CN216967786U - Telescopic grabbing claw - Google Patents

Abstract

The utility model provides a flexible claw of snatching, is including snatching the mechanism, snatch the mechanism and include flexible actuating cylinder, fixed bolster, connecting rod, tongs and flexure strip, in set up on the cylinder of flexible actuating cylinder the fixed bolster, the activity sets up a plurality of on the fixed bolster the connecting rod, with the connecting rod corresponds the setting the tongs, just the tongs respectively with the connecting rod piston rod swing joint, in set up on the tongs the flexure strip leads to the flexure strip, avoids carrying out the damage that hard snatchs and lead to outward appearance quality even because of the tongs to the article by the centre gripping, keep away from in the flexible actuating cylinder the one end of piston rod is fixed in on the mounting plate. The grabbing claw is simple in structure, convenient to grab and not prone to causing the appearance defects of clamped objects, and grabbing at different heights can be performed.

Description

Telescopic grabbing claw

Technical Field

The utility model relates to the field of mechanical arms, in particular to a telescopic grabbing claw.

Background

A robot is an automatic operating device that can simulate some motion functions of a human hand and arm, and is used for grabbing, carrying objects or operating tools according to a fixed program. Widely used in the production packing of food, but current gripper applies to the food field and can have some problems, for example, when the gripper is carrying out the centre gripping to food, the closed angle of gripper is too big, can't stabilize centre gripping food, and the closed angle undersize of gripper leads to food to be extruded when snatching and warp even presss from both sides the bits of broken glass. In addition, in production and the packing to food, often need carry out height control, and the height stroke that needs the adjustment is longer, and it is comparatively complicated to possess the manipulator that snatchs and height control simultaneously often the structure, and use cost is higher.

Consequently, to above defect, need set up a simple structure, be convenient for snatch and be difficult for snatch the claw that snatchs that leads to food appearance defects, solved prior art's not enough.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a telescopic grabbing claw which is simple in structure, convenient to grab and not easy to cause appearance defects of clamped objects, and can grab objects at different heights.

In order to realize the purpose, the utility model adopts the following technical scheme:

a telescopic grabbing claw comprises a grabbing mechanism, wherein the grabbing mechanism comprises a telescopic driving cylinder, a fixed support, a plurality of connecting rods, a grabbing hand and an elastic sheet, the fixed support is arranged on a cylinder barrel of the telescopic driving cylinder, the connecting rods are movably arranged on the fixed support, the grabbing hand is arranged corresponding to the connecting rods and is respectively and movably connected with the connecting rods and the piston rod, the elastic sheet is arranged on the grabbing hand, the damage of the appearance and even the quality caused by the rigid grabbing of the grabbed object by the grabbing hand is avoided through an elastic piece, and one end, far away from the piston rod, of the telescopic driving cylinder is fixed on a mounting bottom plate;

correspondingly, the telescopic driving cylinder comprises a cylinder;

correspondingly, the fixed support comprises a fixed sheet fixed on the cylinder barrel in a surrounding manner and a plurality of groups of supports uniformly arranged on the fixed sheet at intervals, and each group of supports is rotatably connected with one end of the connecting rod through a pin shaft arranged on the support;

correspondingly, the hand grip is rotatably connected with the piston rod through a connecting disc, the connecting disc comprises a sleeve joint part with a circular structure and a plurality of connecting parts which are uniformly arranged on the circumferential side of the sleeve joint part at intervals, the sleeve joint part is fixed at the tail end of the piston rod in a surrounding manner, and the connecting parts are respectively rotatably connected with the hand grip through pin shafts;

correspondingly, the hand grip comprises a connecting section and a clamping section which are arranged in an L shape, a first connecting hole and a second connecting hole are arranged on the connecting section at intervals, the first connecting hole is rotatably connected with the connecting disc, the second connecting hole is rotatably connected with the connecting rod, and the elastic piece is arranged on the clamping section;

correspondingly, the elastic piece comprises a straight section and an outward-protruding section, the straight section is fixedly arranged on the hand grip, the outward-protruding section protrudes towards one side back to the hand grip compared with the straight section, and the outward-protruding section is arranged in a mode that the angle required by the hand grip to be expanded can be reduced, and the diameter range of an object which can be clamped is enlarged;

correspondingly, a reinforcing gasket is arranged on one side of the straight section, which is opposite to the hand grip, and the strength of the straight section is improved through the reinforcing gasket;

correspondingly, the elastic sheet comprises a spring sheet;

correspondingly, the telescopic driving cylinder also comprises a lifting mechanism, wherein the lifting mechanism comprises at least two groups of lifting units which are arranged in a centrosymmetric manner, and the symmetric centers of the two groups of lifting units are positioned on the axial central line of the telescopic driving cylinder;

correspondingly, the lifting unit comprises a speed reducing motor, a main arm and an auxiliary arm, the main arm is fixedly arranged on an output shaft of the speed reducing motor, the other end of the main arm is rotatably connected with one end of the auxiliary arm, and the other end of the auxiliary arm is rotatably connected to the mounting bottom plate.

