CN115008492A

CN115008492A - Clamping-force-adjustable mechanical claw

Info

Publication number: CN115008492A
Application number: CN202210556588.3A
Authority: CN
Inventors: 陈玉梅; 杨耒
Original assignee: Taizhou University; Taizhou Vocational College of Science and Technology
Current assignee: Taizhou University; Taizhou Vocational College of Science and Technology
Priority date: 2022-05-17
Filing date: 2022-05-17
Publication date: 2022-09-06

Abstract

The invention discloses a gripper with adjustable clamping force, which comprises an input shaft, a gripper and a gear set for transferring acting force, wherein the gear set is respectively connected with the input shaft and the gripper; the gear set comprises a transmission gear and an adjusting gear for applying pressure to the transmission gear; the transmission gear is matched with the input shaft and the mechanical claw; the adjusting gear is sleeved on the adjusting shaft, an internal thread is arranged on the adjusting gear, an external thread is arranged on the adjusting shaft, the internal thread is matched with the external thread, and the adjusting gear exerts pressure on the transmission gear along the movement of the adjusting shaft; the force required by the rotation of the transmission gear is changed in a small range by applying pressure to the transmission gear through the adjusting gear; so that the clamping force of the mechanical claw can be accurately changed; the product is prevented from being damaged while the stable grabbing is ensured; meanwhile, the mechanical claw can grab products with more sizes and shapes, so that the application range of the mechanical claw is wider.

Description

Clamping-force-adjustable mechanical claw

Technical Field

The invention relates to the field of design and manufacture of automatic sorting equipment of an assembly line, in particular to a mechanical claw with adjustable clamping force.

Background

With the progress of science and technology, in order to facilitate daily work and life, a plurality of mechanical devices are invented for providing great convenience for the daily work and life of people; the mechanical claw is a common mechanical device, and is usually used for helping people to grab and transport; on the production line, mechanical claws are usually adopted to replace manual work for grabbing and classifying, so that the working efficiency is improved; generally, however, a motor, a cylinder, an engine, or other energy supply devices are generally used for providing kinetic energy for the gripper and controlling the gripper; therefore, the grabbing force of the mechanical gripper needs to be controlled by changing the output force of the kinetic energy providing equipment; however, generally speaking, some energy supply devices such as a motor, a cylinder or an engine cannot finely adjust the output acting force; product classification on a production line is generally carried out according to product shape and size; when the sizes of the products are not greatly different, the conventional mechanical claws cannot accurately classify the products; therefore, a gripper with a carefully adjustable clamping force is needed to sort products with small differences in size.

Meanwhile, when products to be classified are fragile and easy to damage, a mechanical claw capable of finely adjusting the clamping force is further needed; the product is prevented from being damaged while the grabbing stability is ensured.

Disclosure of Invention

The mechanical claw with the adjustable clamping force overcomes the defects of the prior art, and is simple in structure, reasonable in design, stable in grabbing, capable of finely adjusting the clamping force and capable of avoiding damage to products.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a gripper with adjustable clamping force comprises an input shaft, a gripper and a gear set for transferring acting force, wherein the gear set is respectively connected with the input shaft and the gripper; the gear set comprises a transmission gear and an adjusting gear for applying pressure to the transmission gear; the transmission gear is matched with the input shaft and the mechanical claw; the adjusting gear sleeve is established on the regulating spindle, is provided with the internal thread on the adjusting gear, is provided with the external screw thread on the regulating spindle, and internal thread and external screw thread cooperation, adjusting gear exert pressure to the drive gear along the activity of regulating spindle.

Furthermore, the adjusting gear comprises a main adjusting gear and an auxiliary adjusting gear, and the main adjusting gear and the auxiliary adjusting gear are meshed with each other; the auxiliary adjusting gear is sleeved on the auxiliary adjusting shaft; an internal thread is arranged on the auxiliary adjusting gear, and a corresponding external thread is arranged on the auxiliary adjusting shaft; the internal thread is matched with the external thread, and the auxiliary adjusting gear moves along the auxiliary adjusting shaft and is contacted with the transmission gear.

