CN212763508U - Mechanical claw - Google Patents
Mechanical claw Download PDFInfo
- Publication number
- CN212763508U CN212763508U CN202021547898.1U CN202021547898U CN212763508U CN 212763508 U CN212763508 U CN 212763508U CN 202021547898 U CN202021547898 U CN 202021547898U CN 212763508 U CN212763508 U CN 212763508U
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- China
- Prior art keywords
- clamping jaw
- rod
- rotating shaft
- clamping
- paving
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Abstract
The utility model provides a mechanical paw, which comprises a bracket, a paving component and a clamping jaw component; the paving assembly and the clamping jaw assembly are respectively arranged on the bracket; the clamping jaw assembly comprises a first driving piece and a clamping jaw; the first driving piece is used for driving the clamping jaws to open and close so as to clamp an article; the paving assembly is arranged in the middle of the clamping jaw and comprises a second driving piece and a paving rod; after the clamping jaws clamp the object, the second driving piece is used for driving the paving rod to tightly abut against the upper surface of the object from top to bottom so as to pave the object. Can conveniently press from both sides and get article through setting up first driving piece drive clamping jaw to through set up the subassembly of paving in the middle of the clamping jaw, can press from both sides tight article at the clamping jaw after, from last down supporting the upper surface of the flexible packaging bag that is full of the form material in bulk in order to pave flexible packaging bag through the second driving piece drive of paving in the subassembly, make the gripper get more firmly when snatching the flexible packaging bag that is full of the form material in bulk, thereby can put the flexible packaging bag that is full of the form material in bulk more neatly.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a mechanical gripper.
Background
Along with the improvement of industrialization degree, can adopt the manipulator to snatch the year of carrying to article at present, but present manipulator snatchs the effect when snatching the flexible packaging bag that is full of bulk material not good, for example in occasions such as production line, warehouse, pier use the manipulator claw of robot to snatch the flexible packaging bag that is full of bulk material, remove again and put the assigned position. Because current mechanical gripper only is equipped with two sets of rotatable hooks, when snatching flexible packaging bag, can be because the gesture is not good when getting into the hook and snatching the position, two sets of hooks open reasons such as asynchronous or atress are uneven, lead to can not be fine snatch the flexible packaging bag that is full of the form material that looses, cause to put untiely, influence working effect.
SUMMERY OF THE UTILITY MODEL
In view of the above prior art's shortcoming, the utility model aims to provide a mechanical gripper for solve among the prior art flexible packaging bag that the manipulator can not be fine snatch and be full of the bulk material, cause and put untidy, influence the problem of working effect.
In order to achieve the above objects and other related objects, the present invention provides a mechanical gripper, which comprises a support, a leveling assembly and a gripper assembly; the paving assembly and the clamping jaw assembly are respectively arranged on the bracket;
the clamping jaw assembly comprises a first driving piece and a clamping jaw; the first driving piece is used for driving the clamping jaws to open and close so as to clamp an article;
the paving assembly is arranged in the middle of the clamping jaw and comprises a second driving piece and a paving rod; after the clamping jaws clamp the object, the second driving piece is used for driving the paving rod to tightly abut against the upper surface of the object from top to bottom so as to pave the object.
Preferably, the clamping jaw comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are arranged oppositely; the first driving piece comprises a first air cylinder and a second air cylinder which are respectively arranged on the support, the first air cylinder is used for driving the first clamping jaw to be close to or far away from the second clamping jaw, and the second air cylinder is used for driving the second clamping jaw to be close to or far away from the first clamping jaw; when first jack catch with the second jack catch is close to each other, the article can be got to the clamping jaw, when first jack catch with the second jack catch is kept away from each other, the article can be loosened to the clamping jaw.
