CN211761588U - a mechanical claw - Google Patents

Abstract

The utility model belongs to the technical field of the gripper technique and specifically relates to a gripper, including flange, fixed suction cup body and a folding suction cup body, flange's upper portion and manipulator flange joint, flange's lower part and fixed suction cup body fixed connection, a folding suction cup body passes through rotary device and rotationally is connected with fixed suction cup body, and the first suction cup height-adjustable on the fixed suction cup body turns over a second sucking disc on the suction cup body and can follow a folding suction cup body length direction and remove, the utility model discloses need change different grippers when snatching not unidimensional work piece among the prior art, snatch the problem of inefficiency.

Description

a mechanical claw

technical field

The utility model relates to the technical field of mechanical claw, in particular to a mechanical claw.

Background technique

With the rapid economic growth, the pace of industrial restructuring and upgrading is also accelerating. The era of Industry 4.0 is an era in which information technology is used to promote industrial transformation. Human labor has been difficult to meet the needs of enterprise development, and industrial robots have become the new favorite of the manufacturing industry. It not only shoulders the mission of liberating human beings from heavy and repetitive labor, but also is necessary for large-scale and precision production in the manufacturing industry, and even solves the problem that humans are difficult to complete work in dangerous and harsh environments.

With the increasing use of robots in industrial automation, the requirements for hand grips used with robots are getting higher and higher. The traditional mechanical claws are all non-standard parts, and different mechanical claws need to be replaced when grasping workpieces of different sizes, which is time-consuming and labor-intensive, reducing the efficiency of grasping.

In addition, the mechanical claws in the prior art are sucked by a suction cup on one side, and the grasping is not reliable enough, the items are easy to fall, and the stability is not good.

Utility model content

The purpose of the utility model is to provide a mechanical claw, so as to solve the problem of low grasping efficiency that needs to be replaced with different mechanical claw when grasping workpieces of different sizes in the prior art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a mechanical claw, comprising a connecting flange, a fixed suction cup body and a folded suction cup body, the upper part of the connecting flange is connected with the manipulator flange, and the connecting flange is The lower part is fixedly connected with the fixed suction cup body, the folded suction cup body is rotatably connected with the fixed suction cup body through the rotating device, the height of the first suction cup on the fixed suction cup body is adjustable, and the second suction cup on the folded suction cup body is adjustable in height. The two suction cups can move along the length direction of the folded suction cup body.

Preferably, the rotating device includes a folding cylinder, a first sliding block guide rail, a first rotating device and a second rotating device, the folding cylinder is installed on the upper surface of the fixed suction cup body, and the first sliding block guide rail is mounted on the upper surface of the fixed suction cup body. The guide rail is installed on the lower surface of the fixed suction cup body, the first joint of the first rotating device is fixedly connected with the slider of the first sliding block guide rail, and the second joint of the first rotating device is rotatably connected to the folding suction cup body The first joint and the second joint are rotatably connected through a first connecting shaft, the first connecting shaft is connected with the end of the piston rod of the folding cylinder, and the third joint of the second rotating device is connected to the The fixed suction cup body is connected, the fourth joint of the second rotating device is connected with the folded suction cup body, and the third joint and the fourth joint are rotatably connected through a second connecting shaft.

Preferably, the fixed suction cup body includes a first suction cup, a first connecting plate and a height adjusting device, and the first suction cup is connected to the height adjusting device through the first suction cup connecting body.

Preferably, the height adjustment device includes a height adjustment cylinder and a guide shaft mechanism, the height adjustment cylinder is installed on the upper surface of the first connecting plate, and the piston rod of the height adjustment cylinder vertically passes through the first connecting plate and the first connecting plate. A suction cup connecting body is fixedly connected, the guide shaft mechanism includes a guide shaft and a bearing, the guide shaft vertically passes through the first connecting plate and is fixedly connected with the first suction cup connecting body.

Preferably, the folded suction cup body includes a second suction cup, a second connecting plate and a length adjusting device, and the second suction cup is connected to the length adjusting device through the second suction cup connecting body.

