CN215093693U - Mechanical gripper device for tubular object - Google Patents

Abstract

A mechanical gripper device for tubular objects comprises a base, wherein the base is divided into a bottom plate and four groups of connecting rods, the four groups of connecting rods are arranged at four corners of the bottom plate, the axes of the connecting rods are perpendicular to the bottom plate, and the axes of the connecting rods are parallel to each other; the tail end of the connecting rod is provided with a hinge hole, and the bottom plate is provided with a plurality of mounting holes; the mounting holes penetrate through two guide posts, the lower ends of the two guide posts penetrate through the mounting holes in the bottom plate to be connected with the flat plate through bolts, and the two guide posts are symmetrically distributed on the flat plate; the bottom plate is provided with an air cylinder, a flat plate is arranged in a space formed by the four groups of connecting rods below the bottom plate, the upper part of the flat plate is connected with the air cylinder rod, hinge holes are formed in the four corners of the lower part of the flat plate and used for hinging the flat plate with the upper ends of the four connecting rods, the flat plate and the mechanical claws form a slider-crank mechanism, the lower part of each connecting rod is hinged with the upper end of the mechanical claw, and the middle part of each connecting rod is hinged with the tail end of the corresponding connecting rod. The utility model discloses simple structure, the commonality is strong, and the flexibility is high, the centre gripping is stable, add and hold scope and angle big.

Description

Mechanical gripper device for tubular object

Technical Field

The utility model relates to a machinery tongs technical field, concretely relates to mechanical tongs device of tubulose object.

Background

With the continuous improvement of productivity and industrial automation degree in China, more and more mechanical work is replaced by intelligent equipment, and people only play auxiliary work such as supervision, maintenance and the like in the production and manufacturing process. In mechanical automation production, a mechanical gripper is usually installed at the front end of a robot arm to automatically clamp materials, and the mechanical gripper for different working requirements needs to be designed according to different shapes and types of the clamped materials. The mechanical gripper mainly adopts four driving modes of hydraulic driving, pneumatic driving, electric appliance driving and mechanical driving to grip different objects.

Although mechanical grippers have been developed more mature, gripping of tubular objects is difficult in object gripping types, the mechanical grippers need to ensure sufficient balance, stability and reliability when gripping tubular objects, otherwise, accidents such as instability, inclination or falling of the gripped objects often occur, and in the existing tubular object gripper design, the problems of unstable clamping, poor compatibility, complex structure and the like of a clamp are not solved effectively; in addition, in the working sites of a plurality of oil fields, the oil casings are still carried by manpower, and manpower is greatly wasted. Therefore, it is highly desirable to design a mechanical gripper for tubular objects.

Disclosure of Invention

In order to overcome the not enough of above-mentioned prior art existence, the utility model aims to provide a mechanical tongs device of tubulose object adopts bilateral symmetry's gripper, can effectively solve the unstable, compatible poor, the complicated scheduling problem of structure of traditional anchor clamps centre gripping, has avoided rocking that the tongs produced when snatching the object. The utility model discloses simple structure, the commonality is strong, and the flexibility is high, the centre gripping is stable, add and hold scope and angle big.

In order to realize the purpose, the utility model discloses a technical scheme is:

a mechanical gripper device for tubular objects comprises a base 5, wherein the base 5 is divided into a bottom plate 5-1 and four groups of connecting rods 5-2, the four groups of connecting rods 5-2 are arranged at four corners of the bottom plate 5-1, the axes of the connecting rods 5-2 are perpendicular to the bottom plate 5-1, and the axes of the connecting rods 5-2 are parallel to each other; the tail end of the connecting rod 5-2 is provided with a hinge hole, and the bottom plate 5-1 is provided with a plurality of mounting holes; the two guide posts 3 penetrate through the mounting holes, the lower ends of the two guide posts 3 penetrate through the mounting holes in the bottom plate 5-1 to be connected with the flat plate 6 through bolts, and the two guide posts are symmetrically distributed on the flat plate 6; the air cylinder 4 is arranged on the bottom plate 5-1, a flat plate 6 is arranged in a space formed by the lower portion of the bottom plate 5-1 and the four groups of connecting rods 5-2, the upper portion of the flat plate 6 is connected with an air cylinder rod 8, hinge holes are formed in four corners of the lower portion of the flat plate 6 and used for enabling the flat plate 6 to be hinged with the upper ends of the four connecting rods 7, the flat plate 6 and the mechanical claw 1 form a crank sliding block mechanism, the lower portion of the connecting rod 7 is hinged with the upper end of the mechanical claw 1, and the middle portion of the connecting rod 7 is hinged with the tail end of the connecting rod 5-2.

The base 5 is an integral part.

Each set of connecting rods 5-2 comprises two rod bodies.

The mechanical claw 1 is provided with four mechanical claws, the lower end of each mechanical claw is in a 120-degree arc shape, the mechanical claws are in a structure which is symmetrically arranged in pairs, and the mechanical claws are made of wear-resistant materials.

The guide pillar 3 outside is provided with guide pin bushing 2, and guide pin bushing 2 is inside to be equipped with spherical ball.

The cylinder 4 is fixedly connected with the base 5 through an M14 bolt.

The utility model has the advantages that:

(1) the spherical balls are arranged inside the guide sleeve 2, and the design of the spherical balls can effectively reduce the friction of the guide pillar 3 and ensure the stability of the mechanical gripper when gripping an object;

(2) the gripper 1 can move freely within the range of 0-120 degrees, so the gripping area of the utility model is larger. Gripper 1 evenly distributed is at four angles of base, and has the wheel base between four claws, and this kind of setting can smoothly grab the pipe of level placement. The middle part of the mechanical claw 1 is hinged with the tail end of a connecting rod 5-2 of the base 5, the upper part of the mechanical claw is hinged with the lower end of a connecting rod 7, and all parts can flexibly rotate at the hinge position in a hinged connection mode.

(3) The utility model provides a mechanical tongs device of tubulose object mainly comprises four "slider-crank mechanism", drives "slider" dull and stereotyped 6 through cylinder rod 8 and is up-and-down motion, and then controls the state that opens and shuts of "crank" mechanical tongs 1, thereby realizes the utility model discloses the device snatchs and releases to the tubulose object.

(4) The base 5 is provided with a mounting hole, and the base 5 can be mounted on a mechanical arm or other equipment during work. The cylinder 4 is fixedly connected to the base 5 through M14 bolts. The cylinder rod 8 and the flat plate 6 can be manufactured integrally or separately, and the cylinder rod 8 and the flat plate 6 need to be connected through bolts during separate manufacturing. The utility model discloses in with cylinder rod 8 and dull and stereotyped 6 separately design.

Drawings

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

Fig. 2 is a front view of the present invention.

Fig. 3 is a side view of the present invention.

Fig. 4 is a top view of the present invention.

Fig. 5 is a schematic view of the middle gripper of the present invention.

Fig. 6 is a schematic view of a base of the utility model.

Fig. 7 is a schematic view of the utility model mid-plane plate.

Description of reference numerals:

1: a gripper; 2: a guide sleeve; 3: a guide post; 4: a cylinder; 5: a base; 6: a flat plate; 7: a connecting rod; 8: a cylinder rod; 5-1: a base plate; 5-2: a connecting rod.

Detailed Description

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

Referring to fig. 1 to 7, a mechanical gripper for tubular objects includes four mechanical claws 1, a guide sleeve 2, a guide post 3, a cylinder 4, a base 5, a plate 6, four connecting rods 7, and a cylinder rod 8. The four mechanical claws 1, the four connecting rods 7 and the flat plate 6 form four main crank-slider mechanisms. When in use, the device needs to be fixed on a mechanical arm, and can be accurately positioned above an object to be grabbed through the free movement of the mechanical arm; control cylinder rod 8 and do up-and-down motion after that, drive dull and stereotyped 6 and connecting rod 7 motion, can make gripper 1 do the motion that opens and shuts of different degrees at last to realize the utility model discloses the device snatchs and releases tubular object. Cylinder pole 8 and dull and stereotyped 6 adopt bolted connection, and dull and stereotyped 6 up-and-down motion is equivalent to "slider", and four gripper 1 are equivalent to "crank", and cylinder pole 8 carries out a reciprocating motion alright realize gripper 1's an opening and shutting motion, the utility model discloses the device can snatch the oil pipe type tubular object that the external diameter is 60mm ~ 100 mm. Four bolt holes are reserved on the base 5, and the base 5 is used for fixing the whole device on the mechanical arm.

Referring to fig. 1 to 6, the four gripper 1 adopt a structure in which two gripper arms are symmetrically arranged, are made of wear-resistant materials, and are in the shape of a 120-degree arc. Have certain wheel base between two liang of gripper 1, have 120 mm's wheel base between claw a and the claw b, claw c and the claw d respectively, have 130 mm's wheel base between claw b and claw c, claw a and the claw d respectively, and this kind of setting can be steadily grabbed the pipe of level placement. The tension in gripping is determined by the strength of the cylinder 4 and the gripper 1.

Referring to fig. 1 to 4, the guide sleeve 2 contains a spherical ball therein. When the guide post 3 moves up and down, the abrasion of the guide post can be reduced, and the transmission stability can be ensured. The connecting rod 7 simultaneously connects the flat plate 6 with the four mechanical claws 1, so that the transmission synchronism is ensured. The cylinder 4 is fixed on the base 5 through M14 bolts. The lower ends of the guide posts 3 are connected with the flat plate 6 by two bolts, and the size of the two guide posts 3 is 20 mm.

Referring to fig. 1 to 5, the base 5 is a main bearing member, the connecting rod 5-2 at the lower part of the base 5 and the pin used at the hinge joint of the gripper 1 and the base 5 all have great strength, and the size of the base 5 is 250mmx300mm, so that the base can be scaled in different proportions according to actual use scenarios during production and application.

Referring to fig. 7, the plate 6 is designed in a cross shape to prevent the motion interference between the connecting rod 5-2 and the plate 6. The plate 6 is designed separately from the cylinder rod 8 and is bolted. In the use process of the device, lubricant is needed to be added to the hinged parts of the guide column 3, the guide sleeve 4 and each part.

Claims (6)

1. The mechanical gripper device for the tubular object is characterized by comprising a base (5), wherein the base (5) is divided into a bottom plate (5-1) and four groups of connecting rods (5-2), the four groups of connecting rods (5-2) are arranged at four corners of the bottom plate (5-1), the axes of the connecting rods (5-2) are perpendicular to the bottom plate (5-1), and the axes of the connecting rods (5-2) are parallel to each other; the tail end of the connecting rod (5-2) is provided with a hinge hole, and the bottom plate (5-1) is provided with a plurality of mounting holes; the two guide posts (3) penetrate through the mounting holes, the lower ends of the two guide posts (3) penetrate through the mounting holes in the bottom plate (5-1) to be connected with the flat plate (6) through bolts and are symmetrically distributed on the flat plate (6); the air cylinder (4) is arranged on the bottom plate (5-1), a flat plate (6) is arranged in a space formed by the lower portion of the bottom plate (5-1) and four groups of connecting rods (5-2), the upper portion of the flat plate (6) is connected with an air cylinder rod (8), hinge holes formed in four corners of the lower portion of the flat plate (6) are used for enabling the flat plate (6) to be hinged to the upper ends of four connecting rods (7), the flat plate (6) and the mechanical claw (1) form a crank slider mechanism, the lower portion of each connecting rod (7) is hinged to the upper end of the mechanical claw (1), and the middle portion of each connecting rod (7) is hinged to the tail end of the corresponding connecting rod (5-2).

2. Mechanical gripper device for tubular objects, according to claim 1, characterized in that said base (5) is an integral piece.

3. Mechanical gripper device for tubular objects, according to claim 1, characterized in that each set of connecting rods (5-2) comprises two rods.

4. The mechanical gripper device for tubular objects according to claim 1, characterized in that said gripper (1) has four, a lower end of 120 ° arc, a structure of symmetrical arrangement in pairs, and is made of wear-resistant material.

5. Mechanical gripper device for tubular objects according to claim 1, characterized in that the guide post (3) is provided with a guide sleeve (2) on the outside and the guide sleeve (2) is provided with a spherical ball inside.

6. Mechanical gripper device for tubular objects, according to claim 1, characterized in that said cylinder (4) is fixedly connected to said base (5) by means of M14 bolts.

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