Furthermore, a compression spring is sleeved on the auxiliary adjusting shaft, and two ends of the compression spring are respectively contacted with the auxiliary adjusting gear and the transmission gear.

Further, the transmission gears comprise a first transmission gear, a second transmission gear, a third transmission gear and a fourth transmission gear; the first transmission gear is fixed on the input shaft, the second transmission gear and the third transmission gear are sleeved on the auxiliary adjusting shaft and move along the auxiliary adjusting shaft, and the fourth transmission gear is matched with the mechanical claw; the first transmission gear is meshed with the second transmission gear, and the third transmission gear is meshed with the fourth transmission gear; the second transmission gear is arranged between the auxiliary adjusting gear and the third transmission gear, and two ends of the compression spring are respectively contacted with the auxiliary adjusting gear and the second transmission gear; ratchet wheels which are matched with each other are arranged on the lower surface of the second transmission gear and the upper surface of the third transmission gear.

The gear set is arranged in the installation space; the mounting space is provided with a shell opening, and a sealing cover is arranged at the shell opening; one end of the input shaft penetrates through the sealing cover to enter the installation space, the first transmission gear is fixed to the input shaft to enter the installation space, and the other end of the input shaft is exposed out of the shell; the auxiliary adjusting shaft is arranged in the mounting space, and two ends of the auxiliary adjusting shaft are respectively connected with the sealing cover and the bottom surface of the mounting space; a main adjusting shaft is also arranged in the mounting space, and a main adjusting gear is sleeved on the main adjusting shaft; the mounting space is also provided with an adjustment opening from which the main adjustment gear is exposed.

Furthermore, the transmission device also comprises an output shaft, wherein one end of the output shaft is arranged in the installation space and is connected with a fourth transmission gear; the gripper is matched with the output shaft.

Further, the mechanical claw comprises a first connecting rod, a second connecting rod, a third connecting rod and a claw head; the first connecting rod is sleeved on the output shaft, an internal thread is arranged on the first connecting rod, a corresponding external thread is arranged on the output shaft, and the first connecting rod moves along the output shaft; two ends of the second connecting rod are respectively connected with the first connecting rod and the third connecting rod; two ends of the third connecting rod are respectively connected with the second connecting rod and the claw head; a bend is arranged in the middle of the third connecting rod, and the bend is connected with the shell; the middle of the claw head is provided with a bend, and the bend is connected with the shell.

Furthermore, the gripper further comprises a fourth connecting rod, one end of the fourth connecting rod is connected with the shell, and the other end of the fourth connecting rod is connected with the bending part of the gripper head.

Further, the third link includes a first region and a second region; wherein, the connection end of the third connecting rod and the second connecting rod to the bending position is a first area; the third connecting rod is connected with one end of the claw head to the bending part of the third connecting rod to form a second area; the fourth connecting rod is always parallel to the second area.

Furthermore, an adjusting space is arranged in the shell and is formed by surrounding the claw body; a through hole is formed between the adjusting space and the mounting space, and the output shaft penetrates through the through hole to enter the adjusting space; an assembly hole is further formed in the claw body, and one end, far away from the fourth transmission gear, of the output shaft is located in the assembly hole; bearings are arranged in the through hole and the assembling hole, and the bearings are penetrated by the output shaft;

the external thread of the output shaft is positioned in the adjusting space, and the first connecting rod and the second connecting rod are positioned in the adjusting space; the bending part of the third connecting rod and one end of the fourth connecting rod far away from the claw head are both connected with the claw body.

The invention has the beneficial effects that:

according to Newton's third law that the force action is mutual, the force when the mechanical claw grabs the object can be obtained, and the force is in proportion to the force transmitted by the transmission gear; therefore, the force required by the rotation of the transmission gear is changed in a small range by applying pressure to the transmission gear through the adjusting gear; so that the clamping force of the mechanical claw can be accurately changed; the product is prevented from being damaged while the stable grabbing is ensured; meanwhile, the mechanical claw can grab products with more sizes and shapes, so that the application range of the mechanical claw is wider.

