CN211073650U

CN211073650U - Automatic change mechanical clamping jaw and robot

Info

Publication number: CN211073650U
Application number: CN201921333972.7U
Authority: CN
Inventors: 高建歌; 文辉; 张天翼; 郑自利
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2019-08-16
Filing date: 2019-08-16
Publication date: 2020-07-24
Anticipated expiration: 2029-08-16

Abstract

The utility model discloses an automatic mechanical clamping jaw, which comprises a bracket component, a driving component and a displacement adjusting component; wherein, the bracket component is provided with a positioning cavity; the clamping jaw assembly is hinged with the upper end of the bracket assembly; the driving assembly is arranged in the positioning cavity, connected with the clamping jaw assembly and used for driving the clamping jaw assembly to fold or unfold so as to clamp or release an object; the driving component can move up and down relative to the bracket component to adjust the opening amplitude of the clamping jaw component; the displacement adjusting assembly is arranged on the support assembly and used for locking and fixing the driving assembly to limit the driving assembly to move up and down. The automatic mechanical clamping jaw provided by the utility model has the advantages of wide application occasions, simple structure, strong controllability and high automation degree; a robot having the automated mechanical gripper is also provided.

Description

Automatic change mechanical clamping jaw and robot

Technical Field

The utility model relates to a mechanical clamping jaw especially relates to an automatic change mechanical clamping jaw, still relates to a robot that has this automatic change mechanical clamping jaw.

Background

At present, industrial robots are widely applied to the fields of activation and entertainment, and the application of industrial robots to the catering industry is also a hotspot and focus of the application of the robots at present, for example, coffee robots and cooking robots widely spread on video websites such as tremble, fast hands and the like are praised by vast internet friends and are popular and popular by many people. Certainly, these not only rely on the powerful intelligence of robot itself, still have the auxiliary assembly who uses with the robot cooperation to realize snatching and putting of object, for example coffee robot needs corresponding auxiliary assembly to realize snatching, putting to utensils such as cup to realize the action of robot pouring coffee end coffee. But the clamping jaw application occasion that the robot got the object is single in the market, and the structure is complicated, and the controllability is poor, and the robot cooperation that is intelligent high occasionally very strong sense of offence, greatly reduced the degree of automation of robot, the clamping jaw of coffee robot can only be used for snatching a certain cup if.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming prior art's problem, providing an application scenario is wide, simple structure, the strong automatic mechanical clamping jaw that just degree of automation is high of controllability, still provides a robot that has this automatic mechanical clamping jaw.

In order to achieve the above purpose, the utility model adopts the following scheme:

an automated mechanical gripper, comprising:

a bracket assembly having a positioning cavity;

the clamping jaw assembly is hinged with the upper end of the bracket assembly;

the driving assembly is arranged in the positioning cavity, is connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to fold or unfold so as to clamp or release an object; the driving component can move up and down relative to the bracket component to adjust the opening amplitude of the clamping jaw component;

and the displacement adjusting assembly is arranged on the bracket assembly and is used for locking and fixing the driving assembly so as to limit the driving assembly to move up and down.

Further, the jaw assembly comprises:

the first clamping jaw and the second clamping jaw are mutually overlapped and hinged with the upper end of the bracket component at the overlapped part;

one end of the first push-pull connecting rod is hinged with the lower end of the first clamping jaw, and the other end of the first push-pull connecting rod is hinged with the driving component;

and one end of the second push-pull connecting rod is hinged with the lower end of the second clamping jaw, and the other end of the second push-pull connecting rod is hinged with the driving component.

Further, the bracket assembly includes:

a carriage base plate located below the drive assembly;

the bracket side plate is arranged on the bracket bottom plate; the displacement adjusting assembly is positioned on the displacement adjusting assembly;

the bracket top plate is arranged at the upper end of the bracket side plate; the top plate of the bracket is provided with an opening; the first clamping jaw and the second clamping jaw are intersected and penetrate through the opening and are hinged with the first push-pull connecting rod and the second push-pull connecting rod respectively; the overlapped part of the first clamping jaw and the second clamping jaw is hinged with the support top plate through a hinge part;

the support bottom plate, the support side plate and the support top plate are connected to form the positioning cavity.

