CN210616565U

CN210616565U - a mechanical gripper

Info

Publication number: CN210616565U
Application number: CN201921737188.2U
Authority: CN
Inventors: 卓小云
Original assignee: Jiujiang University
Current assignee: Jiujiang University
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-05-26
Anticipated expiration: 2029-10-16

Abstract

The utility model discloses a mechanical gripper, which comprises a base, a half-tooth gear, a rectangular frame, a frame ejector rod, a frame bottom rod, teeth, a rotating shaft, a first connecting rod, a second connecting rod, a linkage plate and a clamping jaw; the inside rectangle frame that is equipped with of base, rectangle frame top fixed connection frame ejector pin, the frame ejector pin runs through the base top, the inside left and right sides of rectangle frame is equipped with the tooth, the inside half tooth gear that is equipped with between two parties of rectangle frame, half tooth gear is through pivot joint base, rectangle frame below fixed connection frame sill bar, frame sill bar below is equipped with the linkage board, both ends all articulate with the one end of two first connecting rods about the linkage board, the other end of two first connecting rods all articulates with two clamping jaws, the middle part of two clamping jaws all articulates with the one end of two second connecting rods, the other end of two second connecting rods all articulates bottom the base, the clamping jaw middle part is equipped with buffer. The utility model provides a mechanical tongs simple structure, convenient operation, low cost, convenient and durable.

Description

Mechanical gripper

Technical Field

The utility model relates to a mechanical automation equipment technical field, concretely relates to mechanical tongs.

Background

At present, in industrial production, more and more people are tired of carrying heavy objects by manpower, the robot is not suitable for workers to work under severe production conditions such as harmful environment, high temperature and the like, and the labor intensity of the people is greatly reduced in order to avoid the harm to the people in the production, so that the robot gripper becomes a good choice for the people. The robot can simulate the human arm to do certain actions, grab and carry objects and operating tools according to a fixed program, can replace manual work in multiple fields to realize mechanization and automation of production and life, and can protect personal safety in certain harmful environments, thereby being widely applied to industrial production. However, in the existing mechanical gripper device, some structures are too complex, some need a lot of supporting facilities, some generally lack of anti-slip measures, so that the phenomenon of slipping of the clamped object easily occurs in the clamping working process, some damage to the clamped object can be caused in the clamping process, the operation is inconvenient, and further the production cost is increased.

Disclosure of Invention

The utility model provides a mechanical gripper, aiming at the problems, and comprising a base, a half-tooth gear, a rectangular frame, a frame ejector rod, a frame bottom rod, teeth, a rotating shaft, a first connecting rod, a second connecting rod, a linkage plate and a clamping jaw; the utility model discloses a clamping jaw structure, including base, frame ejector pin, rectangle frame top fixed connection frame ejector pin, frame ejector pin runs through the base top, the inside left and right sides of rectangle frame is equipped with tooth, the inside half-tooth gear that is equipped with between two parties of rectangle frame, half-tooth gear is through pivot joint base, rectangle frame below fixed connection frame sill bar, frame sill bar below is equipped with the interlock board, both ends all articulate with the one end of two first connecting rods about the interlock board, the other end of two first connecting rods all articulates with two clamping jaws, the middle part of two clamping jaws all articulates with the one end of two second connecting rods, the other end of two second connecting rods all articulates with the base bottom, is equipped with buffer between two clamping jaw middle parts.

Furthermore, the buffer device consists of a pull rod, an outer buffer spring, a sleeve, a pull rod buffer spring and a sleeve buffer spring; the pull rod is externally provided with a sleeve, the pull rod penetrates through the sleeve, an outer buffer spring sleeved on the pull rod is arranged between the pull rod bottom plate and the sleeve top plate, a pull rod buffer spring sleeved on the pull rod is arranged between the sleeve top plate and the sleeve top plate, a sleeve buffer spring is arranged between the pull rod top plate and the sleeve bottom plate, the pull rod buffer spring and the sleeve buffer spring are both arranged inside the sleeve, one of the two clamping jaws is fixedly connected with the pull rod bottom plate, and the other clamping jaw is fixedly connected with the sleeve bottom plate.

Furthermore, the outer buffer spring and the sleeve buffer spring are both stretched when the pull rod buffer spring is compressed.

Furthermore, one third of teeth are arranged on the half-tooth gear.

Furthermore, the left inner wall and the right inner wall of the base are provided with sliding grooves.

Furthermore, the left side and the right side of the linkage plate are respectively provided with a roller, and the rollers roll in the sliding grooves.

Furthermore, a rubber sheet is arranged outside the head of the clamping jaw.

Furthermore, the downward moving distance of the rectangular frame is smaller than the part of the frame ejector rod penetrating through the base, and the upward moving distance of the rectangular frame is smaller than the distance from the rectangular frame to the bottom of the base.