Energy supply equipment capable of finely adjusting the output acting force is generally high in use cost; in the invention, the clamping force of the mechanical claw can be accurately changed by adjusting the pressure exerted by the gear on the transmission gear; the invention has relatively lower implementation cost and use cost.

In the invention, a main adjusting gear and an auxiliary adjusting gear are meshed with each other, the auxiliary adjusting gear is sleeved on an auxiliary adjusting shaft, and the auxiliary adjusting gear and the auxiliary adjusting shaft are respectively provided with matched internal threads and external threads; the invention can adjust the height of the auxiliary adjusting gear on the auxiliary adjusting shaft by adjusting the main adjusting gear, and apply pressure to the transmission gear through the auxiliary adjusting gear.

In the invention, the compression spring is arranged, so that the auxiliary adjusting gear can apply pressure to the transmission gear through the compression spring; further avoiding the abrasion caused by the direct contact of the auxiliary adjusting gear and the transmission gear; meanwhile, when the auxiliary adjusting gear is reset, the abrasion among the auxiliary adjusting gear, the main adjusting gear and the auxiliary adjusting shaft can be reduced through the acting force applied to the auxiliary adjusting gear by the resetting of the compression spring.

In the invention, the ratchets are arranged, so that when the input shaft of the invention continuously rotates and the torque of the input shaft exceeds the torque generated by the friction force between the ratchets, the ratchets slide in a staggered way to generate sound for prompting a user to adjust the torque of the input shaft; meanwhile, when the mechanical claw is positioned at the maximum opening angle or the minimum folding angle, the ratchets slide in a staggered manner to generate sound, and a user is prompted to pay attention to the adjustment of the torque of the input shaft; meanwhile, due to the fact that the ratchet wheels slide in a staggered mode, acting force of the input shaft exceeding the requirement cannot be transmitted to the output shaft, the mechanical claw is prevented from being clamped or loosened continuously, and then the mechanical claw is prevented from being damaged or a product gripped by the mechanical claw is prevented from being damaged.

Drawings

FIG. 1 is a view showing the construction of the gripper of the present invention when it is opened.

Fig. 2 is a structural diagram of the mechanical claw when the mechanical claw is folded.

Fig. 3 is a structural view of the housing.

Fig. 4 is a view showing the structure of the inside of the installation space.

FIG. 5 is a block diagram of the input and output shafts in cooperation with a gear set.

Fig. 6 is a gear train configuration diagram.

Fig. 7 is a structure view of the input shaft and the first transmission gear in cooperation.

Fig. 8 is a structure view of the main adjusting gear.

Fig. 9 is a view showing the structure of the claw head.

Fig. 10 is a third link structure view.

Reference numbers in the figures:

1. an input shaft; 2. a gripper; 3. a gear set; 4. a housing; 5. an output shaft; 21. a first link; 22. a second link; 23. a third link; 24. a claw head; 25. a fourth link; 31. a transmission gear; 32. an adjusting gear; 33. an auxiliary adjusting shaft; 34. a main adjustment shaft; 35. a compression spring; 36. a ratchet wheel; 37. calibrating the line; 41. an installation space; 42. a housing opening; 43. a sealing cover; 44. adjusting the opening; 45. adjusting the space; 46. a claw body; 47. through the hole; 48. an assembly hole; 49. a bearing; 50. calibrating the opening; 231. a first region; 232. a second region; 241. anti-skid insections; 242. a grip groove; 243. a third region; 244. a fourth region; 311. a first drive gear; 312. a second transmission gear; 313. a third transmission gear; 314. a fourth transmission gear; 321. a main adjusting gear; 322. a secondary adjustment gear; 323. adjusting teeth; 324. meshing teeth; 361. a first ratchet wheel; 362. a second ratchet wheel; 363. gear teeth; 364. a tooth socket; 411. adjusting the fixed seat; 412. input shaft fixing base.