Preferably, the length adjustment device includes a length adjustment cylinder and a second slider guide rail, the guide rail of the second slider guide rail is connected with the second suction cup connecting body, and the slider of the second slider guide rail is fixed on the second slider rail. On the lower surface of the connecting plate, the length adjusting cylinder is mounted on the upper surface of the second connecting plate, and the piston rod of the length adjusting cylinder is fixedly connected with the second suction cup connecting body.

Compared with the prior art, the beneficial effects of the present utility model are: the mechanical claw provided by the present application can be folded, and can grab workpieces of more sizes when unfolding and folded, so that the adaptability is stronger, and workpieces within a certain size can be grasped. It can be grasped without frequent replacement of mechanical claws, which greatly improves the grasping efficiency. In addition, the second suction cup on the folding suction cup body can move along the length of the folding suction cup body. The second suction cup is moved on the outside of the mechanical claw, so that the mechanical claw can grab a long workpiece; after the suction cup body is folded, it can be sucked from both sides, so that the grasping is more reliable; Grab a slightly smaller workpiece, so that the mechanical claw provided in this application is suitable for workpieces of more sizes, and the matching applicability is stronger.

Description of drawings

Fig. 1 is the structural representation when the folding suction cup body is in the unfolded state in the utility model;

2 is a schematic structural diagram of the folded suction cup body in the folded state of the present invention.

In the figure: 1 connecting flange, 2 fixed suction cup body, 201 first suction cup, 202 first suction cup connecting body, 203 height adjusting cylinder, 204 guide shaft, 3 folded suction cup body, 301 second suction cup, 302 second suction cup connection Body, 303 length adjustment cylinder, 304 second slider guide rail, 4 rotation device, 401 folding cylinder, 402 first slider guide rail, 403 first rotation device, 404 second rotation device.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

1-2, the present utility model provides a technical solution: a mechanical claw, comprising a connecting flange 1, a fixed suction cup body 2 and a folded suction cup body 3, the upper part of the connecting flange 1 is connected with the manipulator flange, The lower part of the connecting flange 1 is connected with the fixed suction cup body 2 by bolts, the folded suction cup body 3 is rotatably connected with the fixed suction cup body 2 through the rotating device 4, and the height of the first suction cup 201 on the fixed suction cup body 2 can be adjusted, The second suction cup 301 on the folding suction cup body 3 can move along the length direction of the folding suction cup body 3. When the mechanical claw is unfolded, that is, when the folding suction cup body 3 is not folded, the second suction cup 301 is adjusted along the length direction of the mechanical claw. position, so that the mechanical claw can grab longer workpieces and match more workpieces with larger sizes. Take smaller workpieces. At the same time, since the height of the first suction cup 201 can be adjusted, the second suction cup 301 can also be moved, so that the mechanical claw can match workpieces of more sizes. Frequent replacement of mechanical claws greatly improves the grasping efficiency. In addition, after the mechanical claw is folded, it can be sucked from both sides, and the grasping is more reliable.

Further, the rotating device 4 includes a folding cylinder 401, a first slider guide 402, a first rotating device 403 and a second rotating device 404. The folding cylinder 401 is installed on the upper surface of the fixed suction cup body 2, and the first slider guide The guide rail of 402 is installed on the lower surface of the fixed suction cup body 2 , the first joint of the first rotating device 403 is fixedly connected with the slider of the first sliding block guide rail 402 , and the second joint of the first rotating device 403 is connected with the folding suction cup body 3 . rotatably connected, the first joint and the second joint are rotatably connected through a first connecting shaft, the first connecting shaft is connected with the end of the piston rod of the folding cylinder 401, and the third joint of the second rotating device 404 is connected to the fixed The suction cup body 2 is connected, the fourth joint of the second rotating device 404 is connected with the folding suction cup body 3, and the third joint and the fourth joint are rotatably connected through the second connecting shaft. Specifically, when the mechanical claw is unfolded, the folding cylinder 401 is pushed out, and the slider of the first slider guide rail 402 slides along the guide rail and moves in the direction away from the first suction cup 201 . At the same time, the first joint connected with the slider is also Move at the same time, the piston rod of the folding cylinder 401 pushes the second joint, the fourth joint rotates around the second connecting shaft, the folding suction cup body 3 is pushed up and unfolded, and the mechanical claw realizes the unfolded state; when folding the mechanical claw, the folding The cylinder 401 is retracted, the slider of the first slider guide 402 pulls the first joint to move towards the first suction cup 201, the piston rod of the folded cylinder 401 pulls the second joint, and the fourth joint rotates downward around the second connecting shaft , the folded suction cup body 3 is folded downward, and the mechanical claw realizes the folded state.

