CN209566141U - A kind of gripper - Google Patents
A kind of gripper Download PDFInfo
- Publication number
- CN209566141U CN209566141U CN201920011282.3U CN201920011282U CN209566141U CN 209566141 U CN209566141 U CN 209566141U CN 201920011282 U CN201920011282 U CN 201920011282U CN 209566141 U CN209566141 U CN 209566141U
- Authority
- CN
- China
- Prior art keywords
- bluff piece
- fixed plate
- movable block
- spring
- hole
- 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.)
- Active
Links
Landscapes
- Clamps And Clips (AREA)
Abstract
The utility model provides a kind of gripper, including fixed plate, movable block, pushing mechanism, upper spring, lower spring and bluff piece, pushing mechanism is mounted in fixed plate, movable block is located at the lower section of fixed plate, fixed plate is equipped with first through hole, pushing mechanism is connect by first through hole with movable block and pushing mechanism drives movable block to move in the vertical direction, several bluff pieces are circumferentially provided in fixed plate, the top of bluff piece is hinged in fixed plate, bluff piece passes through upper spring, lower spring is connected on movable block, one end of upper spring is connected on movable block, the other end of upper spring is connected to the top of bluff piece, one end of lower spring is connected on movable block, the other end of lower spring is connected to the middle part of bluff piece, and the junction of upper spring and bluff piece, the junction of lower spring and bluff piece is located at the two sides of bluff piece Yu fixed plate junction, load-bearing Amount is big, can accurately grab the object of surface imperfection.
Description
Technical field
The utility model relates to gripper fields, more particularly to a kind of gripper.
Background technique
Currently, the development of mechanical automation industry, gripper is widely used in automated production industry.Gripper
Also towards more multi-functional, the wider array of direction of adaptability is developed for research and development.And current gripper existing on the market, it has the following disadvantages
Place: 1. existing machinery pawls need accurately to control the grasp force of gripper and the position of gripper using rigid joint.2. existing
The object that gripper can grab is the object of surface comparison rule mostly, but when target object deposits size difference between individuals
Or shape is not for the moment, is difficult to accomplish accurately to clamp, or needs to give gripper pressurization force snesor, utilizes pressure sensor
Input signal of the value of feedback as closed-loop control, and this will increase the difficulty of control.3. existing machinery pawl can load-bearing weight
Small, object is easy to fall off.
Utility model content
Place in view of the deficiency of the prior art, can accurately grab surface the purpose of the utility model is to provide a kind of
The big gripper of irregular object, supporting power.
In order to solve the above technical problems, gripper provided by the utility model, including fixed plate, movable block, pushing mechanism,
Upper spring, lower spring and bluff piece, the pushing mechanism are mounted in the fixed plate, and the movable block is located at the fixed plate
Lower section, the fixed plate be equipped with first through hole, the pushing mechanism connect by the first through hole with the movable block and
The pushing mechanism drives the movable block to move in the vertical direction, and several pawls are circumferentially provided in the fixed plate
Part, the top of the bluff piece are hinged in the fixed plate, and the bluff piece is connected to institute by the upper spring, the lower spring
It states on movable block, one end of the upper spring is connected on the movable block, and the other end of the upper spring is connected to the pawl
The one end on the top of part, the lower spring is connected on the movable block, and the other end of the lower spring is connected to the bluff piece
Middle part, and the junction of the junction of the upper spring and the bluff piece, the lower spring and the bluff piece is located at institute
State the two sides of bluff piece Yu the fixed plate junction.
Further, the pushing mechanism includes motor, screw rod and feed screw nut, and the screw rod is connected to the motor
On output shaft, the screw rod passes through the lower section that the first through hole extends to the fixed plate, and the feed screw nut is sleeved on institute
It states outside screw rod, the movable block is connected on the feed screw nut.
Further, further include guide rod, the guide rod is connected in the fixed plate, the movable block it is opposite two
Side is respectively equipped with second through-hole, and the guide rod passes through second through-hole.
Optionally, several fixed blocks are circumferentially provided in the fixed plate, each bluff piece is located at two fixations
Between block, it is connected with fixing axle between the fixed block, third through-hole is provided on the bluff piece, the fixing axle passes through described
Third through-hole.
Further, the bottom of the bluff piece is equipped with Anti-skid sheet.