The utility model has the beneficial effects that:

1) the telescopic driving cylinder is matched with the support and the connecting rod, so that the hand grip is opened and contracted, the loosening and clamping effects of the hand grip are realized, the structure is simple, and the control is stable;

2) the elastic piece is arranged on the hand grip, so that the damage to the clamped object during clamping is avoided by means of the elasticity of the elastic piece, and the appearance quality of the object is improved;

3) the grabbing height of the grabbing claw is adjusted through the lifting mechanism, and the length of the main arm can be changed according to the adjusted maximum height, so that the height adjustment is more flexible.

Drawings

FIG. 1 is a schematic structural view of a retractable claw grip according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a grasping mechanism according to an embodiment of the utility model;

FIG. 3 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;

in the figure:

100. a grabbing mechanism; 110. a cylinder; 111. a piston rod; 121. a fixing sheet; 122. a support; 130. a connecting rod; 141. a connecting section; 142. a clamping section; 150. a connecting disc; 160. a spring plate; 170. a reinforcing gasket; 180. mounting a bottom plate;

200. a lifting mechanism; 210. a reduction motor; 220. a main arm; 230. an auxiliary arm; 240. a substrate.

Detailed Description

In the description of the present invention, it is to be understood that the terms used to indicate orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated. "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The meaning of "a number" is two or more unless specifically limited otherwise.

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

As shown in fig. 1, in one embodiment of the present invention, the telescopic gripper comprises a gripper mechanism 100 and a lifting mechanism 200, and the gripper mechanism 100 comprises a telescopic driving cylinder, a fixed bracket 122, a connecting rod 130, a gripper, and an elastic sheet. For simplicity, in the present embodiment, the telescopic driving cylinder is the air cylinder 110, and the elastic sheet is the spring sheet 160;

as shown in fig. 2, a fixing bracket is fixedly disposed on the cylinder barrel of the cylinder 110, the fixing bracket includes a fixing plate 121 fixed on the cylinder barrel in a surrounding manner and a plurality of sets of brackets 122 uniformly disposed on the fixing plate 121 at intervals, since the cylinder barrel is generally square, the fixing plate 121 also has a square cross section matching with the cylinder barrel, a set of brackets 122 is respectively fixed on four sides of the fixing plate 121, and each set of brackets 122 is hinged to the upper end of the connecting rod 130 through a pin;

the lower end of the connecting rod 130 is rotatably connected with the hand grip through a pin shaft, the hand grip comprises a connecting section 141 and a clamping section 142 which are arranged in an L shape, a first connecting hole and a second connecting hole are arranged on the connecting section 141 at intervals, the hand grip is hinged with the lower end of the connecting rod 130 through the second connecting hole, the hand grip is hinged with the connecting part on the connecting disc 150 through the first connecting hole, and in view of the fact that the number and the positions of the support 122, the connecting rod 130, the hand grip and the connecting part are corresponding, in this embodiment, 4 hand grip bodies are correspondingly arranged on the support 122, the connecting rod 130, the hand grip and the connecting part, the connecting disc 150 further comprises a sleeving part which is used for fixing a circular ring structure of the connecting part, and the sleeving part surrounds the tail end of the piston rod 111 fixed on the cylinder 110;

the clamping end of the hand grip is fixedly provided with a spring piece 160 through a screw, the clamping end refers to the middle-lower section of the hand grip in the figure, the spring piece 160 comprises a straight section and an outward-convex section, the straight section is fixedly arranged on the hand grip, the outward-convex section is a bulge which is more opposite to one side of the hand grip than the straight section, namely, the outward bulge is convex, and the bulge needs to be noted to comprise a complete arc section or consist of the arc section and the straight section. Further, in order to improve the strength of the spring piece 160, a reinforcing pad 170 is added on the outer side of the straight section, and then the reinforcing pad 170 and the spring piece 160 are fixed on the hand grip through screws;

