse orientation of voussoir the first solid fixed ring outside sets up, the right-angle side that the voussoir level set up is kept away from the one end fixedly connected with limiting plate on the right-angle side of vertical setting, the vertical setting of limiting plate.
Preferably, the insertion holes are inverted right trapezoid, the inclined edges of the insertion holes are close to the wedge blocks, the inclined direction of the inclined edges of the insertion holes is consistent with the inclined direction of the inclined edges of the wedge blocks, the length of the upper bottoms of the insertion holes is not less than twice the length of the right-angle edges of the wedge blocks, and the length of the lower bottoms of the insertion holes is not less than the length of the right-angle edges of the wedge blocks.
Preferably, the clamping part includes first cylinder, first cylinder top with second retaining ring bottom end fixed connection, first cylinder piston end fixedly connected with first shell that holds, first shell inside that holds is provided with a plurality of first springs, first spring level sets up, first spring one end with first shell inside wall fixed connection that holds, first spring other end fixedly connected with butt joint board, butt joint board with first shell inside wall sliding contact that holds, first shell that holds is close to the fixed lock part that is provided with in one side top of first solid fixed ring.
Preferably, the unblock portion includes the fourth spring, the bottom of fourth spring with first holding shell top end fixed connection, the top fixed connection of fourth spring has the horizontal plate of picture peg, the vertical board of picture peg passes first holding shell's top lateral wall and with first holding shell's top lateral wall sliding contact.
Preferably, the clamping part includes the solid fixed ring of third, the solid fixed ring of third with the solid fixed ring lateral wall fixed connection of first, the solid fixed ring of third goes up to slide and is provided with a plurality of connecting rods, the connecting rod with the opening mechanism one-to-one, the fixed bulge loop that is provided with in connecting rod middle part, the bulge loop bottom with the solid fixed ring top contact of third, connecting rod bottom fixedly connected with second holds the shell, the second holds and is provided with the third spring in the shell, third spring one end with the second holds shell inside wall fixed connection, third spring other end fixedly connected with butt piece, butt piece with the second holds shell inside wall sliding contact, the butt piece is close to the solid fixed ring of first setting, the sliding of connecting rod top is provided with the rotating part.
Preferably, the rotating part includes the motor, the output shaft of motor passes solid fixed ring of fourth and fixedly connected with gear, gu fixed ring of fourth with gu fixed ring lateral wall fixed connection, the gear is located gu fixed ring of fourth below, gu fixed ring of first lateral wall rotates and is provided with the swivel becket, the swivel becket is located gu fixed ring of fourth below, the swivel becket outer lane with gear engagement, a plurality of arcs have been seted up on the swivel becket, the arc with the connecting rod one-to-one, the sliding of connecting rod top sets up in the arc.
Preferably, first solid fixed ring inside wall middle part is fixed and is provided with a plurality of protection parts, protection part with action portion one-to-one, protection part is including fixed journal stirrup, fixed journal stirrup one end with first solid fixed ring inside wall middle part fixed connection, the fixed journal stirrup other end articulates through the pivot has the baffle, baffle bottom one side with spacing piece top contact.
The invention has the following technical effects:
the opening mechanism provided by the invention can automatically open the soft plastic bag, the soft plastic bag can be fixedly clamped by the clamping part after being opened, and soil or a matrix can be filled into the soft plastic bag through the through hole formed in the base plate after the soft plastic bag is fixedly clamped.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 4 is a schematic view of a swivel ring according to a second embodiment;
FIG. 5 is a schematic view of a third retaining ring according to the second embodiment.
Wherein, 1, a substrate; 2. a first retaining ring; 3. a second retaining ring; 4. a first cylinder; 5. a first housing case; 6. a first spring; 7. inserting plates; 8. fixing the support lug; 9. a baffle plate; 10. a rotating shaft; 11. a second cylinder; 12. a limiting plate; 13. a wedge block; 14. a support plate; 15. a limiting sheet; 16. a connecting shaft; 17. a second spring; 18. a jack; 19. accommodating grooves; 20. a motor; 21. a butt joint plate; 22. a gear; 23. a rotating ring; 24. a connecting rod; 25. a convex ring; 26. a second accommodating case; 27. a third spring; 28. a butting block; 29. a fourth spring; 30. a through hole; 31. a third fixing ring; 32. and a fourth fixing ring.