Detailed Description

The invention is further described with reference to the following figures and specific examples. It should be noted that the examples are only for specifically illustrating the present invention, and the purpose thereof is to make the technical solution of the present invention better understood by those skilled in the art, and should not be construed as limiting the present invention. The parts of the scheme which are not described in detail can be realized by adopting the conventional technical means.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in fig. 1-10, a gripper 2 with adjustable clamping force comprises an input shaft 1, a gripper 2 and a gear set 3 for transmitting acting force, wherein the gear set 3 is respectively connected with the input shaft 1 and the gripper 2; the gear set 3 includes a transmission gear 31 and an adjustment gear 32 that applies pressure to the transmission gear 31; the transmission gear 31 is matched with the input shaft 1 and the mechanical claw 2; the adjusting gear is sleeved on the adjusting shaft, an internal thread is arranged on the adjusting gear, an external thread is arranged on the adjusting shaft, the internal thread is matched with the external thread, and the adjusting gear exerts pressure on the transmission gear along the movement of the adjusting shaft; the force required by the rotation of the transmission gear 31 is changed in a small range by applying pressure on the transmission gear 31 through the adjusting gear 32; thereby enabling the clamping force of the mechanical claw 2 to be accurately changed; the product is prevented from being damaged while the stable grabbing is ensured; meanwhile, the mechanical claw can grab products with more sizes and shapes, so that the application range of the mechanical claw is wider.

The adjusting gear 32 comprises a main adjusting gear 321 and a secondary adjusting gear 322, and the main adjusting gear 321 and the secondary adjusting gear 322 are meshed with each other; the auxiliary adjusting gear 322 is sleeved on the auxiliary adjusting shaft 33; an internal thread is arranged on the auxiliary adjusting gear 322, and a corresponding external thread is arranged on the auxiliary adjusting shaft 33; the internal thread is matched with the external thread, and the auxiliary adjusting gear 322 moves along the auxiliary adjusting shaft 33 and is contacted with the transmission gear 31; the main adjusting gear 321 is meshed with the auxiliary adjusting gear 322, the auxiliary adjusting gear 322 is sleeved on the auxiliary adjusting shaft 33, and the auxiliary adjusting gear 322 and the auxiliary adjusting shaft 33 are respectively provided with matched internal threads and external threads; the height of the auxiliary adjusting gear 322 on the auxiliary adjusting shaft 33 is adjusted by adjusting the main adjusting gear 321, and the transmission gear 31 is pressed by the auxiliary adjusting gear 322.

In this embodiment, a compression spring 35 is further sleeved on the secondary adjusting shaft 33, and two ends of the compression spring 35 are respectively in contact with the secondary adjusting gear 322 and the transmission gear 31; the compression spring 35 is provided so that the sub regulation gear 322 can apply a pressing force to the transmission gear 31 through the compression spring 35; thereby avoiding the abrasion caused by the direct contact between the auxiliary adjusting gear 322 and the transmission gear 31; meanwhile, when the auxiliary adjusting gear 322 is reset, the abrasion among the auxiliary adjusting gear 322, the main adjusting gear 321 and the auxiliary adjusting shaft 33 can be reduced through the acting force applied to the auxiliary adjusting gear 322 by the reset of the compression spring 35.

The transmission gear 31 includes a first transmission gear 311, a second transmission gear 312, a third transmission gear 313 and a fourth transmission gear 314; the first transmission gear 311 is fixed on the input shaft 1, the second transmission gear 312 and the third transmission gear 313 are sleeved on the auxiliary adjusting shaft 33 and move along the auxiliary adjusting shaft 33, and the fourth transmission gear 314 is matched with the mechanical claw 2; the first transmission gear 311 is meshed with the second transmission gear 312, and the third transmission gear 313 is meshed with the fourth transmission gear 314; the second transmission gear 312 is disposed between the sub-adjustment gear 322 and the third transmission gear 313, and both ends of the compression spring 35 are respectively in contact with the sub-adjustment gear 322 and the second transmission gear 312; the lower surface of the second transmission gear 312 and the upper surface of the third transmission gear 313 are both provided with ratchet wheels 36 which are matched with each other; in the present embodiment, the ratchet wheel 36 includes a first ratchet wheel 361 and a second ratchet wheel 362, wherein the first ratchet wheel 361 is disposed on the lower surface of the second transmission gear 312, and the second ratchet wheel 362 is disposed on the upper surface of the third transmission gear 313; teeth 363 of first ratchet wheel 361 and tooth spaces 364 between teeth 363 face second ratchet wheel 362, and teeth 363 of second ratchet wheel 362 and tooth spaces 364 between teeth 363 face first ratchet wheel 361; when the input shaft 1 of the present invention rotates continuously and the torque of the input shaft 1 exceeds the torque generated by the friction between the first ratchet 361 and the second ratchet 362, the first ratchet 361 and the second ratchet 362 slip in a dislocation way to generate sound, which is used to prompt the user to adjust the torque of the input shaft 1; meanwhile, when the mechanical claw 2 is at the maximum opening angle or the minimum closing angle, the staggered sliding between the first ratchet wheel 361 and the second ratchet wheel 362 can generate sound, and the user is prompted to pay attention to the adjustment of the torque of the input shaft 1; meanwhile, due to the fact that the ratchet wheels slide in a staggered mode, acting force of the input shaft exceeding the requirement cannot be transmitted to the output shaft, the mechanical claw is prevented from being clamped or loosened continuously, further the mechanical claw is prevented from being damaged, and products carried by the mechanical claw are prevented from being damaged.