Further, the drive assembly includes:

the coil body is positioned in the positioning cavity and can move up and down relative to the bracket component; the coil body is locked and fixed through the displacement adjusting assembly;

the push-pull rod penetrates through the coil body, and one end of the push-pull rod is hinged with the clamping jaw assembly;

the first elastic piece is arranged between the upper end surface of the coil body and one end of the push-pull rod;

after the coil body is electrified, the push-pull rod is driven to move downwards, the first elastic piece is compressed, and the clamping jaw assembly is folded.

Furthermore, a second elastic piece positioned in the positioning cavity is arranged at the lower end of the support component.

Further, the displacement adjustment assembly includes:

the sliding opening penetrates through the side wall of the bracket component and extends in an extending way in the vertical direction relative to the bracket component;

and the fastener penetrates through the sliding opening to be in locking connection with the driving assembly so as to limit the driving assembly to move up and down.

Further, the first jaw and the second jaw symmetrically overlap; the first clamping jaw comprises a first clamping part and a first connecting part which is connected with the lower end of the first clamping part and is hinged with the first push-pull connecting rod; the second clamping jaw comprises a second clamping part and a second connecting part which is connected with the lower end of the second clamping part and is hinged with the second push-pull connecting rod; the lower end of the first clamping part is overlapped with the lower end of the first clamping part and is connected to the upper end of the bracket component through the hinged part.

Furthermore, the first clamping part and the second clamping part are both arc-shaped, concave and downward extending; the first connecting part and the second connecting part extend downwards in an externally concave arc shape; the lower end of the first clamping part is tangentially connected with the upper end of the first connecting part; the lower end of the second clamping part is tangentially connected with the upper end of the second connecting part.

Further, the support side plate is provided with two blocks; the two support side plates are symmetrically arranged; the upper end of the bracket side plate is provided with an extending through hole at the position extending relative to the first clamping jaw and the second clamping jaw; the first connecting part penetrates through the extending through hole to extend downwards and is hinged with the first push-pull connecting rod; the second connecting part penetrates through the extending through hole to extend downwards and is hinged with the second push-pull connecting rod.

Further, the displacement adjusting assembly is located on at least one side wall of the bracket assembly.

The utility model discloses still disclose a robot, this robot includes the aforesaid automatic mechanical clamping jaw.

Compared with the prior art, the utility model has the advantages of as follows:

the utility model discloses an automatic change gripper reciprocates through setting up the relative bracket component of drive assembly, change the distance between drive assembly and the clamping jaw subassembly, and then change the flexible distance of push-and-pull rod of drive assembly, make the open range of clamping jaw subassembly change, be fit for pressing from both sides and get not unidimensional object, and it is fixed to lock through displacement adjusting part, it changes to avoid drive assembly to take place the displacement, influence clamping jaw subassembly clamp and get the object, combine with the robot, the effectual robot that has guaranteed snatchs and loses article automatically, provide sufficient grabbing power, guarantee the stability of article when snatching, it is high in automation, controllability is strong, and therefore, the cost is reduced, can realize snatching and losing not putting to unidimensional object through adjusting drive assembly's position, the application scenario is wide, and the commonality is strong.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of the automatic mechanical clamping jaw of the present invention when opened.

Fig. 2 is a schematic structural view of the automatic mechanical clamping jaw of the present invention when it is folded.

Fig. 3 is a schematic structural diagram of a left side view of the automatic mechanical clamping jaw of the present invention.

Fig. 4 is a schematic structural view of the jaw assembly of the automated mechanical gripper of the present invention on the top plate of the support.

Fig. 5 is a schematic structural diagram of a driving assembly of an automated mechanical gripper according to the present invention.