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.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-2, the invention discloses a gripper, which comprises a substrate 1, wherein the bottom end of the substrate 1 is fixedly connected with a first fixing ring 2, the middle part of the substrate 1 is provided with a through hole 30, the through hole 30 and the first fixing ring 2 are coaxially arranged, the bottom of the first fixing ring 2 is provided with a plurality of accommodating grooves 19, the accommodating grooves 19 are internally provided with a spreading mechanism, the middle part of the outer side wall of the first fixing ring 2 is fixedly provided with a second fixing ring 3, the bottom end of the second fixing ring 3 is fixedly provided with a plurality of clamping parts, and the clamping parts correspond to the spreading mechanism one by one;
the opening mechanism comprises a second cylinder 11, the second cylinder 11 is fixedly connected with the top end of the accommodating groove 19, the piston end of the second cylinder 11 is fixedly connected with an opening part, an action part is arranged below the opening part, and the action part is connected with the bottom of the first fixing ring 2 in a sliding manner.
The expanding mechanism can automatically expand the soft plastic bag, the soft plastic bag can be fixedly clamped by the clamping part after being expanded, and soil or a matrix can be filled into the soft plastic bag through the through holes 30 formed in the base plate 1 after the soft plastic bag is fixedly clamped.
Further optimize the scheme, the action portion includes connecting axle 16, connecting axle 16 and 2 lateral wall bottom sliding connection of first solid fixed ring, 16 one end fixedly connected with backup pad 14 of connecting axle, backup pad 14 is located the 2 outsides of first solid fixed ring, 16 other end fixedly connected with spacing piece 15 of connecting axle, spacing piece 15 is located the 2 inboards of first solid fixed ring, the cover is equipped with second spring 17 in the 16 outside of connecting axle, second spring 17 one end and 15 fixed connection of spacing piece, the second spring 17 other end and 2 inside wall fixed connection of first solid fixed ring, jack 18 has been seted up at connecting axle 16 middle part, jack 18 corresponds the setting with the portion of strutting.
Further optimization scheme, the portion of strutting includes voussoir 13, and voussoir 13 is isosceles right triangle, and a right-angle side level of voussoir 13 sets up and with the piston end fixed connection of second cylinder 11, the vertical setting of another right-angle side of voussoir 13, and the hypotenuse of voussoir 13 sets up towards the first solid fixed ring 2 outsides, and the right-angle side that voussoir 13 level set up keeps away from the one end fixedly connected with limiting plate 12 of the right-angle side of vertical setting, the vertical setting of limiting plate 12.
In a further optimized scheme, the insertion hole 18 is an inverted right trapezoid, the oblique edge of the insertion hole 18 is close to the wedge block 13, the oblique edge of the insertion hole 18 is in the same direction as the oblique edge of the wedge block 13, the length of the upper bottom of the insertion hole 18 is not less than twice the length of the right-angle edge of the wedge block 13, and the length of the lower bottom of the insertion hole 18 is not less than the length of the right-angle edge of the wedge block 13.
When the soft plastic bag needs to be unfolded, the piston end of the second cylinder 11 extends out to drive the wedge block 13 to move downwards and insert into the insertion hole 18 formed in the middle of the connecting shaft 16, the wedge block 13 moves downwards continuously, the bevel edge of the isosceles right triangle is in contact with the bevel edge of the inverted right trapezoid and pushes the connecting shaft 16 outwards slowly, and finally the aim of unfolding the soft plastic bag is achieved.
Further optimize the scheme, the clamping part includes first cylinder 4, 4 tops of first cylinder and the solid fixed ring 3 bottom fixed connection of second, 4 piston end fixedly connected with of first cylinder hold shell 5, first hold 5 inside of shells and be provided with a plurality of first springs 6, first spring 6 level sets up, 6 one end of first spring and the first 5 inside wall fixed connection that hold the shell, 6 other end fixedly connected with butt plate 21 of first spring, butt plate 21 and the first 5 inside wall sliding contact that hold the shell, the first one side top that holds shell 5 and be close to first solid fixed ring 2 is fixed to be provided with the unlocking portion.
Further optimize the scheme, the unblock portion includes fourth spring 29, and the bottom and the first top fixed connection that holds shell 5 of fourth spring 29, the top fixed connection of fourth spring 29 have the horizontal plate of picture peg 7, and the vertical board of picture peg 7 passes the top lateral wall of the first shell 5 that holds and with the first top lateral wall sliding contact who holds shell 5.