Optionally, the stiffness factor of the lower spring is greater than the stiffness factor of the upper spring.
The beneficial effects of the utility model are as follows:
1, the utility model drives movable block decline by pushing mechanism, pulls upper spring, opens gripper；Movable block
Rise, pull lower spring, gripper closes up crawl object.The utility model is provided with several bluff pieces, is dropped using multijaw structure
Low object improves the supporting power of gripper entirety to the pressure of single bluff piece；And using spring replace rigid bar come
Drive bluff piece realize gripper to the flexible crawl of object, can the different object of adaptive various shapes, accurately grab surface
Irregular object increases the contact area of bluff piece and object, improves clamping force.
2, the pushing mechanism of the utility model uses motor, screw rod and feed screw nut, by the rotation for controlling single motor
It realizes the opening and tightening of gripper, can simplify gripper structure, improve the accurate of clamping while reducing operation difficulty
Degree.Also Anti-skid sheet is arranged in the bottom of bluff piece in the utility model, improves friction of the gripper bluff piece to object, prevents object de-
It falls.
Detailed description of the invention
Fig. 1 is the schematic diagram of the gripper of embodiment.
Fig. 2 is the connection schematic diagram of the bluff piece of embodiment.
Wherein, 1, fixed plate；2, movable block；3, upper spring；4, lower spring；5, bluff piece；6, motor；7, screw rod；8, screw rod
Nut；9, guide rod；10, fixed block；11, fixing axle；12, Anti-skid sheet.
Specific embodiment
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second ", " third " are used for description purposes only, and should not be understood as
Indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
In addition, in the description of the present invention, unless otherwise indicated, " several " are meant that two or more.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1 and Fig. 2, the gripper of the present embodiment include fixed plate 1, movable block 2, pushing mechanism, upper spring 3, under
Spring 4 and bluff piece 5, pushing mechanism are mounted in fixed plate 1, and movable block 2 is located at the lower section of fixed plate 1, and fixed plate 1 is equipped with the
One through-hole, pushing mechanism is connect by first through hole with movable block 2 and pushing mechanism drives movable block 2 to move in the vertical direction
It is dynamic, several bluff pieces 5 are circumferentially provided in fixed plate 1, the top of bluff piece 5 is hinged in fixed plate 1, bluff piece 5 by upper spring 3,
Lower spring 4 is connected on movable block 2, and one end of upper spring 3 is connected on movable block 2, and the other end of upper spring 3 is connected to bluff piece
The one end on 5 top, lower spring 4 is connected on movable block 2, and the other end of lower spring 4 is connected to the middle part of bluff piece 5, and upper bullet
The junction of the junction of spring 3 and bluff piece 5, lower spring 4 and bluff piece 5 is located at the two sides of bluff piece 5 Yu 1 junction of fixed plate.
The movable block 2 of the present embodiment is under the drive of pushing mechanism, and in the course of work of expansion gripper, movable block 2 is moved down, and drives
Upper spring 3 and lower spring 4 move down, and spring 4 is shunk at present for this, and upper spring 3 stretches, and upper spring 3 provides drawing to the top of bluff piece 5
Power, lower spring 4 provide thrust to the lower part of bluff piece 5, and bluff piece 5 turns up around the hinged place with fixed plate 1, open gripper, when
When lower spring 3 is in a horizontal position, gripper reaches the maximum value of opening angle；In the course of work of tightening gripper, move
Motion block 2 moves up, and upper spring 3 and lower spring 4 is driven to move up, and spring 3 stretches at present for this, and upper spring 4 is shunk, and upper spring 3 gives bluff piece 5
Top thrust is provided, lower spring 4 provides pulling force to the lower part of bluff piece 5, bluff piece 5 around with closed in the hinged place of fixed plate 1, make machine
Machinery claw tightening.Multiple bluff pieces 5 are circumferentially set in fixed plate 1, object are reduced using multijaw structure to the pressure of single bluff piece, into
And the supporting power of gripper entirety is improved, and replace rigid bar using spring to drive bluff piece to realize gripper to object
Flexible crawl, gripper when being contacted with the object being crawled, each bluff piece 5 due to spring flexibility and can adaptive object
Surface can increase the contact area of bluff piece 5 and object, adapt in various irregularly shaped objects preferably close to the surface of object,
Grasp force is improved, rigid mechanical pawl is compared, since the promotion rod piece of each bluff piece 5 is substituted by spring, when gripper is gradually tightened,
Each bluff piece 5 can give buffer object to be pressed from both sides, and not need the dynamics for excessively accurately clamping object, and when clamping power is excessive, no
Bad object can be pressed from both sides.In addition, the bluff piece 5 in fixed plate 1 can be changed according to the general shape of object to be clamped bluff piece 5 quantity and
Installation site can increase the contact area of bluff piece 5 and object preferably close to the surface of object, adapt in it is various not
Regular object improves grasp force.