The figure includes:

the support structure comprises a support assembly 1, a support bottom plate 11, a support side plate 12, a support top plate 13, a positioning cavity 14, a clamping jaw assembly 2, a first clamping jaw 21, a first clamping part 211, a first connecting part 212, a second clamping jaw 22, a second clamping part 221, a second connecting part 222, a first push-pull connecting rod 23, a second push-pull connecting rod 24, a driving assembly 3, a coil body 31, a push-pull rod 32, a first elastic piece 33, a displacement adjusting assembly 4, a sliding opening 41, a fastening piece 42, a second elastic piece 5 and a hinge part 6.

Detailed Description

The invention will be further described with reference to the following examples.

Referring to fig. 1-5, an automated mechanical gripper includes a carriage assembly 1, a gripper assembly 2, a drive assembly 3, and a displacement adjustment assembly 4. Wherein, the bracket component 1 is provided with a positioning cavity 14; the clamping jaw assembly 2 is hinged with the upper end of the bracket assembly 1; the driving assembly 3 is arranged in the positioning cavity 14, connected with the clamping jaw assembly 2 and used for driving the clamping jaw assembly 2 to fold or unfold so as to clamp or release an object; the driving component 3 can move up and down relative to the bracket component 1 to adjust the opening amplitude of the clamping jaw component 2; the displacement adjusting assembly 4 is arranged on the bracket assembly 1 and used for locking and fixing the driving assembly 3 so as to limit the driving assembly 3 to move up and down. This automatic change gripper reciprocates through setting up drive assembly 3 relative bracket component 1, change the distance between drive assembly 3 and the clamping jaw subassembly 2, and then the flexible distance of push-and-pull rod 32 that changes drive assembly 3, the range that makes clamping jaw subassembly 2 open changes, it gets the object of unidimensional not to be fit for pressing from both sides, and it is fixed to lock through displacement adjusting part 4, avoid drive assembly 3 to take place the displacement change, influence clamping jaw subassembly 2 and press from both sides and get the object, combine with the robot, the effectual robot of having guaranteed snatchs and loses the article, provide sufficient grabbing power, guarantee the stability of article when snatching, it is automatic high, controllability is strong, and therefore the cost is reduced, can realize snatching and losing the not unidimensional object through the position of adjustment drive assembly 3, the application scenario is wide, and the commonality is strong.

The driving assembly 3 includes a coil body 31, a push-pull rod 32, and a first elastic member 33. Wherein, the coil body 31 is located in the positioning cavity 14 and can move up and down relative to the bracket assembly 1; the coil body 31 includes a coil frame and a coil provided in the coil frame. The coil body 31 is locked and fixed by the displacement adjusting assembly 4. A push-pull rod 32 penetrates through the coil body 31, and one end of the push-pull rod is hinged with the clamping jaw assembly 2; the first elastic member 33 is disposed between the upper end surface of the coil body 31 and one end of the push-pull rod 32; after the coil body 31 is powered on, the push-pull rod 32 is driven to move downwards, the first elastic member 33 is compressed, and the clamping jaw assembly 2 is folded. The coil body 31 is used as a push-pull electromagnet, after the coil is electrified, the push-pull rod 32 moves downwards to drive the clamping jaw assembly 2 to move downwards and fold, and at the moment, the coil body is used for clamping an object; after the power is turned off, the electromagnetic force of the coil disappears, and the push-pull rod 32 returns to the original position under the action of the first elastic member 33. The first elastic member 33 is preferably a spring.

Preferably, the lower end of the bracket assembly 1 is provided with a second elastic element 5 positioned in the positioning cavity 14. The second elastic member 5 is preferably a spring. The provision of the second elastic member 5 helps to accelerate the push-pull rod 32 to return to the initial position quickly and efficiently.