After the soft plastic bag is unfolded by the unfolding mechanism, the piston end of the first cylinder 4 extends out to drive the first accommodating shell 5 to move downwards to the position of the supporting plate 14, in the moving process, the top end of the supporting plate 14 upwards backs up the inserting plate 7, the inserting plate 7 backs up the back abutting plate 21 to be ejected out by the elastic force of the first spring 6 to accommodate the shell 5, then the inserting plate 7 abuts against the supporting plate 14 to fix the soft plastic bag, and the unfolding fixing work of the soft plastic bag is completed.
Further, the top of butt joint board 21 sets up to ascending inclined plane structure, and the vertical board bottom of picture peg 7 sets up to decurrent inclined plane structure, ascending inclined plane structure and decurrent inclined plane structure looks adaptation.
After the work of soft plastics soil in bags is accomplished, the piston end withdrawal of first cylinder 4, drive the first shell 5 that holds and upwards remove, among the upward movement's process, backup pad 14 no longer backs down picture peg 7, fourth spring 29 is in tensile state always, the vertical board of picture peg 7 reinserts the first shell 5 that holds in and will support the board 21 and fix in the first shell 5 that holds under the pulling force effect of fourth spring 29, support board 21 and backup pad 14 when soft plastics bag fixed fastening, the downward inclined plane of the vertical board bottom of picture peg 7 is in between the ascending inclined plane in support board 21 top and backup pad 14, guarantee that the vertical board of picture peg 7 can separate support board 21 and backup pad 14 smoothly.
Further optimize the scheme, the fixed a plurality of protection parts that are provided with in 2 inside wall middle parts of first solid fixed ring, protection part and action portion one-to-one, protection part are including fixed journal stirrup 8, and fixed journal stirrup 8 one end and 2 inside wall middle part fixed connection of first solid fixed ring, and the fixed journal stirrup 8 other end articulates through pivot 10 has baffle 9, and baffle 9 bottom one side contacts with spacing 15 tops.
After the connecting shaft 16 is pushed open by the wedge block 13, the baffle 9 can block the upper part of the connecting shaft 16, so that the influence on the use of the mechanical claw due to the fact that soil falls onto the upper part of the connecting shaft 16 in the soil loading process is avoided.
The second embodiment:
referring to fig. 3-5, the difference between the first embodiment and the second embodiment is only that the clamping portion includes a third fixing ring 31, the third fixing ring 31 is fixedly connected to the outer side wall of the first fixing ring 2, a plurality of connecting rods 24 are slidably disposed on the third fixing ring 31, the connecting rods 24 are in one-to-one correspondence with the spreading mechanisms, a convex ring 25 is fixedly disposed in the middle of each connecting rod 24, the bottom end of each convex ring 25 contacts with the top end of the third fixing ring 31, a second accommodating shell 26 is fixedly connected to the bottom end of each connecting rod 24, a third spring 27 is disposed in the second accommodating shell 26, one end of each third spring 27 is fixedly connected to the inner side wall of the second accommodating shell 26, another end of each third spring 27 is fixedly connected to a butting block 28, the butting block 28 is slidably contacted with the inner side wall of the second accommodating shell 26, the butting block 28 is disposed close to the first fixing ring 2, and the top end of each connecting rod 24 is slidably disposed with a rotating portion.
Further optimize the scheme, the rotating part includes motor 20, motor 20's output shaft passes the solid fixed ring 32 of fourth and fixedly connected with gear 22, the solid fixed ring 32 of fourth and the solid fixed ring 2 lateral wall fixed connection of first, gear 22 is located the solid fixed ring 32 below of fourth, the solid fixed ring 2 lateral wall of first rotates and is provided with swivel becket 23, swivel becket 23 is located the solid fixed ring 32 below of fourth, swivel becket 23 outer lane and gear 22 mesh, a plurality of arcs have been seted up on swivel becket 23, arcs and 24 one-to-one of connecting rod, the sliding of connecting rod 24 top sets up in the arc.
