CN217142588U

CN217142588U - Mechanical gripper and automatic grabbing mechanism

Info

Publication number: CN217142588U
Application number: CN202123132783.3U
Authority: CN
Inventors: 扈志勇; 陈玉峰; 马龙龙
Original assignee: Californium Ningxia Automation Technology Co ltd
Current assignee: Californium Ningxia Automation Technology Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-08-09
Anticipated expiration: 2031-12-14

Abstract

The utility model relates to a mechanical gripper and an automatic grabbing mechanism, which comprises a gripper body, an arm and a finger, wherein the gripper body is provided with a vertically arranged driving rack, a horizontally arranged gear and two horizontally arranged driven racks; the driving rack and the driven racks are both meshed with the gear, and the gear is positioned between the two driven racks; two driven racks are respectively and fixedly connected with an arm, the arm is connected with fingers, and the two fingers are oppositely arranged. The hand claw is internally provided with an installation cavity matched with the driving rack, the driven rack and the gear, the installation cavity corresponding to the driving rack penetrates through the top surface of the hand claw body, the installation cavity corresponding to the driven rack penetrates through the side surface of the hand claw body, and the driving rack extends out of or does not extend out of the top surface of the hand claw body. The clamping device has the advantages that the clamping of the workpiece can be realized, the structure is reasonable, the clamping stability is stable, and the clamping device is particularly suitable for automatic feeding and discharging of a gear hobbing machine tool.

Description

Mechanical gripper and automatic grabbing mechanism

Technical Field

The utility model relates to a manipulator technical field especially relates to mechanical gripper and automatic mechanism that snatchs.

Background

A gear hobbing machine is a machine tool which is most widely applied in gear processing machines, and straight teeth and helical gears can be cut on the gear hobbing machine, and worm gears, chain wheels and the like can also be processed. A gear processing machine for processing straight teeth, helical teeth, herringbone cylindrical gears and worm gears by a hob according to a generating method. When the machine tool uses a special hob, various workpieces with special tooth shapes such as a spline, a chain wheel and the like can be machined. The machining precision of the common hobbing machine is 7-6 grades (JB179-83), and the machining precision of the high-precision hobbing machine is 4-3 grades. The maximum processing diameter is up to 15 meters.

With the popularity of automated machining, the trend is also increasing for automated hobbing machines. The automatic feeding and discharging of the gear hobbing machine is an important link for realizing the automatic machining of the gear hobbing machine, but a mechanical claw capable of clamping a workpiece is absent at present.

SUMMERY OF THE UTILITY MODEL

This application provides mechanical gripper and automatic mechanism of snatching in order to solve above-mentioned technical problem.

The application is realized by the following technical scheme:

the mechanical paw comprises a paw body, an arm and a finger, wherein a vertically arranged driving rack, a horizontally arranged gear and two horizontally arranged driven racks are arranged on the paw body;

the driving rack and the driven racks are both meshed with the gear, and the gear is positioned between the two driven racks;

two driven racks are respectively and fixedly connected with an arm, the arm is connected with fingers, and the two fingers are oppositely arranged.

Optionally, the gripper body is internally provided with an installation cavity matched with the driving rack, the driven rack and the gear, the installation cavity corresponding to the driving rack penetrates through the top surface of the gripper body, the installation cavity corresponding to the driven rack penetrates through the side surface of the gripper body, and the driving rack extends out of or does not extend out of the top surface of the gripper body.

Optionally, the two arms are slidably connected to the paw body through horizontal guide posts or horizontal guide holes, respectively.

Optionally, the fingers are connected with the arms through the adjusting blocks; the adjusting block is provided with a horizontal groove parallel to the driven rack, one end of the finger is connected with a sliding block, the sliding block is in sliding fit with the horizontal groove, and the sliding block, the finger and the adjusting block are locked and fixed through threaded fasteners.

Optionally, clamping springs are respectively arranged between the two driven racks and the gripper body, and under the action of the two clamping springs, the two arms tend to clamp towards the middle.

Particularly, the driving rack and the driven rack are both cylindrical racks, and the clamping spring is sleeved on the driven rack.

Optionally, the paw body is connected with the bottom plate in a sliding manner through a vertical guide pillar; the vertical guide pillar is fixedly connected with the top surface of the bottom plate; and a vertical spring is arranged between the paw body and the bottom plate.

Optionally, a sleeve is arranged on the bottom plate, a vertical spring hole matched with the sleeve is formed in the position, corresponding to the sleeve, on the gripper body, and the sleeve is inserted into the vertical spring hole and is in clearance fit with the vertical spring hole; the vertical spring is arranged in the vertical spring hole and the sleeve.

The automatic grabbing mechanism comprises two linear driving mechanisms and the mechanical gripper, wherein the first oil cylinder is vertically arranged and is positioned right above the driving rack; the second oil cylinder is vertically arranged, and the output end of the second oil cylinder is connected with the paw body; the linear driving mechanism is a cylinder, an oil cylinder or a linear motor.

Compared with the prior art, the method has the following beneficial effects:

the clamping device has the advantages that the clamping of the workpiece can be realized, the structure is reasonable, the clamping stability is stable, and the clamping device is particularly suitable for automatic feeding and discharging of a gear hobbing machine tool.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a three-dimensional view of a gripper according to an embodiment;

FIG. 2 is a top view of the gripper of the embodiment;

FIG. 3 is a rear view of the gripper of the embodiment;

FIG. 4 is a side partial cross-sectional view of a gripper according to an embodiment;

FIG. 5 is a cross-sectional view taken at B-B of FIG. 4;

fig. 6 is a schematic structural view of an automatic gripping mechanism in the embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 present invention, the embodiments and the features of the embodiments may be combined with each other without conflict. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are usually placed when used, or the directions or positional relationships that the persons skilled in the art usually understand, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific directions, be constructed and operated in specific directions, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable 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.

As shown in fig. 1 to 5, the mechanical gripper disclosed in this embodiment includes a gripper body 2, an arm 3, and a finger 4. The paw body 2 is provided with a vertically arranged driving rack 21, a horizontally arranged gear 22 and two horizontally arranged driven racks 23. The driving rack 21 and the driven rack 23 are both meshed with the gear 22, and the gear 22 is positioned between the two driven racks 23.

The inside of the paw body 2 is provided with an installation cavity matched with the driving rack 21, the driven rack 23 and the gear 22, the installation cavity corresponding to the driving rack 21 penetrates through the top surface of the paw body 2, the installation cavity corresponding to the driven rack 23 penetrates through the side surface of the paw body 2, and the driving rack 21 extends out or does not extend out of the top surface of the paw body 2.

Two driven racks 23 are respectively and fixedly connected with an arm 3, the arm 3 is connected with fingers 4, and the two fingers 4 are arranged oppositely.

Optionally, the finger 4 is connected to the arm 3 via an adjustment block 31. The adjusting block 31 is provided with a horizontal groove 32 parallel to the driven rack 23, one end of the finger 4 is connected with a sliding block, the sliding block is in sliding fit with the horizontal groove 32, and the sliding block, the finger 4 and the adjusting block 31 are locked and fixed through a threaded fastener. The mounting position of the finger 4 is adjustable along the horizontal slot 32, which in turn accommodates different sized workpieces. The horizontal slot 32 may be a T-shaped slot.

Two arms 3 are horizontally arranged on two sides of the paw body 2 in a sliding way. Horizontal guide posts 24 or horizontal guide holes can be arranged on two sides of the paw body 2, and the arm 3 is connected with the horizontal guide posts 24 or the horizontal guide holes in a sliding mode.

In order to realize automatic clamping, clamping springs 25 are respectively arranged between the two driven racks 23 and the paw body 2, and under the action of the two clamping springs 25, the two arms 3 tend to be clamped in the middle.

Optionally, the driving rack 21 and the driven rack 23 are both cylindrical racks. An oilless bushing 26 is arranged between the driven rack 23 and the paw body 2. The oilless bushing 26 and the clamping spring 25 are fitted over the driven rack 23. The clamping spring 25 may be a rectangular spring.

When the device is used, the driving rack 21 is moved up and down to drive the two driven racks 23 to move in opposite directions, and then the clamping and the loosening of the arm 3 and the finger 4 are controlled. Specifically, the driving rack 21 can be driven to move up and down by a linear driving mechanism, and the linear driving mechanism can be an air cylinder, an oil cylinder or a linear motor.

Alternatively, the claw body 2 is vertically slidably mounted on the base plate 1 so that the arm 3 and the finger 4 can move in the vertical direction. Specifically, a vertical guide post 11 is fixedly connected to the top surface of the bottom plate 1, a vertical guide hole matched with the vertical guide post 11 is formed in the paw body 2, and the vertical guide post 11 is in sliding fit with the vertical guide hole.

In order to realize the automatic lifting and resetting of the paw body 2, a vertical spring 5 is arranged between the paw body 2 and the bottom plate 1. Specifically, be equipped with sleeve 12 on the bottom plate 1, the position that corresponds sleeve 12 on the paw body 2 is equipped with the vertical spring hole 27 with sleeve 12 adaptation, and sleeve 12 inserts in vertical spring hole 27 and with vertical spring hole 27 clearance fit, and vertical spring 5 is adorned in vertical spring hole 27 and sleeve 12. The vertical spring 5 may be a rectangular spring.

When in use, the base plate 1 is fixedly arranged on applied equipment. The paw body 2 is moved downwards, and then the arm 3 and the finger 4 are descended to the height of clamping the workpiece; after the external force is removed, the paw body 2 moves upwards to the initial height under the action of the vertical spring 5. The gripper body 2 can be driven to move up and down through a linear driving mechanism, and the linear driving mechanism can select an air cylinder, an oil cylinder or a linear motor and the like.

Optionally, the finger 4 is located in front of the gripper body 2, so that the linear driving mechanism acts on the gripper body 2, a clamping groove 28 is slidably arranged on the back of the gripper body 2, a convex part matched with the clamping groove 28 is arranged at the output end of the linear driving mechanism, and the convex part is clamped into the clamping groove 28 to realize that the linear driving mechanism is detachably connected with the gripper body 2.

As shown in fig. 6, based on the above-mentioned mechanical gripper, the present embodiment discloses an automatic gripping mechanism, which includes a mechanical gripper and two linear driving mechanisms, wherein the two linear driving mechanisms are respectively used for lifting and lowering the gripper body 2, so as to clamp and unclamp the arm 3 and the finger 4. The linear driving mechanism can be selected from an air cylinder, an oil cylinder or a linear motor and the like.

Taking the linear driving mechanism as an example to select an oil cylinder to realize automatic feeding and discharging of a gear hobbing machine tool, a use method of the automatic grabbing mechanism is introduced:

the bottom plate 1 is arranged on a gear hobbing machine tool, and the first oil cylinder 6 is vertically arranged and is positioned right above the driving rack 21; the second oil cylinder 7 is vertically arranged and is positioned behind the paw body 2, and the output end of the second oil cylinder 7 is connected with the paw body 2;

when the paw is at the feeding station (the workpiece is below the fingers), the first oil cylinder 6 extends out to press the top end of the driving rack 21, the driving gear 22 rotates to drive the two driven racks 23 to overcome the pressure of the clamping spring 25 to open the fingers 4, so that the paw is in an open state;

the second oil cylinder 7 extends out, the paw body 2 is pressed downwards, the paw body 2 is driven to move downwards along the vertical guide post 11 to reach the height of grabbing a workpiece, and meanwhile, the vertical spring 5 is compressed; then the first oil cylinder 6 retracts, and the finger 4 clamps the workpiece by the elasticity of the clamping spring 25; the second oil cylinder 7 retracts, the vertical spring 5 resets, the gripper and the clamped workpiece are driven to ascend, and the material grabbing action is completed.

It is worth to be noted that the clamping and the releasing of the paw can be realized through the first oil cylinder 6, only the first oil cylinder 6 needs to be connected with the driving rack 21, and the clamping spring 25 is not needed; likewise, the vertical spring 5 may not be provided.

The above embodiments, further detailed description of the purpose, technical solutions and advantages of the present application, it should be understood that the above embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. Mechanical gripper, its characterized in that: the hand claw comprises a hand claw body, an arm and a finger, wherein the hand claw body is provided with a vertically arranged driving rack, a horizontally arranged gear and two horizontally arranged driven racks;

two driven racks are respectively and fixedly connected with an arm, the arms are connected with fingers, and the two fingers are oppositely arranged.

2. The gripper of claim 1, wherein: the hand claw is internally provided with an installation cavity matched with the driving rack, the driven rack and the gear, the installation cavity corresponding to the driving rack penetrates through the top surface of the hand claw body, the installation cavity corresponding to the driven rack penetrates through the side surface of the hand claw body, and the driving rack extends out of or does not extend out of the top surface of the hand claw body.

3. The gripper of claim 1, wherein: the two arms are respectively connected with the paw body in a sliding way through the horizontal guide post or the horizontal guide hole.

4. The gripper of claim 1, wherein: the fingers are connected with the arms through the adjusting blocks; the adjusting block is provided with a horizontal groove parallel to the driven rack, one end of the finger is connected with a sliding block, the sliding block is in sliding fit with the horizontal groove, and the sliding block, the finger and the adjusting block are locked and fixed through threaded fasteners.

5. The gripper of any of claims 1-4, wherein: clamping springs are respectively arranged between the two driven racks and the paw body, and under the action of the two clamping springs, the two arms tend to be clamped in the middle.

6. The gripper of claim 5, wherein: the driving rack and the driven rack are both cylindrical racks, and the clamping spring is sleeved on the driven rack.

7. The gripper of claim 1, wherein: the paw body is connected with the bottom plate in a sliding manner through a vertical guide pillar; the vertical guide pillar is fixedly connected with the top surface of the bottom plate; and a vertical spring is arranged between the paw body and the bottom plate.

8. The gripper of claim 7, wherein: the bottom plate is provided with a sleeve, a vertical spring hole matched with the sleeve is formed in the position, corresponding to the sleeve, on the paw body, and the sleeve is inserted into the vertical spring hole and is in clearance fit with the vertical spring hole; the vertical spring is arranged in the vertical spring hole and the sleeve.

9. Automatic snatch mechanism, its characterized in that: the manipulator gripper as claimed in any one of claims 1 to 8, comprising two linear driving mechanisms for respectively lifting the gripper body and releasing the grip between the arm and the finger, wherein the linear driving mechanism is a cylinder, a cylinder or a linear motor.

10. The automated grasping mechanism according to claim 9, characterized in that: the back of the paw body is provided with a clamping groove in a sliding mode, the output end of one linear driving mechanism is provided with a convex portion matched with the clamping groove, and the convex portion is clamped in the clamping groove.