In this embodiment, the displacement adjustment assembly 4 includes a slide opening 41 and a fastener 42. The sliding opening 41 penetrates through the sidewall of the rack assembly 1 and extends in an up-and-down direction relative to the rack assembly 1; a fastener 42 is lockingly connected with the driving assembly 3 through the sliding opening 41 to limit the driving assembly 3 from moving up and down. The fasteners 42 may be screws, bolts, or externally threaded pins. The sliding opening 41 can be provided with threads or the driving component 3 can be provided with threaded holes which are matched and connected with screws, bolts or pins with external threads, so that the driving component 3 can be locked and fixed. Because the stroke of the driving component 3 is fixed, when clamping different objects, the coil body 31 can move up and down relative to the bracket component 1 according to the size of the object, after the coil body is adjusted to a proper position, the two sides of the coil body 31 are fixed on the side wall of the bracket component 1 by the fastening piece 42, and the opening and closing range of the clamping jaw is changed, so that the purpose of clamping different objects is achieved.

The displacement adjusting assembly 4 is located on at least one side wall of the bracket assembly 1. In this embodiment, displacement adjustment assembly 4 has set up 8 on bracket component 1, fixes drive assembly 3 through 8 displacement adjustment assemblies 4, strengthens drive assembly 3's stability, avoids drive assembly 3 to take place the displacement and changes, influences clamping jaw assembly 2 and gets the object. Of course, the number of the movable adjusting assemblies arranged on the bracket assembly 1 can be 1, 2, 3, 4, 5, etc. according to the requirement.

The jaw assembly 2 comprises a first jaw 21, a second jaw 22, a first push-pull link 23 and a second push-pull link 24. The first jaw 21 and the second jaw 22 are mutually overlapped and hinged with the upper end of the bracket component 1 at the overlapped part; one end of the first push-pull connecting rod 23 is hinged with the lower end of the first clamping jaw 21, and the other end is hinged with the driving component 3; one end of the second push-pull connecting rod 24 is hinged with the lower end of the second clamping jaw 22, and the other end is hinged with the driving component 3. Through add first push-and-pull connecting rod 23 and second push-and-pull connecting rod 24 respectively at the lower extreme of first clamping jaw 21 and second clamping jaw 22, after the position that adjusts drive assembly 3 and reciprocated relative bracket component 1, change the distance between drive assembly 3 and clamping jaw subassembly 2, and then change the flexible distance of push-and-pull rod 32 of drive assembly 3, regard first push-and-pull connecting rod 23 and second push-and-pull connecting rod 24 as connecting push rod, provide certain extension distance, help to increase first clamping jaw 21 and second clamping jaw 22 and open the range, realize snatching and releasing not unidimensional object, the application scenario is wide, and the commonality is strong. The connection mode of the clamping jaw assembly 2, the bracket top plate 13 and the driving assembly 3 is as follows: the first clamping jaw 21 and the second clamping jaw 22 are mutually overlapped and connected with the bracket top plate 13 through smooth pins, and can rotate around the smooth pins during movement to realize opening and closing actions; one ends of the first push-pull connecting rod 23 and the second push-pull connecting rod 24 are respectively connected with the first clamping jaw 21 and the second clamping jaw 22 through smooth pins, and the other ends are connected with a push-pull rod 32 of the driving assembly 3 through smooth pins.