Preferably, the first jaw comprises a first connecting rod and a first jaw part, the first connecting rod is of an obtuse-angle-shaped bent rod structure, one end of the first connecting rod is connected with the first jaw part, and the other end of the first connecting rod is rotatably connected with the bracket through a first rotating shaft;
a first swing rod is fixedly arranged at the axial middle part of the first rotating shaft, the first swing rod is perpendicular to the first rotating shaft, and one end of the first swing rod, which is far away from the first rotating shaft, is rotatably connected with a piston rod of the first air cylinder;
when the first cylinder works, the first rotating shaft can be driven to rotate through the first swinging rod so as to drive the first clamping claw part to rotate around the first rotating shaft, and therefore the first clamping claw part is close to or far away from the second clamping claw.
Preferably, the second jaw comprises a second connecting rod and a second jaw part, the second connecting rod is of an obtuse-angle-shaped bent rod structure, one end of the second connecting rod is connected with the second jaw part, and the other end of the second connecting rod is rotatably connected with the bracket through a second rotating shaft;
a second swing rod is fixedly arranged at the axial middle part of the second rotating shaft, the second swing rod is perpendicular to the second rotating shaft, and one end of the second swing rod, which is far away from the second rotating shaft, is rotatably connected with a piston rod of the second air cylinder;
when the second cylinder works, the second rotating shaft can be driven to rotate through the second swinging rod so as to drive the second clamping claw part to rotate around the second rotating shaft, so that the second clamping claw part is close to or far away from the first clamping claw part.
Preferably, the first clamping jaw part is of a V-shaped structure.
Preferably, the second clamping jaw part is of a V-shaped structure.
Preferably, the bracket includes a fixed frame, a first mounting plate, a second mounting plate and a third mounting plate, the first mounting plate and the second mounting plate are disposed at both ends of the fixed frame, and the third mounting plate is disposed between the first mounting plate and the second mounting plate;
the first air cylinder is arranged on the first mounting plate, and the first rotating shaft is parallel to the first mounting plate and is rotatably arranged on the first mounting plate;
the second cylinder sets up on the second mounting panel, the second pivot is on a parallel with the second mounting panel rotates the setting on the second mounting panel.
Preferably, the paving assemblies are arranged in two groups, and the two paving assemblies are arranged in parallel.
Preferably, the second driving part is a push rod cylinder, the output end of the push rod cylinder is arranged vertically downwards, and the leveling rod is arranged at the output end of the push rod cylinder
As described above, the utility model discloses a gripper, compared with the prior art, can conveniently press from both sides and get article through setting up first driving piece drive clamping jaw to through set up the subassembly of paving in the middle of the clamping jaw, can press from both sides tight article back at the clamping jaw, from last down support the upper surface that is full of the flexible packaging bag of bulk material with paving through the second driving piece drive of paving in the subassembly the flexible packaging bag for gripper gets more firmly when snatching the flexible packaging bag that is full of bulk material, thereby can put the flexible packaging bag that is full of bulk material more neatly.
Drawings
Fig. 1 is a schematic view of a gripper according to the present invention.
Fig. 2 is a second schematic view of the gripper of the present invention.
Fig. 3 is a third schematic view of the gripper of the present invention.
Element number description:
1. a support; 11. a fixed frame; 12. a first mounting plate; 13. a second mounting plate; 14. a third mounting plate;
2. a paving assembly; 21. a second driving member; 22. paving a leveling rod;
3. a jaw assembly; 31. a first driving member; 311. a first cylinder; 312. a second cylinder; 32. a clamping jaw; 321. a first jaw; 3211. a first connecting rod; 3212. a first claw portion; 3213. a first rotating shaft; 3214. a first swing lever; 322. a second jaw; 3221. a second connecting rod; 3222. a second claw portion; 3223. a second rotating shaft; 3224. a second swing lever.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to fig. 1 to 3. It should be understood that the structure, ratio, size and the like shown in the drawings of the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention does not have the essential significance in the technology, and any modification of the structure, change of the ratio relationship or adjustment of the size should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that can be achieved. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1, the present invention provides a mechanical gripper, which includes a bracket 1, a leveling assembly 2 and a clamping jaw assembly 3; the paving assembly 2 and the clamping jaw assembly 3 are respectively arranged on the bracket 1;
the jaw assembly 3 comprises a first drive 31 and a jaw 32; the first driving piece 31 is used for driving the clamping jaws 32 to open and close so as to clamp an article;
the paving component 2 is arranged in the middle of the clamping jaw 32, and the paving component 2 comprises a second driving piece 21 and a paving rod 22; after the clamping jaws 32 clamp the object, the second driving member 21 is used for driving the leveling rod 22 to abut against the upper surface of the object from top to bottom so as to level the object.