In the present embodiment, pushing mechanism includes motor 6, screw rod 7 and feed screw nut 8, and screw rod 7 is connected to the defeated of motor 6
On shaft, screw rod 7 passes through the lower section that first through hole extends to fixed plate 1, and feed screw nut 8 is sleeved on outside screw rod 7, and movable block 2 connects
It connects on feed screw nut 8, the opening and tightening of gripper is realized by the rotation of control single motor, can simplify gripper
Structure improves the accuracy of clamping while reducing operation difficulty.The pushing mechanism of the utility model can also using cylinder or
Person's push-rod electric machine etc..
In addition, the gripper of the present embodiment further includes guide rod 9, guide rod 9 is connected in fixed plate 1, and movable block 2 is opposite
Two sides be respectively equipped with second through-hole, guide rod 9 passes through the second through-hole, constrains the movement of movable block 2, makes it can only be along axis
To movement.In addition, being circumferentially provided with several fixed blocks 10 in the fixed plate 1 of the present embodiment, the fixed plate 1 of the present embodiment includes two
Block is parallel and the plate that is connected by support plate, and two plates are designed with first through hole, on the plate that motor 6 is disposed over,
On the plate that fixed block 10 is arranged below, each bluff piece 5 is located between two fixed blocks 10, is connected between fixed block 10 solid
Dead axle 11 is provided with third through-hole on bluff piece 5, and fixing axle 11 passes through third through-hole, and structure is simple, and connection is reliable.
The bottom of the bluff piece 5 of the present embodiment is equipped with Anti-skid sheet 12, can give object to be pressed from both sides bigger frictional force, make wait press from both sides
Object is not easy to slip.In addition, the stiffness factor of the lower spring 4 of the present embodiment is greater than the stiffness factor of upper spring 3, in mechanical claw clip
It rises after pressing from both sides object, lower spring 4 mainly provides the pulling force of object to be pressed from both sides.
To sum up, the gripper of the present embodiment is hinged in fixed plate 1 by bluff piece 5, is arranged in the lower section of fixed plate 1 by pushing away
Motivation structure drives the movable block 2 moved up and down, and is connected to movement equipped with upper spring 3 and lower spring 4, one end of upper spring 3
On block 2, the other end of upper spring 3 is connected to the top of bluff piece 5, and one end of lower spring 4 is connected on movable block 2, lower spring 4
The other end is connected to the middle part of bluff piece 5, and movable block 2 moves down, and upper spring 3 and lower spring 4 is driven to move down, and upper spring 3 stretches, lower bullet
Spring 4 is shunk, and bluff piece 5 turns up around the hinged place with fixed plate 1, opens gripper, and movable block 2 moves up, and drives upper spring 3 under
Spring 4 moves up, and upper spring 3 is shunk, and lower spring 4 stretches, bluff piece 5 around with closed in the hinged place of fixed plate 1, tighten gripper,
Object is reduced using multijaw structure to the pressure of single bluff piece, and then improves the supporting power of gripper entirety；And utilize bullet
Spring replaces rigid bar to drive bluff piece to realize that gripper, can the different object of adaptive various shapes to the flexible crawl of object
Body, the accurate object for grabbing surface imperfection, increases the contact area of bluff piece and object, improves clamping force.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and replacement can also be made, these change
It also should be regarded as the protection scope of the utility model into replacement.