The first jaw 21 and the second jaw 22 are symmetrically overlapped; the first clamping jaw 21 and the second clamping jaw 22 are symmetrically overlapped with each other to form a clamp, so that the object can be clamped conveniently and uniformly stressed, and the whole appearance of the clamping jaw assembly 2 is uniform and attractive. The first clamping jaw 21 comprises a first clamping part 211 and a first connecting part 212 which is connected with the lower end of the first clamping part 211 and is hinged with the first push-pull connecting rod 23; the second clamping jaw 22 comprises a second clamping part 221 and a second connecting part 222 which is connected with the lower end of the second clamping part 221 and is hinged with the second push-pull connecting rod 24; the lower end of the first clamping portion 211 overlaps the lower end of the first clamping portion 211 and is connected to the upper end of the rack assembly 1 through the hinge portion 6. In this embodiment, specifically, the first clamping portion 211 and the second clamping portion 221 both extend downward in an arc shape; furthermore, the first clamping portion 211 extends counterclockwise and downward in a circular arc shape, and the second clamping portions 221 both extend clockwise and downward in a circular arc shape; the arc is concave, which means that the center or axis of the arc extending between the first clamping portion 211 and the second clamping portion 221 is located above the first clamping portion 211 and the second clamping portion 221. Be circular-arc through setting up first clamping part 211 and second clamping part 221, difficult scratch hand, it is easier that this automatic mechanical clamping jaw of being convenient for presss from both sides the object of getting the circle body, and more firm, like circle body cup and bottle, combine together with adjustable position's drive assembly 3 again, can realize snatching and releasing the object of the not unidimensional circle body, and the application scenario is wide, and the commonality is strong. In some embodiments, in order to clamp an object with a specific shape and improve the stability of the object with the specific shape, the structural shapes of the first clamping portion 211 and the second clamping portion 221 may be changed according to the appearance shape of the object with the specific shape, and a stable structure capable of clamping the object with the specific shape is designed, for example, the object with the specific shape is a rectangular parallelepiped or a cube, and the first clamping portion 211 and the second clamping portion 221 may be designed to be the first clamping portion 211 and the second clamping portion 221 which can be attached to a certain plane of the rectangular parallelepiped or the cube and a right-angle plane perpendicular to the certain plane, so as to achieve the effect of stable clamping.

The first connecting portion 212 and the second connecting portion 222 extend downward in an outwardly concave arc; still further, the first connecting portion 212 is a concave arc extending clockwise and downward; the second connecting portion 222 extends counterclockwise and downward in an arc shape with a concave shape; the circle center or the axis of the first connection portion 212 and the second connection portion 222 extending in an arc is located below the first connection portion 212 and the second connection portion 222. Through setting up first connecting portion 212 and the second connecting portion 222 of outer concave circular arc downwardly extending, avoid first connecting portion 212 and the outside extension of second connecting portion 222 to enlarge so that this presss from both sides and gets the subassembly occupation space too big, circular arc downwardly extending moreover makes to press from both sides and gets the whole outward appearance of subassembly good to do not have salient angle or edges and corners, be difficult for scratching the hand.

Preferably, the lower end of the first clamping portion 211 is tangentially connected with the upper end of the first connecting portion 212; the lower end of the second clamping portion 221 is tangentially connected to the upper end of the second connecting portion 222. Through setting up first clamping jaw 21 and second clamping jaw 22 like this, be convenient for first clamping jaw 21 and second clamping jaw 22 integrated into one piece, the connectivity is good, simple structure, and the usability is strong.

For convenience of processing, reduction of processing cost and simplicity of connection and installation, the bracket assembly 1 comprises a bracket bottom plate 11, a bracket side plate 12 and a bracket top plate 13. Wherein, the bracket bottom plate 11 is positioned below the driving component 3; the bracket side plate 12 is arranged on the bracket bottom plate 11; the displacement adjusting assembly 4 is positioned on the displacement adjusting assembly 4; the bracket top plate 13 is arranged at the upper end of the bracket side plate 12; the bracket top plate 13 is provided with an opening; the first clamping jaw 21 and the second clamping jaw 22 intersect and penetrate through the opening and are hinged with the first push-pull connecting rod 23 and the second push-pull connecting rod 24 respectively; the overlapping part of the first clamping jaw 21 and the second clamping jaw 22 is hinged with the bracket top plate 13 through a hinge part 6; the connection among the support bottom plate 11, the support side plate 12 and the support top plate 13 forms the positioning cavity 14. In this embodiment, support bottom plate 11 and support roof 13 are the concentric circular plate body, support lateral plate 12 is the concentric circular arc plate body or cylinder with support bottom plate 11 and support roof 13, support bottom plate 11 with this type is as supporting, support roof 13 with support lateral plate 12 and support and fix, the subassembly is got to the steady support roof 13 clamp of being convenient for, simultaneously, the portable or robot installation of taking of the people of being convenient for, and make the whole outward appearance of automatic mechanical clamping jaw better, reduce the processing cost, it is simple to connect the installation, and the facilitate promotion. The first clamping jaw 21 and the second clamping jaw 22 intersect and penetrate through the openings to realize the hinging of the first push-pull connecting rod 23 and the second push-pull connecting rod 24, the occupied space is small, the combination with the driving component 3 with adjustable positions is convenient, the grabbing and releasing of objects with different sizes can be realized, the application range is wide, and the universality is high. The hinge part 6 is a pin, the connection between the first clamping jaw 21 and the second clamping jaw 22 and the support top plate 13 is realized through the pin, the structure is simple, and the installation is convenient.