The embodiment of the utility model provides a mechanical gripper compares with prior art, can conveniently press from both sides and get article through setting up first driving piece 31 drive clamping jaw 32 to through set up the subassembly 2 of paving in the middle of clamping jaw 32, can press from both sides tight article at clamping jaw 32 after, from last down support the upper surface that is full of the flexible packaging bag of bulk material with paving through second driving piece 21 drive paving rod 22 in the subassembly 2 of paving for flexible packaging bag, it gets more firm to make mechanical gripper press from both sides when snatching the flexible packaging bag that is full of bulk material, thereby can put the flexible packaging bag that is full of bulk material more neatly.
In one embodiment, as shown in fig. 1-3, the clamping jaw 32 includes a first clamping jaw 321 and a second clamping jaw 322, and the first clamping jaw 321 and the second clamping jaw 322 are oppositely arranged; the first driving piece 31 comprises a first air cylinder 311 and a second air cylinder 312 which are respectively arranged on the bracket 1, the first air cylinder 311 is used for driving the first clamping jaw 321 to be close to or far away from the second clamping jaw 322, and the second air cylinder 312 is used for driving the second clamping jaw 322 to be close to or far away from the first clamping jaw 321; when the first jaw 321 and the second jaw 322 approach each other, the jaw 32 can grip an article, and when the first jaw 321 and the second jaw 322 move away from each other, the jaw 32 can release the article. By adopting the first jaw 321 and the second jaw 322 which are oppositely arranged, the first jaw 321 and the second jaw 322 are driven to be matched with each other through the action of the first air cylinder 311 and the second air cylinder 312 so as to clamp or release the article, the structure is simple, and the article is convenient to clamp.
In an embodiment, as shown in fig. 2, the first jaw 321 includes a first connecting rod 3211 and a first jaw portion 3212, the first connecting rod 3211 is a bent rod structure with an obtuse angle shape, one end of the first connecting rod 3211 is connected to the first jaw portion 3212, and the other end of the first connecting rod 3211 is rotatably connected to the bracket 1 through a first rotating shaft 3213;
a first swing rod 3214 is fixedly arranged at the axial middle part of the first rotating shaft 3213, the first swing rod 3214 is perpendicular to the first rotating shaft 3213, and one end of the first swing rod 3214, which is far away from the first rotating shaft 3213, is rotatably connected to the piston rod of the first cylinder 311;
when the first cylinder 311 works, the first rotating shaft 3213 can be driven to rotate by the first oscillating rod 3214 to drive the first claw portion 3212 to rotate around the first rotating shaft 3213, so that the first claw portion 3212 is close to or away from the second claw 322. When the piston rod of the first cylinder 311 extends or retracts, the first swing rod 3214 can be pushed to swing, so that the first rotating shaft 3213 rotates, and since the first connecting rod 3211 is a bent rod structure with an obtuse angle and has one end connected to the first rotating shaft 3213, the first jaw portion 3212 can approach or separate from the second jaw 322.