The invention also comprises a shell 4, wherein the shell 4 is internally provided with an installation space 41, and the gear set 3 is arranged in the installation space 41; the installation space 41 is provided with a housing opening 42, and a seal cover 43 is provided at the housing opening 42; one end of the input shaft 1 penetrates through the sealing cover 43 to enter the installation space 41, the first transmission gear 311 is fixed on the input shaft 1 to enter the installation space 41, and the other end of the input shaft 1 is exposed out of the shell 4; the auxiliary adjusting shaft 33 is arranged in the installation space 41, and two ends of the auxiliary adjusting shaft 33 are respectively connected with the sealing cover 43 and the bottom surface of the installation space 41; a main adjusting shaft 34 is further arranged in the mounting space 41, and a main adjusting gear 321 is sleeved on the main adjusting shaft 34; the installation space 41 is also provided with an adjustment opening 44, and the main adjustment gear 321 is exposed from the adjustment opening 44.

In this embodiment, an adjusting fixing seat 411 is disposed in the installation space 41, and two ends of the main adjusting shaft 34 are respectively connected to the sealing cover 43 and the adjusting fixing seat 411, wherein the position of the main adjusting gear 321 can be limited by the adjusting fixing seat 411, so that the main adjusting gear 321 is prevented from moving along the main adjusting shaft 34, and the adjustment is difficult.

In the present embodiment, the third transmission gear 313 contacts the bottom surface of the installation space 41 and is defined in position, so that the engagement and transmission between the third transmission gear 313 and the fourth transmission gear 314 are more stable.

In the present embodiment, the main adjusting gear 321 includes an adjusting tooth 323 and an engaging tooth 324, wherein the engaging tooth 324 engages with the auxiliary adjusting gear 322 and performs transmission, and the adjusting tooth 323 is exposed from the adjusting opening 44 for people to adjust; the shell 4 is further provided with a calibration opening 50, corresponding calibration lines 37 are further arranged around the calibration opening 50 and on the main adjusting gear 321, and people can judge whether the main adjusting gear 321 is adjusted or not according to whether the calibration lines 37 are in a corresponding state, so that the invention is convenient for people to use.

In the invention, the sealing cover 43 can be disassembled and assembled, and the sealing cover 43 is fixed on the shell 4 through the matching of threads and screws, thereby facilitating the later maintenance and repair of the invention.

In this embodiment, an input shaft fixing seat 412 is further disposed in the mounting space 41, and the input shaft fixing seat 412 is penetrated by the input shaft 1, so as to limit the position of the input shaft 1, avoid the deviation during the operation of the input shaft 1, and ensure the transmission stability between the first transmission gear 311 and the second transmission gear 312; meanwhile, the input shaft fixing seat 412 is fixed on the shell 4 through matching of threads and screws, so that the input shaft fixing seat 412 can be detached, and later maintenance and repair of the invention are facilitated.