Further, the fixed suction cup body 2 includes a first suction cup 201, a first connecting plate and a height adjustment device. The first suction cup 201 is connected to the height adjustment device through the first suction cup connecting body 202, wherein the height adjustment device includes a height adjustment cylinder 203 and a height adjustment device. The guide shaft 204 mechanism, the height adjustment cylinder 203 is installed on the upper surface of the first connecting plate, the piston rod of the height adjustment cylinder 203 vertically passes through the first connecting plate and is fixedly connected to the first suction cup connecting body 202, and the guide shaft 204 mechanism includes a guide The shaft 204 and the bearing, the guide shaft 204 vertically passes through the first connecting plate and is fixedly connected to the first suction cup connecting body 202. Specifically, when the height of the first suction cup 201 is adjusted, the piston rod of the height adjusting cylinder 203 is pushed out or retracted, pulled As the first suction cup connecting body 202 moves up and down, the first suction cup connecting body 202 pulls the first suction cup 201 to move up and down, and the existence of the guide shaft 204 mechanism can make the first suction cup 201 move up and down more stably.

Further, the folding suction cup body 3 includes a second suction cup 301, a second connecting plate and a length adjusting device. The second suction cup 301 is connected to the length adjusting device through the second suction cup connecting body 302, wherein the length adjusting device includes a length adjusting cylinder 303. and the second slider guide rail 304, the guide rail of the second slider guide rail 304 is connected with the second suction cup connecting body 302, the slider of the second slider guide rail 304 is fixed on the lower surface of the second connecting plate, and the length adjusting cylinder 303 is installed on the lower surface of the second connecting plate. On the upper surface of the second connecting plate, the piston rod of the length adjusting cylinder 303 is fixedly connected to the second suction cup connecting body 302. Specifically, when the second suction cup 301 is moved, the piston rod of the length adjusting cylinder 303 is pushed out or pulled back, and the second sliding The slider of the block guide rail 304 moves back and forth on the guide rail, and the second suction cup connecting body 302 moves back and forth along the length direction of the folding suction cup body 3, so that the mechanical claw can be adapted to a long workpiece.

Working principle: when the mechanical claw is unfolded, the folding cylinder 401 extends, the slider on the first slider guide 402 slides in the direction away from the first suction cup 201, the first rotating device 403 and the second rotating device 404 rotate, and the folded The suction cup body 3 is folded upward, and the mechanical claws are unfolded; when the mechanical claws are folded, the folding cylinder 401 is retracted, the slider on the first slider guide 402 slides toward the direction of the first suction cup 201, and the first rotating device 403 and the second The rotating device 404 rotates, the folding suction cup body 3 is folded downward, and the mechanical claw is folded;

When adjusting the height of the first suction cup 201, the height adjustment cylinder 203 extends or retracts, and pulls the first suction cup connecting body 202 to move up and down. Since the first suction cup connecting body 202 is fixedly connected with the first suction cup 201, the first suction cup 201 will follow the first suction cup The suction cup connecting body 202 moves up and down to realize height adjustment;

When the second suction cup 301 is moved, the piston rod of the length adjusting cylinder 303 is pushed out or pulled back, the slider of the second slider guide 304 moves back and forth on the guide rail, and the second suction cup connecting body 302 moves back and forth along the length direction of the folded suction cup body 3 . Moving, the second suction cup 301 follows the second suction cup connecting body 302 to move back and forth along the length direction of the suction cup body, so that the mechanical gripper can grasp workpieces of more sizes.