When the clamping part of this embodiment presss from both sides tightly soft plastic bag, motor 20 works, it rotates to drive gear 22, because the rotating ring 23 outer lane is provided with the tooth structure, therefore gear 22 rotates and to drive rotating ring 23 and rotates, when rotating ring 23 rotates, it is the arc motion to drive connecting rod 24 in the arc wall, and the bar groove of seting up on the solid fixed ring 31 of third then restricts connecting rod 24 and is the linear motion in the bar groove, form a new linear motion after arc motion and linear motion superpose mutually, new linear motion is connecting rod 24 to the motion of being close to backup pad 14 direction, and make butt piece 28 accomplish the fixed clamping work to soft plastic bag jointly with backup pad 14 through the elasticity of third spring 27, control motor 20 direction rotates, can loosen soft plastic bag.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are only intended to illustrate the preferred embodiments of the present invention, and not to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (9)
1. The gripper is characterized by comprising a substrate (1), wherein a first fixing ring (2) is fixedly connected to the bottom end of the substrate (1), a through hole (30) is formed in the middle of the substrate (1), the through hole (30) and the first fixing ring (2) are coaxially arranged, a plurality of accommodating grooves (19) are formed in the bottom of the first fixing ring (2), a spreading mechanism is arranged in each accommodating groove (19), a second fixing ring (3) is fixedly arranged in the middle of the outer side wall of the first fixing ring (2), a plurality of clamping parts are fixedly arranged at the bottom end of the second fixing ring (3), and the clamping parts correspond to the spreading mechanisms one by one;
the opening mechanism comprises a second cylinder (11), the second cylinder (11) is fixedly connected with the top end of the accommodating groove (19), the piston end of the second cylinder (11) is fixedly connected with an opening portion, an action portion is arranged below the opening portion, and the action portion is connected with the bottom of the first fixing ring (2) in a sliding mode.
2. A gripper according to claim 1, characterized in that the actuation part comprises a connecting shaft (16), the connecting shaft (16) is connected with the bottom of the side wall of the first fixing ring (2) in a sliding way, one end of the connecting shaft (16) is fixedly connected with a supporting plate (14), the supporting plate (14) is positioned at the outer side of the first fixing ring (2), the other end of the connecting shaft (16) is fixedly connected with a limiting sheet (15), the limiting sheet (15) is positioned at the inner side of the first fixing ring (2), a second spring (17) is sleeved on the outer side of the connecting shaft (16), one end of the second spring (17) is fixedly connected with the limiting sheet (15), the other end of the second spring (17) is fixedly connected with the inner side wall of the first fixing ring (2), the middle part of the connecting shaft (16) is provided with a jack (18), and the jack (18) is arranged corresponding to the opening part.
3. A gripper according to claim 2, characterized in that the spreading portion comprises a wedge (13), the wedge (13) is an isosceles right triangle, one leg of the wedge (13) is horizontally arranged and fixedly connected to the piston end of the second cylinder (11), the other leg of the wedge (13) is vertically arranged, the hypotenuse of the wedge (13) is arranged towards the outside of the first fixing ring (2), the leg of the wedge (13) horizontally arranged is far away from one end of the vertically arranged leg, which is fixedly connected to the limiting plate (12), and the limiting plate (12) is vertically arranged.
4. A gripper according to claim 3, characterized in that the insertion hole (18) is an inverted right trapezoid, the oblique side of the insertion hole (18) is close to the wedge (13), the oblique side of the insertion hole (18) is inclined in the same direction as the oblique side of the wedge (13), the length of the upper base of the insertion hole (18) is not less than twice the length of the right-angled side of the wedge (13), and the length of the lower base of the insertion hole (18) is not less than the length of the right-angled side of the wedge (13).
5. The gripper according to claim 1, wherein the clamping portion comprises a first cylinder (4), a top end of the first cylinder (4) is fixedly connected with a bottom end of the second fixing ring (3), a piston end of the first cylinder (4) is fixedly connected with a first accommodating shell (5), a plurality of first springs (6) are arranged inside the first accommodating shell (5), the first springs (6) are horizontally arranged, one end of each first spring (6) is fixedly connected with an inner side wall of the first accommodating shell (5), the other end of each first spring (6) is fixedly connected with an abutting plate (21), the abutting plate (21) is in sliding contact with the inner side wall of the first accommodating shell (5), and an unlocking portion is fixedly arranged at the top of one side, close to the first fixing ring (2), of the first accommodating shell (5).
6. A gripper according to claim 5, characterized in that said unlocking means comprise a fourth spring (29), the bottom end of said fourth spring (29) being fixedly connected to the top end of said first housing shell (5), the top end of said fourth spring (29) being fixedly connected to a horizontal plate of an insert plate (7), the vertical plate of said insert plate (7) passing through the top side wall of said first housing shell (5) and being in sliding contact with the top side wall of said first housing shell (5).