as shown in fig. 3, the lifting mechanism 200 includes at least two sets of lifting units arranged centrosymmetrically, in this embodiment, three sets of lifting units are arranged, the three sets of lifting units are arranged centrosymmetrically on the frame, and the center of symmetry is on the axial center line of the cylinder 110, the lifting unit includes a speed reduction motor 210, a main arm 220 and an auxiliary arm 230, the speed reduction motor 210 is mounted on the frame through a substrate 240, the main arm 220 is fixedly arranged on an output shaft of the speed reduction motor 210, the other end of the main arm 220 is rotatably connected with the upper end of the auxiliary arm 230, and the lower end of the auxiliary arm 230 is rotatably connected to the mounting base plate 180.

It should be noted that the structure in the application document may be formed integrally or assembled and spliced, for example, the fixing piece 121 and the bracket 122 on the fixing bracket 122, the socket part and the connecting part on the connecting disc 150, and the straight section and the convex section on the elastic piece.

In the embodiment, the grabbing claw is used for grabbing a donut as an example, the main arm 220 is driven by the speed reducing motor 210 to swing by a certain radian, the height of the hand grip is adjusted, after the hand grip reaches a specified height, the piston rod 111 of the air cylinder 110 extends downwards to enable the hand grip to rotate around the pin shafts on the first connecting hole and the second connecting hole, so that the clamping section 142 of the hand grip is opened outwards to ensure that the opening angle of the spring sheet 160 on the hand grip is enough to accommodate the donut, and then the piston rod 111 retracts by a certain distance to drive the hand grip to tighten, so that the spring sheet 160 clamps the donut.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. The telescopic grabbing claw is characterized by comprising a grabbing mechanism, wherein the grabbing mechanism comprises a telescopic driving cylinder, a fixed support, a plurality of connecting rods, a grabbing hand and an elastic sheet, the fixed support is arranged on a cylinder barrel of the telescopic driving cylinder, the connecting rods are movably arranged on the fixed support and correspond to the connecting rods, the grabbing hand is movably connected with the connecting rods and a piston rod of the telescopic driving cylinder, the elastic sheet is arranged on the grabbing hand, and one end, far away from the piston rod, of the telescopic driving cylinder is fixed on a mounting bottom plate.

2. A telescopic gripping claw according to claim 1, characterised in that the telescopic driving cylinder comprises a pneumatic cylinder.

3. The telescopic grabbing claw according to claim 1, wherein the fixed support comprises a fixed plate fixed on the cylinder barrel in a surrounding manner and a plurality of groups of supports uniformly arranged on the fixed plate at intervals, and each group of supports is rotatably connected with one end of the connecting rod through a pin shaft arranged on the support.

4. The telescopic gripping claw according to claim 1, wherein the gripping claw is rotatably connected to the piston rod through a connecting plate, the connecting plate includes a socket portion having a circular ring structure and a plurality of connecting portions uniformly spaced around the circumference of the socket portion, the socket portion is fixed around the end of the piston rod, and the plurality of connecting portions are rotatably connected to the gripping claw through a pin.

5. The telescopic gripping claw according to claim 4, wherein the gripping claw comprises a connecting section and a clamping section which are arranged in an L shape, a first connecting hole and a second connecting hole are arranged on the connecting section at intervals, the first connecting hole is rotatably connected with the connecting disc, the second connecting hole is rotatably connected with the connecting rod, and the elastic piece is arranged on the clamping section.

6. The telescopic gripper jaw of claim 1, wherein the resilient tab comprises a straight section and a convex section, the straight section being fixedly disposed on the gripper, the convex section being convex to a side facing away from the gripper than the straight section.

7. The telescopic gripper jaw of claim 6, wherein a reinforcing washer is provided on a side of the flat section facing away from the gripper.

8. The telescopic gripping claw according to claim 1, 6 or 7, wherein the elastic piece comprises a spring piece.

9. The telescopic gripping claw according to claim 1, further comprising a lifting mechanism, wherein the lifting mechanism comprises at least two groups of lifting units arranged in a central symmetry manner, and the centers of symmetry of the two groups of lifting units are on the axial center line of the telescopic driving cylinder.

10. The telescopic gripper of claim 9, wherein the lifting unit includes a speed reduction motor, a main arm and an auxiliary arm, the main arm is fixedly disposed on an output shaft of the speed reduction motor, the other end of the main arm is rotatably connected to one end of the auxiliary arm, and the other end of the auxiliary arm is rotatably connected to the mounting base plate.

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