CN217097788U

CN217097788U - Liftable gripper structure

Info

Publication number: CN217097788U
Application number: CN202220771265.1U
Authority: CN
Inventors: 夏杭; 李晨杨; 杨开; 张希望; 王凌志; 夏苏
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2022-08-02
Anticipated expiration: 2032-04-06

Abstract

The utility model discloses a liftable mechanical claw structure, which comprises a connecting plate and a storage cylinder, wherein the connecting plate is shaped like a Chinese character 'ao', and a servo motor is arranged at the top of the connecting plate; the output end of the servo motor is provided with a reciprocating screw rod, the bottom end of the reciprocating screw rod is connected with the bottom wall of the connecting plate through a shaft piece, the top wall and the bottom wall of the connecting plate are provided with connecting rods, the connecting rods are positioned in front of the reciprocating screw rod, the outer surfaces of the connecting rods and the reciprocating screw rod are provided with sliding blocks in a sliding manner, and the front surface of each sliding block is provided with an object placing plate; the top of the object placing plate is provided with a storage cylinder. The utility model discloses an install connecting plate, servo motor, reciprocal lead screw, connecting rod, slider and put the thing board, at first install the connecting plate, then start servo motor, drive reciprocal lead screw and rotate, just can drive under the effect of slider and put the thing board and reciprocate after that, and then can improve the whole flexibility and the practicality of this gripper structure to a certain extent.

Description

Liftable gripper structure

Technical Field

The utility model relates to a gripper technical field specifically is a liftable gripper structure.

Background

The mechanical claw, i.e. the manipulator, is a device which can imitate certain actions of a human hand and an arm and grab and carry objects or operate tools according to a fixed program, but the existing mechanical claw has poor flexibility in the use process and cannot randomly adjust the mechanical claw, so that a liftable mechanical claw structure is urgently needed.

The existing mechanical claw structure has the following defects:

patent document CN215618158U discloses a robot gripper structure for panel processing, including main stock, the middle part of main stock top surface and bottom surface runs through fixed mounting and has a support barrel holder, the bearing is installed to the inner wall that supports the barrel holder, the inside of supporting the barrel holder is connected with a rotation through the bearing rotation and hangs the pivot. Through setting up vacuum chuck, prop up and hang pivot and gear motor, can carry out the actuation to the top surface of panel through vacuum chuck, thereby it is rotatory in order to drive vacuum chuck and its absorbent panel and carry out horizontal regulation to hang the pivot through gear motor drive, release or shrink can drive the slip bushing pipe and slide in the stop collar through electronic hydraulic push rod drive its output push rod, thereby it can make it carry out the centre gripping to the panel side through the centre gripping cushion to drive centre gripping arm lateral shifting, thereby it is fixed, be convenient for fix from the side of panel, reached and be convenient for diversely carry out fixed effect to panel, the target that has realized the improvement flexibility, be convenient for carry out multiple processing to panel.

However, the gripper structure of the above-mentioned publication mainly considers how to fix the plate material in multiple directions by the gripper, and does not consider that the existing gripper does not have a lifting function, and has a major drawback in the using process.

In view of the above, it is necessary to develop a mechanical gripper structure capable of lifting and lowering, so as to improve the flexibility of the mechanical gripper during use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a gripper structure of liftable to solve the problem that the current gripper structure of mentioning in the above-mentioned background art is not convenient to go up and down.

In order to achieve the above object, the utility model provides a following technical scheme: a liftable mechanical claw structure comprises a connecting plate and a storage barrel, wherein the connecting plate is concave, and a servo motor is arranged at the top of the connecting plate;

the output end of the servo motor is provided with a reciprocating screw rod, the bottom end of the reciprocating screw rod is connected with the bottom wall of the connecting plate through a shaft piece, the top wall and the bottom wall of the connecting plate are provided with connecting rods, the connecting rods are positioned in front of the reciprocating screw rod, the outer surfaces of the connecting rods and the reciprocating screw rod are provided with sliding blocks in a sliding manner, and the front surface of each sliding block is provided with an object placing plate;

the top of the object placing plate is provided with a storage cylinder.

Preferably, the surface mounting of a storing section of thick bamboo has the electric putter of symmetrical arrangement, and the loading board is all installed to two sets of electric putter's output, and hydraulic telescoping rod is all installed at the top of two sets of loading boards, and splint are all installed to two sets of hydraulic telescoping rod's output, and splint are "J" font, and two sets of splint all are located the below of loading board.