In an embodiment, as shown in fig. 3, the second jaw 322 includes a second connecting rod 3221 and a second jaw portion 3222, the second connecting rod 3221 is a bent rod structure with an obtuse angle shape, one end of the second connecting rod 3221 is connected to the second jaw portion 3222, and the other end of the second connecting rod 3221 is rotatably connected to the support 1 through a second rotating shaft 3223;
a second swing rod 3224 is fixedly disposed at an axial middle portion of the second rotating shaft 3223, the second swing rod 3224 is perpendicular to the second rotating shaft 3223, and one end of the second swing rod 3224, which is far away from the second rotating shaft 3223, is rotatably connected to the piston rod of the second cylinder 312;
when the second cylinder 312 works, the second rotating shaft 3223 can be driven to rotate by the second swinging rod 3224 to drive the second claw portion 3222 to rotate around the second rotating shaft 3223, so that the second claw portion 3222 is close to or away from the first claw portion 3212. When the piston rod of the second cylinder 312 extends or retracts, the second swing rod 3224 can be pushed to swing, so that the second rotating shaft 3223 rotates, and the second connecting rod 3221 is in a bent rod structure with an obtuse angle and one end of the second connecting rod is connected with the second rotating shaft 3223, so that the second claw portion 3222 can approach or separate from the first claw portion 3212.
In one embodiment, as shown in FIG. 1, the first jaw portion 3212 has a V-shaped configuration. The structure can ensure that the clamping effect is better, the clamping is firmer, and the object is not easy to fall out from the position between the first clamping claw part 3212 and the second clamping claw part 3222.
In one embodiment, as shown in FIG. 1, the second jaw portion 3222 has a V-shaped configuration. The structure can ensure that the clamping effect is better, the clamping is firmer, and the object is not easy to fall out from the position between the first clamping claw part 3212 and the second clamping claw part 3222.
In one embodiment, as shown in fig. 2 and 3, the bracket 1 includes a fixed frame 11, a first mounting plate 12, a second mounting plate 13, and a third mounting plate 14, the first mounting plate 12 and the second mounting plate 13 are disposed at both ends of the fixed frame 11, and the third mounting plate 14 is disposed between the first mounting plate 12 and the second mounting plate 13;
the first cylinder 311 is arranged on the first mounting plate 12, and the first rotating shaft 3213 is parallel to the first mounting plate 12 and is rotatably arranged on the first mounting plate 12; this arrangement is advantageous in that the first oscillating lever 3214 drives the first rotating shaft 3213 to rotate;
the second cylinder 312 is arranged on the second mounting plate 13, and the second rotating shaft 3223 is parallel to the second mounting plate 13 and is rotatably arranged on the second mounting plate 13; this arrangement facilitates rotation of second rod 3224 about second axis 3223.
In one embodiment, as shown in fig. 1, the paving assemblies 2 are arranged in two groups, and the two paving assemblies 2 are arranged in parallel. By arranging the flattening assemblies 2 into two groups, the flattening effect of the soft packaging bag filled with the bulk materials can be improved.
In one embodiment, as shown in fig. 1, the second driving member 21 is a push rod cylinder, an output end of the push rod cylinder is disposed vertically downward, and the leveling rod 22 is disposed on the output end of the push rod cylinder. By adopting the push rod cylinder, the response is fast and the cost is low.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. A mechanical gripper is characterized in that: comprises a bracket, a paving component and a clamping jaw component; the paving assembly and the clamping jaw assembly are respectively arranged on the bracket;
the clamping jaw assembly comprises a first driving piece and a clamping jaw; the first driving piece is used for driving the clamping jaws to open and close so as to clamp an article;
the paving assembly is arranged in the middle of the clamping jaw and comprises a second driving piece and a paving rod; after the clamping jaws clamp the object, the second driving piece is used for driving the paving rod to tightly abut against the upper surface of the object from top to bottom so as to pave the object.