The mechanical claw provided in this application can be folded, and can grab workpieces of more sizes when unfolding and folded, and has stronger adaptability, and can grasp workpieces within a certain size without frequent replacement of the mechanical claw, which greatly improves the grasping performance. In addition, the second suction cup 301 on the folding suction cup body 3 can move along the length direction of the folding suction cup body 3. When the folding suction cup body 3 is in the unfolded state, the second suction cup 301 is moved to the outside of the mechanical claw, so that the mechanical The claw can grab long workpieces; after the folded suction cup body 3 is folded, it can be sucked from both sides, so that the grasping is more reliable; at the same time, because the height of the suction cup fixing the suction cup body 2 can be adjusted, it can grab slightly smaller workpieces, The mechanical claw provided by this application is suitable for workpieces of more sizes, and the matching applicability is stronger.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention , alternatives and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. A gripper, comprising: including flange (1), fixed suction cup body (2) and a book sucking disc body (3), the upper portion and the manipulator flange joint of flange (1), the lower part and fixed suction cup body (2) fixed connection of flange (1), it rotationally is connected with fixed suction cup body (2) through rotary device (4) to turn over a sucking disc body (3), first sucking disc (201) height-adjustable on the fixed suction cup body (2), it can follow a book sucking disc body (3) length direction and remove to turn over second sucking disc (301) on the sucking disc body (3).

2. A gripper according to claim 1, wherein: the rotating device (4) comprises a turnover cylinder (401), a first slider guide rail (402), a first rotating device (403) and a second rotating device (404), the turnover cylinder (401) is installed on the upper surface of the fixed sucker body (2), the guide rail of the first slider guide rail (402) is installed on the lower surface of the fixed sucker body (2), a first joint of the first rotating device (403) is fixedly connected with a slider of the first slider guide rail (402), a second joint of the first rotating device (403) is rotatably connected with the turnover sucker body (3), the first joint and the second joint are rotatably connected through a first connecting shaft, the first connecting shaft is connected with the end part of a piston rod of the turnover cylinder (401), a third joint of the second rotating device (404) is connected with the fixed sucker body (2), a fourth joint of the second rotating device (404) is connected with the turnover sucker body (3), the third joint and the fourth joint are rotatably connected through a second connecting shaft.

3. A gripper according to claim 1, wherein: the fixed sucker body (2) comprises a first sucker (201), a first connecting plate and a height adjusting device, and the first sucker (201) is connected with the height adjusting device through a first sucker connecting body (202).

4. A gripper according to claim 3, wherein: the height adjusting device comprises a height adjusting cylinder (203) and a guide shaft (204) mechanism, the height adjusting cylinder (203) is installed on the upper surface of a first connecting plate, a piston rod of the height adjusting cylinder (203) vertically penetrates through the first connecting plate to be fixedly connected with a first sucking disc connecting body (202), the guide shaft (204) mechanism comprises a guide shaft (204) and a bearing, and the guide shaft (204) vertically penetrates through the first connecting plate to be fixedly connected with the first sucking disc connecting body (202).

5. A gripper according to claim 1, wherein: the foldable sucker body (3) comprises a second sucker (301), a second connecting plate and a length adjusting device, and the second sucker (301) is connected with the length adjusting device through a second sucker connecting body (302).

6. A gripper according to claim 5, wherein: the length adjusting device comprises a length adjusting cylinder (303) and a second sliding block guide rail (304), the guide rail of the second sliding block guide rail (304) is connected with a second sucker connecting body (302), a sliding block of the second sliding block guide rail (304) is fixed on the lower surface of a second connecting plate, the length adjusting cylinder (303) is installed on the upper surface of the second connecting plate, and a piston rod of the length adjusting cylinder (303) is fixedly connected with the second sucker connecting body (302).

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