The utility model has the advantages that:

the utility model provides a mechanical tongs simple structure, convenient operation, it is convenient to maintain, fine adding the effect that can play the thing landing of preventing to hold with holding the in-process, avoid the cramping thing to add to hold the in-process and receive the damage, corollary equipment is general, low cost, convenient durable.

In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of the buffering device of the present invention.

Reference numerals:

1-rectangular frame, 2-half-tooth gear, 3-rotating shaft, 4-linkage plate, 5-first connecting rod, 6-second connecting rod, 7-clamping jaw, 8-rubber sheet, 9-buffer device, 10-roller, 11-frame bottom rod, 12-sliding groove, 13-tooth, 14-base, 15-frame top rod, 901-pull rod, 902-outer buffer spring, 903-sleeve, 904-pull rod buffer spring and 905-sleeve buffer spring.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1 to 2, as shown in fig. 1 to 2, a mechanical gripper is provided, which includes a base 14, a half-tooth gear 2, a rectangular frame 1, a frame top rod 15, a frame bottom rod 11, teeth 13, a rotating shaft 3, a first connecting rod 5, a second connecting rod 6, a linkage plate 4, and a clamping jaw 7; a rectangular frame 1 is arranged inside the base 14, a frame ejector rod 15 is fixedly connected above the rectangular frame 1, the frame ejector rod 15 penetrates through the top of the base 14, teeth 13 are arranged on the left side and the right side inside the rectangular frame 1, a half-tooth gear 2 is arranged in the middle inside the rectangular frame 1, the half-tooth gear 2 is connected with the base 14 through a rotating shaft 3, a frame bottom rod 11 is fixedly connected below the rectangular frame 1, a linkage plate 4 is arranged below the frame bottom rod 11, the left end and the right end of the linkage plate 4 are both hinged with one end of two first connecting rods 5, the other ends of the two first connecting rods 5 are both hinged with two clamping jaws 7, the middle parts of the two clamping jaws 7 are both hinged with one end of two second connecting rods 6, the other ends of the two second connecting rods 6 are both hinged with the bottom of the base 14, and a buffer device 9 is arranged between the; the buffer device 9 consists of a pull rod 901, an outer buffer spring 902, a sleeve 903, a pull rod buffer spring 904 and a sleeve buffer spring 905; a sleeve 903 is arranged outside the pull rod 901, the pull rod 901 penetrates through the sleeve 903, an outer buffer spring 902 sleeved on the pull rod 901 is arranged between a bottom plate of the pull rod 901 and a top plate of the sleeve 903, a pull rod buffer spring 904 sleeved on the pull rod 901 is arranged between the top plate of the sleeve 903 and the top plate of the pull rod 901, a sleeve buffer spring 905 is arranged between the top plate of the pull rod 901 and the bottom plate of the sleeve 903, the pull rod buffer spring 904 and the sleeve buffer spring 905 are both arranged inside the sleeve 903, one of the two clamping jaws 7 is fixedly connected with the bottom plate of the pull rod 901, and the other clamping jaw is fixedly connected with the; when the pull rod buffer spring 904 is compressed, both the outer buffer spring 902 and the sleeve buffer spring 905 are stretched; one third of teeth are arranged on the half-tooth gear 2; the left inner wall and the right inner wall of the base 14 are provided with sliding chutes 12; the left side and the right side of the linkage plate 4 are both provided with idler wheels 10, and the idler wheels 10 roll in the sliding grooves 12; a rubber sheet 8 is arranged outside the head part of the clamping jaw 7; the downward moving distance of the rectangular frame 1 is smaller than the part of the frame ejector rod 15 penetrating through the base 14, and the upward moving distance of the rectangular frame 1 is smaller than the distance from the rectangular frame 1 to the bottom of the base 14.

The utility model discloses a working method: when the device is used, the rotating shaft 3 is driven to rotate by external force, the rotating shaft 3 drives the half-tooth gear 2 to rotate, the half-tooth gear 2 rotates on teeth 13 at two sides of the rectangular frame 1, because the half-tooth gear 2 is only provided with one third of teeth, the rectangular frame 1 does up-and-down reciprocating motion along with the rotation of the half-tooth gear 2, a frame ejector rod 15 is fixedly connected above the rectangular frame 1, the frame ejector rod 15 penetrates through the top of the base 14, the downward moving distance of the rectangular frame 1 is smaller than the part of the frame ejector rod 15 penetrating through the base 14, the upward moving distance of the rectangular frame 1 is smaller than the distance of the rectangular frame 1 from the bottom of the base 14, the base 14 cannot fall off or be jammed to influence normal work when the rectangular frame 1 moves, the frame bottom rod 11 is fixedly connected below the rectangular frame 1, the linkage plate 4 is arranged below the frame bottom rod 11 and drives the linkage plate 4 to, the roller 10 rolls in the chute 12, which is more convenient for the joint movement in the working state because the left and right ends of the linkage plate 4 are hinged with one end of two first connecting rods 5, the other ends of the two first connecting rods 5 are hinged with two clamping jaws 7, the middle parts of the two clamping jaws 7 are hinged with one end of two second connecting rods 6, the other ends of the two second connecting rods 6 are hinged with the bottom of the base 14, one of the two clamping jaws 7 is fixedly connected with the pull rod bottom plate 901, the other one is fixedly connected with the sleeve 903 bottom plate, the base 14 is not moved, the linkage plate 4 moves to drive the first connecting rod 5, the second connecting rod 6 and the clamping jaw 7 to work and clamp objects, the buffer device 9 is in the working state, the outer buffer spring 902 and the sleeve buffer spring 905 are both stretched when the pull rod buffer spring 904 is compressed, the outer buffer spring 902 and the sleeve buffer spring 905 are both compressed when the pull rod buffer spring 904, the rubber sheet 8 is arranged outside the head part of the clamping jaw 7, so that the clamping jaw can play a role in preventing the clamping object from sliding off in the clamping process, and the clamping object is prevented from being damaged in the clamping process.