7. The gripper according to claim 1, wherein the clamping portion comprises a third fixing ring (31), the third fixing ring (31) is fixedly connected to an outer side wall of the first fixing ring (2), the third fixing ring (31) is slidably provided with a plurality of connecting rods (24), the connecting rods (24) correspond to the spreading mechanisms one by one, a convex ring (25) is fixedly provided in a middle portion of each connecting rod (24), a bottom end of each convex ring (25) is in contact with a top end of the third fixing ring (31), a bottom end of each connecting rod (24) is fixedly connected with a second accommodating shell (26), a third spring (27) is provided in each second accommodating shell (26), one end of each third spring (27) is fixedly connected to an inner side wall of the second accommodating shell (26), the other end of each third spring (27) is fixedly connected with a butt block (28), and the butt block (28) is in sliding contact with an inner side wall of the second accommodating shell (26), the butt joint block (28) is close to the first fixing ring (2), and the top end of the connecting rod (24) is provided with a rotating part in a sliding mode.
8. The gripper according to claim 7, wherein the rotating portion includes a motor (20), an output shaft of the motor (20) passes through a fourth fixing ring (32) and is fixedly connected with a gear (22), the fourth fixing ring (32) is fixedly connected with an outer side wall of the first fixing ring (2), the gear (22) is located below the fourth fixing ring (32), a rotating ring (23) is rotatably disposed on an outer side wall of the first fixing ring (2), the rotating ring (23) is located below the fourth fixing ring (32), an outer ring of the rotating ring (23) is engaged with the gear (22), a plurality of arc-shaped grooves are formed in the rotating ring (23), the arc-shaped grooves correspond to the connecting rods (24) one to one, and top ends of the connecting rods (24) are slidably disposed in the arc-shaped grooves.
9. The gripper according to claim 2, wherein a plurality of protection portions are fixedly arranged in the middle of the inner side wall of the first fixing ring (2), the protection portions correspond to the action portions in a one-to-one manner, each protection portion comprises a fixing support lug (8), one end of each fixing support lug (8) is fixedly connected with the middle of the inner side wall of the first fixing ring (2), the other end of each fixing support lug (8) is hinged to a baffle (9) through a rotating shaft (10), and one side of the bottom of each baffle (9) is in contact with the top end of a limiting piece (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172529.6A CN114619470A (en) | 2022-02-24 | 2022-02-24 | Mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210172529.6A CN114619470A (en) | 2022-02-24 | 2022-02-24 | Mechanical claw |
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| Publication Number | Publication Date |
|---|---|
| CN114619470A true CN114619470A (en) | 2022-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210172529.6A Pending CN114619470A (en) | 2022-02-24 | 2022-02-24 | Mechanical claw |
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| CN (1) | CN114619470A (en) |
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| CN215770922U (en) * | 2021-08-31 | 2022-02-08 | 济源市金光电器有限公司 | Reversing switch fixing mechanism of low-voltage starter |
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2022
- 2022-02-24 CN CN202210172529.6A patent/CN114619470A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5305579A (en) * | 1991-12-14 | 1994-04-26 | Chronos Richardson Gmbh | Device for expanding and slipping on bags |
| CN104218877A (en) * | 2014-09-22 | 2014-12-17 | 楼碧云 | Solar cell panel mounting rack with rotating wheel on pushing-ejecting part |
| CN212314007U (en) * | 2020-03-24 | 2021-01-08 | 四川兴创泰信息科技有限公司 | Filling device for cement processing |
| CN213323977U (en) * | 2020-09-15 | 2021-06-01 | 天津市天隆食品有限公司 | Packaging equipment for making crispy rice puffed food |
| CN214081003U (en) * | 2020-10-15 | 2021-08-31 | 厦门攸信信息技术有限公司 | Rotary motor clamping device |
| CN214711991U (en) * | 2020-11-20 | 2021-11-16 | 湖北工程学院 | Domestic juice extractor convenient to change stirring sword |
| CN213921847U (en) * | 2020-11-30 | 2021-08-10 | 重庆龙衡生物科技有限公司 | Conveyer for labeling |
| CN215770922U (en) * | 2021-08-31 | 2022-02-08 | 济源市金光电器有限公司 | Reversing switch fixing mechanism of low-voltage starter |
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