Claims (6)
1. a kind of gripper, which is characterized in that including fixed plate, movable block, pushing mechanism, upper spring, lower spring and bluff piece, institute
It states pushing mechanism to be mounted in the fixed plate, the movable block is located at the lower section of the fixed plate, and the fixed plate is equipped with
First through hole, the pushing mechanism is connect by the first through hole with the movable block and the pushing mechanism drives the shifting
Motion block moves in the vertical direction, and several bluff pieces are circumferentially provided in the fixed plate, and the top of the bluff piece is hinged on
In the fixed plate, the bluff piece is connected on the movable block by the upper spring, the lower spring, the upper spring
One end is connected on the movable block, and the other end of the upper spring is connected to the top of the bluff piece, and the one of the lower spring
End is connected on the movable block, and the other end of the lower spring is connected to the middle part of the bluff piece, and the upper spring and institute
The junction of the junction, the lower spring and the bluff piece of stating bluff piece is located at the bluff piece and the fixed plate junction
Two sides.
2. gripper according to claim 1, which is characterized in that the pushing mechanism includes motor, screw rod and screw rod spiral shell
Mother, the screw rod are connected on the output shaft of the motor, and the screw rod passes through the first through hole and extends to the fixed plate
Lower section, the feed screw nut is sleeved on outside the screw rod, and the movable block is connected on the feed screw nut.
3. gripper according to claim 1, which is characterized in that further include guide rod, the guide rod is connected to described
In fixed plate, the opposite two sides of the movable block are respectively equipped with second through-hole, and the guide rod passes through second through-hole.
4. gripper according to claim 1, which is characterized in that several fixed blocks are circumferentially provided in the fixed plate,
Each bluff piece is located between two fixed blocks, and fixing axle is connected between the fixed block, is arranged on the bluff piece
There is third through-hole, the fixing axle passes through the third through-hole.
5. gripper according to any one of claims 1 to 4, which is characterized in that the bottom of the bluff piece is equipped with Anti-skid sheet.
6. gripper according to claim 1, which is characterized in that the stiffness factor of the lower spring is greater than the upper spring
Stiffness factor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920011282.3U CN209566141U (en) | 2019-01-02 | 2019-01-02 | A kind of gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920011282.3U CN209566141U (en) | 2019-01-02 | 2019-01-02 | A kind of gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209566141U true CN209566141U (en) | 2019-11-01 |
Family
ID=68331569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920011282.3U Active CN209566141U (en) | 2019-01-02 | 2019-01-02 | A kind of gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209566141U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
-
2019
- 2019-01-02 CN CN201920011282.3U patent/CN209566141U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591042A (en) * | 2019-01-02 | 2019-04-09 | 广州大学 | A kind of gripper |
| CN109591042B (en) * | 2019-01-02 | 2024-04-16 | 广州大学 | Mechanical claw |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109591042A (en) | A kind of gripper | |
| CN209566141U (en) | A kind of gripper | |
| CN110893555A (en) | Lathe processing is with effectual anchor clamps of antiskid | |
| CN114014139B (en) | Marine three-dimensional curved plate carrying device | |
| CN207522187U (en) | Link mechanism formula catching robot | |
| CN201284185Y (en) | Slab clamp | |
| CN212312055U (en) | Take height measurement function's explosion-proof clamping jaw mechanism | |
| CN211847037U (en) | A transport piling car for column | |
| CN105903786B (en) | A kind of slidingtype is pressed against steel plate bending mechanism | |
| CN217638445U (en) | Strength detection device of flexible composite high-pressure delivery pipe | |
| CN209841182U (en) | Vibration sensor connecting device | |
| CN218800194U (en) | Clamping force adjustable efficient welding auxiliary clamping jaw device | |
| CN207467679U (en) | Expect sample bucket grabbing device | |
| CN101966923A (en) | Automatic pushing device | |
| CN114310713A (en) | Clamping mechanism | |
| CN208866848U (en) | Brake disc sorts handgrip | |
| CN208898085U (en) | A kind of adobe entrucking machine clamp | |
| CN202924686U (en) | Clamping arm clamping structure | |
| CN102862912B (en) | Double-round steel billet hanger | |
| CN109177719B (en) | Mounting structure for mounting ATS box of heavy diesel vehicle | |
| CN208179546U (en) | Move object manipulator and its moving drive mechanism | |
| CN207090498U (en) | A kind of robot gripper that can adjust pressure case position | |
| CN217254051U (en) | Positioning tool for valve block for welding oil cylinder | |
| CN113086838B (en) | Engine cylinder cover lifting device | |
| CN219449064U (en) | Carbon electrode lifting appliance for lithium battery processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |