CN216464673U

CN216464673U - Mechanical claw

Info

Publication number: CN216464673U
Application number: CN202123193966.6U
Authority: CN
Inventors: 牛文明; 牛子涵; 陈济贵
Original assignee: Taizhou Zhenke Intelligent Equipment Co ltd
Current assignee: Taizhou Zhenke Intelligent Equipment Co ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-05-10
Anticipated expiration: 2031-12-16

Abstract

The utility model discloses a mechanical claw, which comprises a fixed part and a slide rail, wherein the slide rail is fixedly arranged at the lower side of the fixed part, and the slide rail comprises two slide blocks which can freely slide on the slide rail and are respectively a first slide block and a second slide block, the first slide block is arranged at the left side of the slide rail, and the second slide block is arranged at the right side of the slide rail; snatch actuating mechanism, snatch actuating mechanism includes body and drive end, and the body is fixed on first slider, and the drive end is fixed on another second slider, and claw, first slider and second slider are last to be provided with the claw that sets up each other mutually relatively.

Description

Mechanical claw

Technical Field

The utility model belongs to the technical field of the gripper, refer in particular to a gripper.

Background

A gripper is an automated device that mimics some of the motion of a human hand and arm to grasp, carry objects or manipulate tools in a fixed sequence. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

When the lower jaw position of the mechanical jaw is fixed under the condition of program programming control, once a workpiece deviates (particularly the workpiece with a fixed gripping point), the situation that the workpiece cannot be gripped easily occurs.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model aims to provide a simple structure just is convenient for the gripper who snatchs.

In order to achieve the above purpose, the utility model provides a following technical scheme: the mechanical claw comprises a fixing part and further comprises

A slide rail which is fixedly arranged at the lower side of the fixed part,

the two sliding blocks can freely slide on the sliding rail and are respectively a first sliding block and a second sliding block, the first sliding block is arranged on the left side of the sliding rail, and the second sliding block is arranged on the right side of the sliding rail;

the grabbing driving mechanism comprises a body and a driving end, the body is fixed on the first sliding block, the driving end is fixed on the other second sliding block,

and claw parts which are arranged oppositely are arranged on the first sliding block and the second sliding block. When the grabbing driving structure is in an opening state (namely the claw parts are in the opening state), the diameter of the two claw parts is spaced from each other by a distance larger than the width of a part to be grabbed of the workpiece, so that a space is provided for workpiece deviation. The mechanical claw can be driven by a vertical servo sliding table to move up and down.

By adopting the technical scheme, the claw parts of the mechanical claw are in an open state when the workpiece is not grabbed, the two claw parts of the mechanical claw are respectively positioned at two sides of the part to be grabbed of the workpiece after the lower claw of the mechanical claw, the two claw parts are folded by grabbing and driving the driving mechanism, the body of the grabbing driving mechanism is fixed on the first sliding block, and the driving end is fixed on the other second sliding block, so that the closed position of the claw parts can move along with the actual position of the workpiece, and the workpiece can be accurately grabbed under the condition that the position of the workpiece deviates.

The utility model discloses further set up to: also comprises

And one end of the resetting piece is fixed on the second sliding block, and the other end of the resetting piece is fixed on the position close to the right side of the fixing part. The restoring member may be a member having a shape that is capable of being automatically restored after being stretched or splayed.

Through adopting foretell technical scheme, the condition that appears being stretched or opening by the removal of the piece that resets at the second slider, moves up by servo slip table etc. when the gripper for work piece on the claw is in unsettled state, and the piece that resets makes the second slider guarantee to snatch work piece department in same level and vertical direction after the claw rises through restoring to the throne, thereby can be convenient for to the processing of placing or later stage of work piece.

The utility model discloses further set up to: also comprises

The two first limiting blocks are respectively fixed at the two sides of the fixing part,

a second limiting block which is arranged on the fixing part and is positioned at the inner side of the first limiting block at one side close to the second sliding block,

and the third limiting blocks are arranged on the outer sides of the first sliding block and the second sliding block respectively, the third limiting block positioned on the first sliding block is positioned on the inner side of the first limiting block, and the third limiting block positioned on the second sliding block is positioned between the first limiting block and the second limiting block.