The utility model has the advantages that:

the utility model provides a mechanical tongs simple structure, convenient operation, it is convenient to maintain, and buffer 9 and sheet rubber 8, fine adding hold the in-process can play and prevent to add the effect of holding the thing landing, avoid the cramping thing to add to hold the in-process and receive the damage, corollary equipment is general, low cost, convenient durable.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanical gripper, characterized in that it comprises a base (14), a half-tooth tooth wheel (2), a rectangular frame (1), a frame top bar (15), a frame bottom bar (11), a tooth (1) 13), rotating shaft (3), first connecting rod (5), second connecting rod (6), linkage plate (4), clamping jaw (7); the base (14) is provided with a rectangular frame ( 1), the top of the rectangular frame (1) is fixedly connected with a frame top rod (15), the frame top rod (15) runs through the top of the base (14), and the left and right sides of the rectangular frame (1) are provided with teeth. A tooth (13), the rectangular frame (1) is provided with a half-tooth tooth wheel (2) in the center, and the half-tooth tooth wheel (2) is connected to the base (14) through a rotating shaft (3), and the rectangular frame ( 1) A frame bottom rod (11) is fixedly connected at the bottom, a linkage plate (4) is arranged under the frame bottom rod (11), and the left and right ends of the linkage plate (4) are connected with two first connecting rods ( 5) is hinged at one end, the other ends of the two first connecting rods (5) are hinged with two clamping jaws (7), and the middle parts of the two clamping jaws (7) are both connected with the two second connecting rods One end of (6) is hinged, the other ends of the two second connecting rods (6) are hinged with the bottom of the base (14), and a buffer device (9) is provided between the middle of the two clamping jaws (7).

2 . The mechanical gripper according to claim 1 , wherein the buffer device ( 9 ) consists of a pull rod ( 901 ), an outer buffer spring ( 902 ), a sleeve ( 903 ), a pull rod buffer spring ( 904 ), 2 . A sleeve buffer spring (905) is formed; the draw rod (901) is provided with a sleeve (903) outside, the draw rod (901) penetrates the sleeve (903), the bottom plate of the draw rod (901) and the sleeve (903) An outer buffer spring (902) sleeved on the pull rod (901) is provided between the top plates, and a pull rod buffer spring (902) sleeved on the pull rod (901) is provided between the top plate of the sleeve (903) and the top plate of the pull rod (901). 904), a sleeve buffer spring (905) is provided between the top plate of the draw rod (901) and the bottom plate of the sleeve (903), and the draw rod buffer spring (904) and the sleeve buffer spring (905) are both in the sleeve (904). 903) inside, one of the two clamping jaws (7) is fixedly connected to the bottom plate of the pull rod (901), and the other is fixedly connected to the bottom plate of the sleeve (903).

3 . The mechanical gripper according to claim 2 , characterized in that, when the pull rod buffer spring ( 904 ) is compressed, both the outer buffer spring ( 902 ) and the sleeve buffer spring ( 905 ) are stretched. 4 .

4 . The mechanical gripper according to claim 1 , wherein the half-tooth tooth wheel ( 2 ) is provided with one-third teeth. 5 .

5 . The mechanical gripper according to claim 1 , wherein the left and right inner walls of the base ( 14 ) are provided with sliding grooves ( 12 ). 6 .

6. The mechanical gripper according to claim 1 or 5, characterized in that, rollers (10) are provided on the left and right sides of the linkage plate (4), and the rollers (10) are in the chute (12) scroll inside.

7 . The mechanical gripper according to claim 1 , wherein a rubber sheet ( 8 ) is provided outside the head of the clamping jaw ( 7 ). 8 .

8 . The mechanical gripper according to claim 1 , wherein the distance that the rectangular frame ( 1 ) moves down is smaller than the portion where the frame top rod ( 15 ) penetrates the base ( 14 ), and the rectangular frame ( 1 ). ) is moved up a distance less than the distance between the rectangular frame (1) and the bottom of the base (14).