In the present invention, the present invention further comprises an output shaft 5, one end of the output shaft 5 is arranged in the installation space 41 and is connected with the fourth transmission gear 314; the mechanical claw 2 is matched with the output shaft 5; the mechanical claw 2 comprises a first connecting rod 21, a second connecting rod 22, a third connecting rod 23 and a claw head 24; the first connecting rod 21 is sleeved on the output shaft 5, an internal thread is arranged on the first connecting rod 21, a corresponding external thread is arranged on the output shaft 5, and the first connecting rod 21 moves along the output shaft 5 through the matching of the internal thread and the external thread; two ends of the second connecting rod 22 are respectively connected with the first connecting rod 21 and the third connecting rod 23; two ends of the third connecting rod 23 are respectively connected with the second connecting rod 22 and the claw head 24; a bend is arranged in the middle of the third connecting rod 23, and the bend is connected with the shell 4; a bend is arranged in the middle of the claw head 24, and the bend is connected with the shell 4; because the bent part of the third connecting rod 23 is connected with the shell 4, the first connecting rod 21 and the second connecting rod 22 are limited, and when the fourth transmission gear 314 rotates, the output shaft 5 is driven to rotate; the internal thread of the first connecting rod 21 is matched with the external thread of the output shaft 5, so that when the output shaft 5 rotates, the first connecting rod 21 moves along the output shaft 5; the first connecting rod 21 drives the second connecting rod 22 to move, and the second connecting rod 22 drives the third connecting rod 23 to move; because the bending part of the third connecting rod 23 is connected with the shell 4, one end of the third connecting rod 23 far away from the second connecting rod 22 is contracted inwards or expanded outwards; when one end of the third connecting rod 23 far away from the second connecting rod 22 moves, the claw head 24 is driven to move; because the bent part of the claw head 24 is connected with the housing 4, the end of the claw head 24 far away from the third link 23 is contracted inwards or expanded outwards, so that the mechanical claw 2 can be grasped and released.

In the present embodiment, only two claw heads 24 are included, and therefore only a corresponding number of first, second and

third links

21, 22, 23 are provided; under the condition of product requirement, the number of the claw heads 24 and the number of the first connecting rod 21, the second connecting rod 22 and the third connecting rod 23 can be increased according to requirements, so that the mechanical claw 2 is more firmly gripped; the angle between the prongs 24 is generally equal, although the angle between the prongs 24 can be varied as desired for a particular product.

In this embodiment, the inward surface of the claw head 24 is provided with anti-slip insections 241; when the claw head 24 is used for gripping, an object can be gripped more firmly and stably; an arc-shaped gripping groove 242 is further formed on the inward surface of the claw head 24, and an anti-slip insection 241 is also formed in the gripping groove 242; the gripping groove 242 is provided to grip a spherical arc-shaped object.

In this embodiment, the gripper 2 further includes a fourth link 25, one end of the fourth link 25 is connected to the housing 4, and the other end of the fourth link 25 is connected to the bent portion of the gripper head 24; the fourth link 25 is arranged, so that the movable range of the claw head 24 can be increased by the length of the fourth link 25, and the mechanical claw 2 can grip a larger object.

In the present embodiment, the third link 23 includes a first region 231 and a second region 232; wherein, the first region 231 is formed from the connection end of the third connecting rod 23 and the second connecting rod 22 to the bending position; a second area 232 is formed from one end of the third connecting rod 23 connected with the claw head 24 to the bending position; the fourth link 25 is always parallel to the second region 232, so that the claw head 24 can move more stably.

In the present embodiment, the claw head 24 includes a third region 243 and a fourth region 244; wherein, the connecting end of the claw head 24 and the third connecting rod 23 to the bending position thereof is a third area 243; the fourth region 244 is the end of the claw head 24 in contact with the object to the bent position; the length of the third region 243 is less than the fourth length region, making the claw head 24 a laborious lever; while the length of the first region 231 is smaller than the length of the second region 232, so that the third link 23 becomes a laborious lever; since the claw head 24 and the third connecting rod 23 are both labor-consuming levers, the clamping force of the claw head 24 can be adjusted more accurately and finely in the invention.

In the present embodiment, a regulation space 45 is provided in the housing 4, and the regulation space 45 is surrounded by a claw 46; a through hole 47 is arranged between the adjusting space 45 and the mounting space 41, and the output shaft 5 passes through the through hole 47 to enter the adjusting space 45; a mounting hole 48 is further formed in the claw body 46, and one end, far away from the fourth transmission gear 314, of the output shaft 5 is located in the mounting hole 48; bearings 49 are provided in both the through hole 47 and the fitting hole 48, and the bearings 49 are each penetrated by the output shaft 5; the arrangement of the bearing 49 enables the loss of the output shaft 5 to be reduced; the external thread of the output shaft 5 is in the adjusting space 45; the first link 21 and the second link 22 are located in the regulation space 45; the bending part of the third connecting rod 23 and one end of the fourth connecting rod 25 far away from the claw head 24 are both connected with the claw body 46.

In this embodiment, the adjusting space 45 is disposed below the mounting space 41, and the two sides of the adjusting space 45 are hollowed out, so that the external thread of the output shaft 5, the first connecting rod 21, the second connecting rod 22, and the third connecting rod 23 are exposed, and a user can check the working state of the mechanical gripper 2 conveniently.

In the embodiment, the mechanical claws 2 are symmetrically arranged, so that the object can be gripped more stably and firmly by the mechanical claw device.

The invention has the following use steps:

before the invention works, a user adjusts the main adjusting gear, so as to drive the auxiliary adjusting gear to move, and simultaneously, the height of the auxiliary adjusting gear on the auxiliary adjusting shaft is changed; the pressure applied by the auxiliary adjusting gear to the second transmission gear is changed by changing the height of the auxiliary adjusting gear on the auxiliary adjusting shaft; since the second transmission gear needs to resist the pressure applied by the auxiliary adjusting gear, the acting force obtained at the first transmission gear needs to be divided into a plurality of parts for balancing the pressure, and the requirement of changing the clamping force of the mechanical claw in a small range is further met.

It should be noted that other technical solutions of the present invention all belong to the prior art, and therefore are not described in detail.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. A gripper with adjustable clamping force comprises an input shaft (1), a gripper (2) and a gear set (3) for transmitting acting force, wherein the gear set (3) is respectively connected with the input shaft (1) and the gripper (2); the hydraulic transmission device is characterized in that the gear set (3) comprises a transmission gear (31) and an adjusting gear (32) for applying pressure to the transmission gear (31); the transmission gear (31) is matched with the input shaft (1) and the mechanical claw (2); the adjusting gear (32) is sleeved on the adjusting shaft, an internal thread is arranged on the adjusting gear (32), an external thread is arranged on the adjusting shaft, the internal thread is matched with the external thread, and the adjusting gear (32) exerts pressure on the transmission gear (31) along the movement of the adjusting shaft.

2. A clamping force adjustable gripper according to claim 1, wherein the adjusting gear (32) comprises a primary adjusting gear (321) and a secondary adjusting gear (322), the primary adjusting gear (321) and the secondary adjusting gear (322) being in mesh with each other; the auxiliary adjusting gear (322) is sleeved on the auxiliary adjusting shaft (33); an internal thread is arranged on the auxiliary adjusting gear (322), and a corresponding external thread is arranged on the auxiliary adjusting shaft (33); the internal thread is matched with the external thread, and the auxiliary adjusting gear (322) moves along the auxiliary adjusting shaft (33) and is contacted with the transmission gear (31).

3. The gripper with adjustable clamping force according to claim 2, wherein a compression spring (35) is further sleeved on the secondary adjusting shaft (33), and two ends of the compression spring (35) are respectively in contact with the secondary adjusting gear (322) and the transmission gear (31).

4. A clamping force adjustable gripper according to claim 3, wherein the transmission gear (31) comprises a first transmission gear (31), a second transmission gear (31), a third transmission gear (31) and a fourth transmission gear (31); the first transmission gear (31) is fixed on the input shaft (1), the second transmission gear (31) and the third transmission gear (31) are sleeved on the auxiliary adjusting shaft (33) and move along the auxiliary adjusting shaft (33), and the fourth transmission gear (31) is matched with the mechanical claw (2); the first transmission gear (31) is meshed with the second transmission gear (31), and the third transmission gear (31) is meshed with the fourth transmission gear (31); the second transmission gear (31) is arranged between the auxiliary adjusting gear (322) and the third transmission gear (31), and two ends of the compression spring (35) are respectively contacted with the auxiliary adjusting gear (322) and the second transmission gear (31); ratchet wheels (36) which are matched with each other are arranged on the lower surface of the second transmission gear (31) and the upper surface of the third transmission gear (31).

5. The gripper with adjustable clamping force according to claim 4, further comprising a housing (4), wherein a mounting space (41) is provided in the housing (4), and the gear set (3) is provided in the mounting space (41); the mounting space (41) is provided with a shell opening (42), and a sealing cover (43) is arranged at the shell opening (42); one end of the input shaft (1) penetrates through the sealing cover (43) to enter the installation space (41), the first transmission gear (31) is fixed to the input shaft (1) to enter the installation space (41), and the other end of the input shaft (1) is exposed out of the shell (4); the auxiliary adjusting shaft (33) is arranged in the mounting space (41), and two ends of the auxiliary adjusting shaft (33) are respectively connected with the sealing cover (43) and the bottom surface of the mounting space (41); a main adjusting shaft (34) is further arranged in the mounting space (41), and a main adjusting gear (321) is sleeved on the main adjusting shaft (34); the mounting space (41) is also provided with an adjustment opening (44), and the main adjustment gear (321) is exposed from the adjustment opening (44).

6. The gripper with the adjustable clamping force as claimed in claim 5, further comprising an output shaft (5), wherein one end of the output shaft (5) is arranged in the mounting space (41) and connected with a fourth transmission gear (31); the mechanical claw (2) is matched with the output shaft (5).

7. A clamping force adjustable gripper according to claim 1, characterised in that the gripper (2) comprises a first link (21), a second link (22), a third link (23) and a gripper head (24); the first connecting rod (21) is sleeved on the output shaft (5), an internal thread is arranged on the first connecting rod (21), a corresponding external thread is arranged on the output shaft (5), and the first connecting rod (21) moves along the output shaft (5); two ends of the second connecting rod (22) are respectively connected with the first connecting rod (21) and the third connecting rod (23); two ends of the third connecting rod (23) are respectively connected with the second connecting rod (22) and the claw head (24); a bend is arranged in the middle of the third connecting rod (23), and the bend is connected with the shell (4); the middle of the claw head (24) is provided with a bend, and the bend is connected with the shell (4).

8. A gripper with adjustable clamping force according to claim 7, characterized in that the gripper (2) further comprises a fourth link (25), one end of the fourth link (25) is connected to the housing (4), and the other end of the fourth link (25) is connected to the bent portion of the gripper head (24).

9. A clamping force adjustable gripper according to claim 8, characterised in that the third link (23) comprises a first region (231) and a second region (232); wherein the first region (231) is formed from the connection end of the third connecting rod (23) and the second connecting rod (22) to the bending part; one end of the third connecting rod (23) connected with the claw head (24) is a second area (232) to the bending position; the fourth connecting rod (25) is always parallel to the second area (232).

10. The gripper with adjustable clamping force according to claim 1, characterized in that an adjusting space (45) is arranged in the housing (4), and the adjusting space (45) is surrounded by a gripper body (46); a through hole (47) is formed between the adjusting space (45) and the mounting space (41), and the output shaft (5) penetrates through the through hole (47) to enter the adjusting space (45); an assembly hole (48) is further formed in the claw body (46), and one end, far away from the fourth transmission gear (31), of the output shaft (5) is located in the assembly hole (48); bearings (49) are provided in both the through hole (47) and the fitting hole (48), and the bearings (49) are each penetrated by the output shaft (5);

the external thread of the output shaft (5) is positioned in the adjusting space (45), and the first connecting rod (21) and the second connecting rod (22) are positioned in the adjusting space (45); the bending part of the third connecting rod (23) and one end of the fourth connecting rod (25) far away from the claw head (24) are both connected with the claw body (46).