In the present embodiment, the bracket side plate 12 has two pieces; the two support side plates 12 are oppositely arranged and separated by a certain distance, so that the operation condition of the driving assembly 3 can be directly observed, the structure is simple, the processing is convenient, the installation is rapid, and the cost is reduced; the upper end of the bracket side plate 12 is provided with an extending through hole at the position extending relative to the first clamping jaw 21 and the second clamping jaw 22; the first connecting part 212 extends downwards through the extending through hole and is hinged with the first push-pull connecting rod 23; the second connecting portion 222 extends downward through the extending through opening to be hinged to the second push-pull link 24. Also, it is conceivable that the first push-pull link 23 and the second push-pull link are hinged to the first connecting portion 212 and the second connecting portion 222 through the extending through-holes, respectively, by pins. Through setting up the extension opening, each part on the clamping jaw assembly 2 of being convenient for is connected, makes clamping jaw assembly 2 have sufficient space to open and receive and close, is convenient for press from both sides and gets and place the object. In another embodiment, the bracket side plate 12 is a cylinder, and the upper end of the bracket side plate 12 of the cylinder is provided with an extending through hole. The two support side plates 12 are replaced by the support side plates 12 which are integrally formed into a cylinder, so that the structure is simple, the processing is convenient, the installation is fast, and the cost is reduced. In another embodiment, the rack side plate 12 has 4 pieces, and the 4 pieces of rack side plate 12 are distributed on the rack bottom plate 11. Relative to the extended positions of the first clamping jaw 21 and the second clamping jaw 22, a space is formed between the two corresponding bracket side plates 12, so that the first connecting part 212 passes through the extending through hole and extends downwards to be hinged with the first push-pull connecting rod 23; the second connecting portion 222 extends downward through the extending through opening to be hinged to the second push-pull link 24. The two support side plates 12 can be replaced by 4 support side plates 12, so that the support assembly 1 has more visual space, and the operation condition of the driving assembly 3 can be observed conveniently.

The utility model discloses an automatic change mechanical clamping jaw's theory of operation as follows:

when clamping different objects, the first clamping jaw 21, the second clamping jaw 22, the first push-pull connecting rod 23 and the second push-pull connecting rod 24 form a connecting rod mechanism, firstly, the coil body 31 can move up and down relative to the bracket component 1 according to the size of the object, and after the coil body is adjusted to a proper position, the two sides of the coil body 31 are fixed on the side wall of the bracket component 1 by using fasteners 42; then, the coil body 31 is used as a push-pull electromagnet, after the coil body is electrified, the push-pull rod 32 moves downwards to drive the first push-pull connecting rod 23 and the second push-pull connecting rod 24 to move downwards, and the first clamping jaw 21 and the second clamping jaw 22 can rotate around the smooth pins to realize the merging action and the action of clamping an object; after the power is off, the electromagnetic force of the coil disappears, the push-pull rod 32 returns to the initial position under the action of the first elastic piece 33 and the second elastic piece 5, the first push-pull connecting rod 23 and the second push-pull connecting rod 24 are pushed to move upwards, the first clamping jaw 21 and the second clamping jaw 22 can rotate around the smooth pins, the opening action is realized, the action of releasing the object is realized, the opening and closing amplitude of the first clamping jaw 21 and the second clamping jaw 22 is changed, and the purposes of grabbing and releasing objects with different sizes are realized.

Example 2.

In this embodiment, the automated mechanical gripper of the present invention is substantially the same as that of embodiment 1, except that the coil body 31 and the first elastic member 33 are replaced with a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder.

When clamping different objects, the first clamping jaw 21, the second clamping jaw 22, the first push-pull connecting rod 23 and the second push-pull connecting rod 24 form a connecting rod mechanism, on one hand, firstly, the coil body 31 can move up and down relative to the bracket assembly 1 according to the size of the object, and after the coil body is adjusted to a proper position, the two sides of the hydraulic cylinder or the pneumatic cylinder or the electric cylinder are fixed on the side wall of the bracket assembly 1 by using the fastening piece 42; then, the hydraulic cylinder or the pneumatic cylinder or the electric cylinder drives the push-pull rod 32 to move downwards to drive the first push-pull connecting rod 23 and the second push-pull connecting rod 24 to move downwards, and the first clamping jaw 21 and the second clamping jaw 22 can rotate around the smooth pins to realize the combination action and the action of clamping an object; on the other hand, the hydraulic cylinder or the pneumatic cylinder or the electric cylinder drives the push-pull rod 32 to move upwards to drive the first push-pull connecting rod 23 and the second push-pull connecting rod 24 to move upwards, the first clamping jaw 21 and the second clamping jaw 22 can rotate around the smooth pin, the opening action is realized, the action of releasing the object is realized, the opening and closing amplitude of the first clamping jaw 21 and the second clamping jaw 22 is changed, and the purpose of grabbing and releasing objects with different sizes is realized.

The utility model discloses still disclose a robot, this robot includes the aforesaid automatic mechanical clamping jaw, still include common drive arrangement, detection device, control system and other actuating mechanism. Through setting up this automatic mechanical clamping jaw and drive arrangement, detection device, control system and other actuating mechanism and combining together, make this robot improve the degree of automation that the robot snatched, put the object, the controllability is strong, and is with low costs, realizes the function that can realize snatching, release not unidimensional object.

It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automated mechanical gripper, comprising:

a bracket assembly having a positioning cavity;

the clamping jaw assembly is hinged with the upper end of the bracket assembly;

2. The automated mechanical jaw of claim 1, wherein the jaw assembly comprises:

3. The automated mechanical jaw of claim 2, wherein the carriage assembly comprises:

a carriage base plate located below the drive assembly;

4. The automated mechanical jaw of claim 1 or 2, wherein the drive assembly comprises:

5. The automated mechanical jaw of claim 4, wherein the bracket assembly has a second resilient member disposed on a lower end thereof and located within the positioning cavity.

6. The automated mechanical jaw of claim 1, wherein the displacement adjustment assembly comprises:

7. The automated mechanical jaw of claim 3, wherein the first jaw and the second jaw overlap symmetrically; the first clamping jaw comprises a first clamping part and a first connecting part which is connected with the lower end of the first clamping part and is hinged with the first push-pull connecting rod; the second clamping jaw comprises a second clamping part and a second connecting part which is connected with the lower end of the second clamping part and is hinged with the second push-pull connecting rod; the lower end of the first clamping part is overlapped with the lower end of the first clamping part and is connected to the upper end of the bracket component through the hinged part.

8. The automated mechanical jaw of claim 7, wherein the first and second clamping portions each extend downwardly in an arc; the first connecting part and the second connecting part extend downwards in an externally concave arc shape; the lower end of the first clamping part is tangentially connected with the upper end of the first connecting part; the lower end of the second clamping part is tangentially connected with the upper end of the second connecting part.

9. The automated mechanical jaw of claim 7, wherein the cradle side plate has two pieces; the two bracket side plates are oppositely arranged; the upper end of the bracket side plate is provided with an extending through hole at the position extending relative to the first clamping jaw and the second clamping jaw; the first connecting part penetrates through the extending through hole to extend downwards and is hinged with the first push-pull connecting rod; the second connecting part penetrates through the extending through hole to extend downwards and is hinged with the second push-pull connecting rod.

10. The automated mechanical gripper of claim 1 or 6, wherein the displacement adjustment assembly is located on at least one of the side walls of the carriage assembly.

11. A robot comprising an automated mechanical gripper according to any of claims 1 to 10.