By adopting the technical scheme, the first limiting block is used for preventing the two sliding blocks from sliding out of the sliding rail; the third limiting block is arranged to limit the second sliding block, so that the second sliding block is enabled to be reset to the same position all the time under the action of the reset piece after the mechanical claw is lifted.

The utility model discloses further set up to: also comprises

And each first limiting block is in threaded connection with a limiting bolt with a rod part facing the middle part of the fixing part.

By adopting the technical scheme, the limiting bolt can be used for adjusting the positions of the two sliding blocks under the opening state of the mechanical claw.

The utility model discloses further set up to: the grabbing driving mechanism can be a cylinder, a hydraulic cylinder, a linear motor, an electromagnetic chuck and the like.

The utility model discloses further set up to: the reset piece can be a spring, a rubber band, an elastic rope, a linear motor, a cylinder, a hydraulic cylinder, an electromagnetic chuck and the like.

The utility model discloses further set up to: the claw part can be detachably fixed on the first sliding block or the second sliding block.

By adopting the technical scheme, the claw parts can be replaced conveniently, and the claw parts with different grabbing widths can be configured, so that the workpieces with different sizes can be used.

Drawings

Fig. 1 is a schematic structural view of a first viewing angle of the present invention;

fig. 2 is a schematic structural diagram of a second viewing angle of the present invention;

reference numbers in the drawings and corresponding part names: 1-a fixed part, 2-a slide rail, 3-a first slide block, 4-a second slide block, 5-a claw part, 6-a reset piece, 7-a first limiting block, 8-a second limiting block, 9-a third limiting block, 10-a limiting bolt and 11-a grabbing driving mechanism.

Detailed Description

Embodiments of the present invention are further described with reference to fig. 1 to 2.

Example one

The mechanical claw comprises a fixing part 1 and further comprises

A slide rail 2, the slide rail 2 is fixedly arranged at the lower side of the fixed part 1,

the two sliding blocks can freely slide on the sliding rail 2 and are respectively a first sliding block 3 and a second sliding block 4, the first sliding block 3 is arranged on the left side of the sliding rail 2, and the second sliding block 4 is arranged on the right side of the sliding rail 2;

a grabbing driving mechanism 11, the grabbing driving mechanism 11 comprises a body and a driving end, the body is fixed on the first sliding block 3, the driving end is fixed on the other second sliding block 4,

the claw portions 5 are provided on the first slider 3 and the second slider 4 so as to face each other. When the gripping driving structure is in the open state (i.e. the claw parts 5 are in the open state), the distance between the diameters of the two claw parts 5 is larger than the width of the part of the workpiece to be gripped, thereby providing a space for the workpiece to shift. The mechanical claw can be driven by a vertical servo sliding table to move up and down.

The claw parts 5 are in an open state when the workpiece is not grabbed through the mechanical claw, the two claw parts 5 of the mechanical claw are respectively positioned at two sides of the part to be grabbed of the workpiece after the lower claw of the mechanical claw is grabbed, the grabbing and driving mechanism is used for enabling the two claw parts 5 to be folded, the body of the grabbing and driving mechanism 11 is fixed on the first sliding block 3, and the driving end is fixed on the second sliding block 4, so that the closed position of the claw parts 5 can move along with the actual position of the workpiece, and the workpiece can be accurately grabbed under the condition that the position of the workpiece deviates.

Example two

Further on the basis of the first embodiment: also comprises

And one end of the resetting piece 6 is fixed on the second sliding block 4, and the other end of the resetting piece 6 is fixed on the right side of the fixing part 1. The restoring member 6 may be a member having a self-restoring property after being stretched or splayed.

The situation that the second sliding block 4 is stretched or opened is achieved through the reset piece 6, when the mechanical claw is driven by a servo sliding table and the like to move upwards, the workpiece on the claw part 5 is in a suspended state, the reset piece 6 enables the second sliding block 4 to be guaranteed to be located on the same vertical and horizontal direction after the claw part 5 is lifted through restoration, and therefore the workpiece can be placed or processed in the later period conveniently.

EXAMPLE III

On the basis of the second embodiment: also comprises

The first limiting blocks 7, the two first limiting blocks 7 are respectively fixed at two sides of the fixing part 1,

a second limiting block 8, the second limiting block 8 is arranged on the fixing part 1 and is positioned at the inner side of the first limiting block close to one side of the second sliding block 4,

and the third limiting blocks 9 are arranged on the outer sides of the first sliding block 3 and the second sliding block 4 respectively, the third limiting block 9 positioned on the first sliding block 3 is positioned on the inner side of the first limiting block 7, and the third limiting block 9 positioned on the second sliding block 4 is positioned between the first limiting block 7 and the second limiting block 8.

The first limiting block 7 is used for preventing the two sliding blocks from sliding out of the sliding rail 2 and limiting the distance which can be opened between the two claw parts when the mechanical claw is opened; the third limiting block 9 can limit the second sliding block 4, so that the second sliding block 4 is enabled to be reset to the same position all the time under the action of the reset piece 6 after the mechanical claw is lifted.

Example four

Further on the basis of the third embodiment: also comprises

And each first limiting block 7 is in threaded connection with a limiting bolt 10 with a rod part facing to the middle part of the fixing part 1.

The position of the two sliding blocks can be adjusted by the limiting bolt 10 under the opening state of the mechanical claw.

EXAMPLE five

Further on the basis of example four: the grabbing driving mechanism 11 can be a cylinder, a hydraulic cylinder, a linear motor, an electromagnetic chuck and the like.

The reset piece 6 can be a spring, a rubber band, an elastic rope, a linear motor, an air cylinder, a hydraulic cylinder, an electromagnetic chuck and the like.

EXAMPLE six

Further on the basis of example five: the claw part 5 can be detachably fixed on the first slide block 3 or the second slide block 4.

By adopting the technical scheme, the claw parts 5 can be replaced conveniently, and the claw parts 5 with different grabbing widths can be configured, so that the workpieces with different sizes can be used.

The above-mentioned embodiment is only the preferred embodiment of the present invention, and does not limit the protection scope of the present invention according to this, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. A gripper, comprising a fixed part (1), characterized in that: also comprises

A slide rail (2), the slide rail (2) is fixedly arranged at the lower side of the fixing part (1),

the two sliding blocks can freely slide on the sliding rail (2) and are respectively a first sliding block (3) and a second sliding block (4),

the grabbing driving mechanism (11), the grabbing driving mechanism (11) comprises a body and a driving end, the body is fixed on the first sliding block (3), the driving end is fixed on the other second sliding block (4),

and claw parts (5) which are arranged oppositely are arranged on the first sliding block (3) and the second sliding block (4).

2. A gripper according to claim 1, wherein: and also comprises

Reset piece (6), the one end of piece (6) that resets fix on second slider (4), the other end of piece (6) that resets is fixed on fixed part (1).

3. A gripper according to claim 2, wherein: and also comprises

The first limiting blocks (7), the two first limiting blocks (7) are respectively fixed at two sides of the fixing part (1),

a second limiting block (8), the second limiting block (8) is arranged on the fixing part (1) and is positioned at the inner side of the first limiting block at one side close to the second sliding block (4),

and the third limiting blocks (9) are arranged on the outer sides of the first sliding block (3) and the second sliding block (4) respectively, the third limiting block (9) positioned on the first sliding block (3) is positioned on the inner side of the first limiting block (7), and the third limiting block (9) positioned on the second sliding block (4) is positioned between the first limiting block (7) and the second limiting block (8).

4. A gripper according to claim 3, wherein: and also comprises

The first limiting blocks (7) are in threaded connection with the limiting bolts (10) with rod parts facing the middle of the fixing part (1).

5. A gripper according to claim 4, wherein: the claw part (5) can be detachably fixed on the first sliding block (3) or the second sliding block (4).