Preferably, the top of the object placing plate is provided with an object placing hole in a penetrating manner, and the object placing hole is positioned on the inner side of the object storing cylinder.

Preferably, a hydraulic push rod is installed on the top wall of the storage barrel, and the output end of the hydraulic push rod extends into the storage hole.

Preferably, the output end of the hydraulic push rod is provided with an electromagnet, the electromagnet is positioned below the object placing plate, and the diameter of the electromagnet is larger than that of the object placing hole.

Preferably, the bottom walls of the two groups of clamping plates are provided with anti-slip pads.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses an install connecting plate, servo motor, reciprocal lead screw, connecting rod, slider and put the thing board, when using this gripper, at first install the connecting plate, just can start servo motor after that, and then drive reciprocal lead screw and rotate, just can drive under the effect of slider after that and put the thing board and reciprocate to make things convenient for the manipulator to reciprocate, provide certain facility for the object of taking to a certain extent, and can also improve the whole practicality of this gripper.

2. The utility model discloses an install a storing section of thick bamboo, electric putter, loading board, hydraulic telescoping rod and splint, when the object of taking through this gripper, at first start electric putter, and then drive the loading board and remove, place the object back on splint, start hydraulic telescoping rod, and then drive splint and reciprocate, make the top of being snatched the object and laminate mutually with the electromagnetism iron after that to improve the stability of snatching the in-process, and can also improve the flexibility of this gripper to a certain extent.

Drawings

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

FIG. 2 is a schematic view of an assembly structure of the connection plate of the present invention;

FIG. 3 is a schematic view of an assembly structure of the storage cylinder, the hydraulic push rod and the electromagnet of the present invention;

fig. 4 is a schematic view of a planar assembly structure of the storage cylinder of the present invention.

In the figure: 1. a connecting plate; 101. a servo motor; 102. a reciprocating screw rod; 103. a connecting rod; 104. a slider; 105. a storage plate; 2. a storage cylinder; 201. an electric push rod; 202. a carrier plate; 203. a hydraulic telescopic rod; 204. a splint; 3. a hydraulic push rod; 4. an electromagnet; 5. a placing hole; 6. a non-slip mat.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 2 and fig. 3, the present invention provides an embodiment: a liftable mechanical claw structure comprises a connecting plate 1, a hydraulic push rod 3, an electromagnet 4 and a storage hole 5, wherein the connecting plate 1 is in a concave shape, a servo motor 101 is installed at the top of the connecting plate 1, a reciprocating lead screw 102 is installed at the output end of the servo motor 101, the bottom end of the reciprocating lead screw 102 is connected with the bottom wall of the connecting plate 1 through a shaft, connecting rods 103 are installed on the top wall and the bottom wall of the connecting plate 1, the connecting rods 103 are positioned in front of the reciprocating lead screw 102, a sliding block 104 is installed on the outer surfaces of the connecting rods 103 and the reciprocating lead screw 102 in a sliding manner, a storage plate 105 is installed on the front surface of the sliding block 104, the top of the storage plate 105 is provided with the storage hole 5 in a penetrating manner, the storage hole 5 is positioned on the inner side of a storage cylinder 2, the hydraulic push rod 3 is installed on the top wall of the storage cylinder 2, the output end of the hydraulic push rod 3 extends into the storage hole 5, the electromagnet 4 is installed at the output end of the hydraulic push rod 3, the electromagnet 4 is positioned below the object placing plate 105, and the diameter of the electromagnet 4 is larger than that of the object placing hole 5.

Concretely, before using this gripper, at first install connecting plate 1 in suitable position department according to actual need, in the in-process of snatching the object, when needing to carry out lifting operation, start the servo motor 101 at connecting plate 1 top, can drive reciprocal lead screw 102 and rotate after that, it can reciprocate along the surface of reciprocal lead screw 102 and connecting rod 103 under the effect of slider 104 to put thing board 105 this moment, after grabbing the object, to the object of metal class, can start the hydraulic push rod 3 in the storage tank 2, and then drive the electro-magnet 4 of its bottom and the top actuation of being snatched the object, and then improve the stability of snatching the in-process, can reduce to a certain extent and snatch the in-process and make the probability that the object dropped because of rocking.

As shown in fig. 1 and fig. 4, a liftable gripper structure, including a storage cylinder 2 and a non-slip mat 6, storage cylinder 2 is installed at the top of storage plate 105, the surface mounting of storage cylinder 2 has symmetrical arrangement's electric putter 201, loading plate 202 is all installed to two sets of electric putter 201's output, hydraulic telescoping rod 203 is all installed at the top of two sets of loading plate 202, splint 204 is all installed to two sets of hydraulic telescoping rod 203's output, and splint 204 is "J" font, two sets of splint 204 all are located the below of loading plate 202, non-slip mat 6 is all installed to two sets of splint 204's diapire.

It is specific, when using this gripper to snatch the object, start the electric putter 201 on storage cylinder 2 surface according to actual need, thereby can drive under electric putter 201's effect and control the removal of loading board 202, and then adjust the distance between two sets of splint 204, start hydraulic telescoping rod 203 on the loading board 202 after that, thereby drive splint 204 and reciprocate, it facilitates to a certain extent to get for the staff to put the object, slipmat 6 on the splint 204 can increase and is snatched the frictional force between object and the splint 204, thereby increase the resistance, reduce the probability that snatchs in-process object and drop, not only can improve the stability in this gripper use, can also improve its whole flexibility and practicality.

The working principle is as follows: in the using process, the connecting plate 1 is firstly installed at a fixed position according to actual needs, then the servo motor 101 is started, the reciprocating screw rod 102 is further driven to rotate, and then the object placing plate 105 can be driven to move up and down under the action of the sliding block 104, so that a worker can conveniently adjust the mechanical claw according to actual needs;

then start electric putter 201, thereby it removes about driving loading board 202, start hydraulic telescopic rod 203 after that, thereby drive splint 204 and reciprocate, just can press from both sides the object through splint 204 and get in splint 204 after that, at this moment, start hydraulic push rod 3, thereby drive electro-magnet 4 and the top laminating of being snatched the object, thereby play certain limiting displacement, if the object of snatching is metal product, then can give electro-magnet 4 circular telegram, make it can firmly hold the object, and then can improve the stability in this gripper use to a certain extent.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a gripper structure of liftable, includes connecting plate (1) and storage cylinder (2), its characterized in that: the connecting plate (1) is concave, and a servo motor (101) is mounted at the top of the connecting plate (1);

the output end of the servo motor (101) is provided with a reciprocating screw rod (102), the bottom end of the reciprocating screw rod (102) is connected with the bottom wall of the connecting plate (1) through a shaft, the top wall and the bottom wall of the connecting plate (1) are provided with connecting rods (103), the connecting rods (103) are positioned in front of the reciprocating screw rod (102), the outer surfaces of the connecting rods (103) and the reciprocating screw rod (102) are provided with sliding blocks (104) in a sliding mode, and the front surface of each sliding block (104) is provided with an object placing plate (105);

the top of the object placing plate (105) is provided with a storage cylinder (2).

2. The liftable mechanical claw structure according to claim 1, wherein: the outer surface mounting of a storing section of thick bamboo (2) has symmetrical arrangement's electric putter (201), and loading board (202) are all installed to the output of two sets of electric putter (201), and hydraulic telescoping rod (203) are all installed at the top of two sets of loading boards (202), and splint (204) are all installed to the output of two sets of hydraulic telescoping rod (203), and splint (204) are "J" font, and two sets of splint (204) all are located the below of loading board (202).

3. The liftable mechanical claw structure according to claim 1, wherein: the top of the object placing plate (105) is provided with an object placing hole (5) in a penetrating mode, and the object placing hole (5) is located on the inner side of the storage cylinder (2).

4. The liftable mechanical claw structure according to claim 1, wherein: hydraulic push rod (3) are installed to the roof of a storage section of thick bamboo (2), and the output of hydraulic push rod (3) extends into the inside of putting thing hole (5).

5. The liftable mechanical claw structure according to claim 4, wherein: the output end of the hydraulic push rod (3) is provided with an electromagnet (4), the electromagnet (4) is positioned below the object placing plate (105), and the diameter of the electromagnet (4) is larger than that of the object placing hole (5).

6. The liftable mechanical claw structure according to claim 2, wherein: the bottom walls of the two groups of clamping plates (204) are provided with anti-slip pads (6).