2. The gripper of claim 1, wherein: the clamping jaw comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are arranged oppositely; the first driving piece comprises a first air cylinder and a second air cylinder which are respectively arranged on the support, the first air cylinder is used for driving the first clamping jaw to be close to or far away from the second clamping jaw, and the second air cylinder is used for driving the second clamping jaw to be close to or far away from the first clamping jaw; when first jack catch with the second jack catch is close to each other, the article can be got to the clamping jaw, when first jack catch with the second jack catch is kept away from each other, the article can be loosened to the clamping jaw.
3. The gripper of claim 2, wherein: the first clamping jaw comprises a first connecting rod and a first clamping jaw part, the first connecting rod is of a bent rod structure in an obtuse angle shape, one end of the first connecting rod is connected with the first clamping jaw part, and the other end of the first connecting rod is rotatably connected with the support through a first rotating shaft;
a first swing rod is fixedly arranged at the axial middle part of the first rotating shaft, the first swing rod is perpendicular to the first rotating shaft, and one end of the first swing rod, which is far away from the first rotating shaft, is rotatably connected with a piston rod of the first air cylinder;
when the first cylinder works, the first rotating shaft can be driven to rotate through the first swinging rod so as to drive the first clamping claw part to rotate around the first rotating shaft, and therefore the first clamping claw part is close to or far away from the second clamping claw.
4. The gripper of claim 3, wherein: the second clamping jaw comprises a second connecting rod and a second clamping jaw part, the second connecting rod is of an obtuse-angle-shaped bent rod structure, one end of the second connecting rod is connected with the second clamping jaw part, and the other end of the second connecting rod is rotatably connected with the support through a second rotating shaft;
a second swing rod is fixedly arranged at the axial middle part of the second rotating shaft, the second swing rod is perpendicular to the second rotating shaft, and one end of the second swing rod, which is far away from the second rotating shaft, is rotatably connected with a piston rod of the second air cylinder;
when the second cylinder works, the second rotating shaft can be driven to rotate through the second swinging rod so as to drive the second clamping claw part to rotate around the second rotating shaft, so that the second clamping claw part is close to or far away from the first clamping claw part.
5. The gripper of claim 3, wherein: the first clamping claw part is of a V-shaped structure.
6. The gripper of claim 4, wherein: the second clamping claw part is of a V-shaped structure.
7. The gripper of claim 4, wherein: the support comprises a fixed frame, a first mounting plate, a second mounting plate and a third mounting plate, wherein the first mounting plate and the second mounting plate are arranged at two ends of the fixed frame, and the third mounting plate is arranged between the first mounting plate and the second mounting plate;
the first air cylinder is arranged on the first mounting plate, and the first rotating shaft is parallel to the first mounting plate and is rotatably arranged on the first mounting plate;
the second cylinder sets up on the second mounting panel, the second pivot is on a parallel with the second mounting panel rotates the setting on the second mounting panel.
8. The gripper of claim 1, wherein: the paving assemblies are arranged into two groups, and the two paving assemblies are arranged in parallel.
9. The gripper of claim 1, wherein: the second driving piece is a push rod cylinder, the output end of the push rod cylinder is arranged vertically downwards, and the leveling rod is arranged at the output end of the push rod cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547898.1U CN212763508U (en) | 2020-07-30 | 2020-07-30 | Mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021547898.1U CN212763508U (en) | 2020-07-30 | 2020-07-30 | Mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212763508U true CN212763508U (en) | 2021-03-23 |
Family
ID=75049015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021547898.1U Expired - Fee Related CN212763508U (en) | 2020-07-30 | 2020-07-30 | Mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212763508U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561237A (en) * | 2021-07-30 | 2021-10-29 | 金冠(龙海)塑料包装有限公司 | Automatic processing equipment and processing technology for biodegradable beverage bag |
-
2020
- 2020-07-30 CN CN202021547898.1U patent/CN212763508U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561237A (en) * | 2021-07-30 | 2021-10-29 | 金冠(龙海)塑料包装有限公司 | Automatic processing equipment and processing technology for biodegradable beverage bag |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210323 Termination date: 20210730 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |