CN217513687U

CN217513687U - Retractable mechanical gripper

Info

Publication number: CN217513687U
Application number: CN202122982906.6U
Authority: CN
Inventors: 刘潇潇; 陈光东; 车军; 刘义鑫; 姜彦哲; 刘康林
Original assignee: Lanzhou Jiaotong University
Current assignee: Lanzhou Jiaotong University
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-09-30
Anticipated expiration: 2031-11-29

Abstract

The utility model relates to a telescopic mechanical gripper, which mainly comprises a telescopic outer rod, a telescopic inner rod, a rubber handle, a gripping assembly and a telescopic rod connector, wherein the gripper assembly comprises a gripper clamping plate, a small sliding block, a base, a large sliding block, a driven block and a base cover, the telescopic rod connector comprises a connecting cylinder, an eccentric disc, a pressing plate, a telescopic inner rod cover, a locking piece, an end cover, an I-shaped bracket and a cylinder base, the telescopic inner rod can move in the telescopic outer rod along the direction of the inner wall of the rod, the moving distance directly relates to the clamping force and the interval distance of the gripper clamping plate with elastic deformation property at the front end of the gripper, the pressing plate on the telescopic rod connector can be pressed down after the moving distance is determined, the gripper can stably keep the gripping state for a long time, the rubber handle is fixed at the bottom end of the inner rod, and the friction force of hands to the telescopic inner rod is increased, compared with the prior art, the utility model discloses a retractable machinery holder can realize advantages such as easy operation, low in manufacturing cost, fault rate are little.

Description

Retractable mechanical gripper

Technical Field

The utility model belongs to mechanical power transmission field relates to a retractable clamping device, concretely relates to machinery holder makes the holder freely stretch out and draw back to demand length and satisfy the demand to the clamping-force simultaneously after the simple and easy operation.

Background

The clamp holder is a common end executing mechanism in the fields of modern industrial production, bioengineering, medical science and the like, an operated target has the characteristic of diversification, and the telescopic clamp holder is designed based on a mechanical power transmission mechanism aiming at the problem that the clamping force and the clamping distance of the traditional clamp holder cannot be adjusted. Traditional clamping device is mostly the rigid contact with by between the centre gripping object, through applying pressure to the contact, and increase frictional force realizes snatching the function. The front end of the gripper adopts a gripper clamping plate with elastic deformation property, the flexibility of the gripper is properly increased, the gripper can quickly adapt to the shape of an object, and the damage risk of the gripped object can be reduced.

When the manipulator grabs the workpiece, the gripper applies a gripping force to the workpiece. Of course, there are various ways to achieve this grip, but it is critical to have a power source that will provide a continuous grip on the workpiece. The robot releases the workpiece only when the power source is cut off by the control means when the gripped workpiece reaches a predetermined position. The telescopic rod connector can provide stable clamping force for the clamp holder, is simple and convenient to operate, and is suitable for large-scale popularization and application.

SUMMERY OF THE UTILITY MODEL

To above-mentioned problem, in order to let the holder easily operate more, overcome the defect of the difficult processing that prior art exists, the utility model provides a retractable machinery holder makes the clamping action convenient rapid, guarantees that the holder can provide invariable clamping-force for a long time.

In order to achieve the above object, the utility model discloses the following technical scheme of accessible realizes: the utility model mainly comprises a telescopic outer rod, a telescopic inner rod, a rubber handle, a clamping component and a telescopic rod connector. The clamp assembly comprises a clamp clamping plate, a small sliding block, a base, a large sliding block, a driven block and a base cover, the telescopic rod connector comprises a connecting cylinder, an eccentric disc, a pressing plate, a telescopic inner rod cover, a locking piece, an end cover, an I-shaped support and a cylinder base, the telescopic inner rod can freely move in the telescopic outer rod along the inner wall of the rod, the rubber handle is arranged at the bottom end of the telescopic inner rod, the clamp clamping assembly is arranged at the top end of the telescopic outer rod, the clamp clamping plate with elastic deformation property is arranged at the foremost end of the clamp and can deform according to the size of an applied external load and the attribute characteristics of a clamping object, the clamp clamping assembly comprises a base driven block, a large sliding block, a small sliding block and a clamp clamping plate, the movement of the telescopic inner rod can drive the large sliding block to reciprocate in the base, little slider plays limiting displacement to holder splint along the telescopic link direction, and telescopic link coupler both ends and flexible outer pole and the interior pole of stretching out and drawing back suit the cooperation, press the state of board direct decision telescopic outer pole and the relative position relation of pole in stretching out and drawing back, satisfy the demand of the flexible volume of pole, realize that retractable machinery adds to hold. The telescopic inner rod can move in the telescopic outer rod as required, the moving distance directly relates to the clamping force and the spacing distance of the clamp clamping plates with elastic deformation properties at the front ends of the clamps, the pressing plates on the telescopic rod couplers can be pressed down after the moving distance is determined, and the clamps can stably maintain the clamping state for a long time.

The rubber handle is fixed in interior pole bottom, increases the hand and to the frictional force of telescopic interior pole, plays the guard action to the tail end of telescopic interior pole simultaneously. The rubber handle arranged at one end of the telescopic inner rod is used for increasing the friction coefficient, and the triangular holes in the rubber handle are easy to hang and take before and after use.

Preferably, the telescopic rod coupler is composed of the following parts: the connector support, the cohesion subassembly, two eccentric discs. The inner ring of the connecting cylinder is contacted with one top end of the telescopic outer rod to play a limiting role. I-shaped brackets are arranged at two ends of the cylinder seat, so that the rigidity of the cylinder seat is improved, and the light weight is realized; the holding assembly is used for holding the foremost end of the telescopic outer rod and consists of two symmetrically arranged holding parts, and the two ends of each holding part are provided with clamping grooves for connecting the inner groove parts of the eccentric discs and are arranged in a space between the I-shaped bracket and the cylinder seat; the two eccentric discs are connected through a chuck at the center of the H-shaped support respectively, the eccentric discs are provided with eccentric arc-shaped grooves matched with the clamping grooves of the locking piece, and the outer side surfaces of the two eccentric discs are provided with end covers for protecting the locking piece.

According to the board, be connected with the eccentric disc, when adding external load at that time, can drive the eccentric disc according to the board and realize the equidirectional rotation to each position of the eccentric arc wall that makes the indent command generate is corresponding with the draw-in groove of embracing the piece, realizes the control of embracing the piece to flexible outer pole and flexible interior pole assembly relation. When the pressing plate is rotated and lifted, the eccentric disc is rotated, so that the part, far away from the circle center, of the eccentric arc-shaped groove is matched with the groove of the locking member, at the moment, the locking member is released from the telescopic outer rod, and then the rod length is adjusted according to actual needs. When the pressing plate is rotated and pressed down, the part of the eccentric arc-shaped groove, which is closer to the circle center, is matched with the groove of the holding member, so that the holding member and the telescopic outer rod are mutually extruded to realize the positioning of the telescopic outer rod.

The large sliding block and the small sliding block slide in the base directionally in one degree of freedom, and the two positioning pins limit the clamp plate of the clamp to move in a swing arm mode, so that the clamping action is realized. The base cover is in interference fit with four locating pins on the base.

When the clamping device is used, the clamping component end is aligned to a target object, the telescopic length is adjusted, the clamping force is further adjusted, and the clamping action is completed. The clamp holder can clamp target objects with different heights and different depths, and a user only needs to adjust the length of the telescopic rod according to the characteristics of the target objects to enable the clamp holder clamping plates to deform.

Compared with the prior art, the utility model discloses can guarantee under the unchangeable circumstances of user's posture the possibility of realizing that multi-direction adoption, wide range clamp are got, the cooperation with the telescopic pole, can be comparatively accurate press from both sides get, this makes the user convenient and light more. In addition, the telescopic rod connector is provided with the telescopic rod connector which can enable the telescopic rod to generate elastic deformation within a controllable range, so that heavy labor of applying continuous clamping force is saved for a user. Has the advantages of convenient operation, low cost and high efficiency.

Drawings

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

FIG. 2 is a schematic view of a gripper assembly of the present invention;

fig. 3 is a schematic view of the telescopic outer rod, the telescopic inner rod and the handle of the present invention;

fig. 4 is a schematic structural view of the telescopic coupling of the present invention;

the reference numbers in the figures: 1. a telescopic outer rod; 2. a telescopic inner rod; 3. a rubber handle; 4. a gripper assembly; 41 gripper jaws; 42. a small slider; 43. a base; 44. a large slide block; 45. a driven block; 46. a base cover; 5. a telescopic link coupler; 51. a coupling cylinder; 52. an eccentric disc; 53. pressing a plate; 54. a telescopic inner rod cover; 55. a locking member; 56. an end cap; 57. An I-shaped bracket; 58. a cylinder seat.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

The clamp holder can clamp target objects with different heights and different depths, a user only needs to adjust the length of the telescopic rod according to the surface characteristics of the target objects, the surface of a clamp plate of the clamp holder is deformed, positive pressure perpendicular to the surface of the clamp plate is generated in the process, friction force is generated, and the target objects are clamped by overcoming the gravity of the target objects.

In order to clearly show the structure, the complete description of the principles and the better expression of the advantages of the present invention, the contents and the techniques of the present invention can be shown to the user, and the following detailed description is made with reference to the accompanying drawings.

Referring to fig. 1, the present invention provides a technical solution: a telescopic mechanical gripper comprises a telescopic outer rod 1, a telescopic inner rod 2, a rubber handle 3, a gripper component 4 and a telescopic rod connector 5.

The telescopic inner rod 2 can freely penetrate through the telescopic inner rod 1 in a rotating mode when the pressing plate 5 is not pressed down, and the clamp holder component 4 can rotate along with the telescopic inner rod in the process so as to meet the requirement of a user on the angle. In the present embodiment, a telescopic rod coupling 5 is provided between the telescopic outer rod 1 and the telescopic inner rod 2. The telescopic rod coupler 5 may be a mechanism capable of telescoping as in the prior art. In this embodiment, as shown in fig. 4, the telescopic rod coupler further includes a coupling cylinder, an eccentric disc, a pressing plate, a telescopic inner rod cover, a locking member, an end cover, an "i" shaped bracket and a cylinder seat, wherein: the telescopic rod coupler 5 consists of a cross-shaped coupling cylinder 51 and a cylinder seat 58, wherein one end of the coupling seat 58 is provided with a telescopic inner rod cover 54 for improving the coaxiality of the telescopic inner rod and the telescopic outer rod, the coupling cylinder 51 is connected with the top end of the telescopic outer rod, two ends of the cylinder seat 58 are provided with an I-shaped bracket 57, and the center of the I-shaped bracket 57 is provided with an outward clamping groove; the two embracing pieces 55 are used for embracing the telescopic rod outer rod 1 after the pressing plate 5 is pressed down, so that the assembly relation between the telescopic outer rod 1 and the telescopic inner rod 2 is changed from clearance fit to interference fit, and two ends of the two oppositely arranged embracing pieces 55 are also provided with clamping grooves and can freely shuttle between the I-shaped bracket 57 and the cylinder base 58; the clamping grooves of the two locking parts 55 can be respectively matched with the concave arc-shaped grooves of the eccentric disc 52, and two end covers 56 are arranged on the outer side of the eccentric disc; the pressing plate 53 is connected with the two eccentric discs 52 and is used for driving the two eccentric discs 52 to rotate, so that the concave arc-shaped groove corresponds to the clamping groove position of the embracing piece 55, and the embracing piece 55 in the telescopic rod connector 5 can extrude and release the telescopic outer rod.

The working process is as follows: the clamping assembly end is aligned to a target object, the telescopic length of the telescopic inner rod 2 is adjusted after the pressing plate 53 is lifted, then the large sliding block 44 is moved to drive the clamping device clamping plate 41 to swing, the clamping force is adjusted, the pressing plate 53 is pressed after the clamping action is finished, the telescopic outer rod 1 and the telescopic inner rod 2 are in interference fit, the clamping device can provide stable clamping force for a long time, the pressing plate 53 is lifted after the clamping device is used, and the clamping operation can be finished by releasing the clamping force.

Claims

1. A retractable mechanical gripper is characterized in that: the telescopic outer rod (1), the telescopic inner rod (2), the rubber handle (3), the clamp assembly (4) and the telescopic rod connector (5), wherein the clamp assembly (4) comprises a clamp plate (41), a small slide block (42), a base (43), a large slide block (44), a driven block (45) and a base cover (46), the telescopic rod connector (5) comprises a connecting cylinder (51), an eccentric disc (52), a pressing plate (53), a telescopic inner rod cover (54), a holding piece (55), an end cover (56), an I-shaped support (57) and a cylinder seat (58), the telescopic inner rod (2) can freely move along the inner wall of the rod in the telescopic outer rod (1), the rubber handle (3) is arranged at the bottom end position of the telescopic inner rod (2), the clamp assembly (4) is arranged at the top end of the telescopic outer rod (1), the clamp plate (41) with elastic deformation property is arranged at the forefront end of the clamp, the clamp holder assembly (4) comprises a base (43), a driven block (45), a large sliding block (44), a small sliding block (42) and clamp holder clamping plates (41), the large sliding block (44) can be driven to reciprocate in the base (43) by movement of the telescopic inner rod (2), the small sliding block (42) can limit the clamp holder clamping plates (41) along the direction of the telescopic rod, two ends of the telescopic rod connector (5) are matched with the telescopic outer rod (1) and the telescopic inner rod (2) in a matching mode, the relative position relation of the telescopic outer rod (1) and the telescopic inner rod (2) is directly determined according to the state of the plate (53), the requirement of rod telescopic amount is met, and telescopic mechanical holding is achieved.

2. A telescopic mechanical gripper according to claim 1, characterized in that: the telescopic outer rod (1) and the telescopic inner rod (2) can be freely telescopic, and when the pressing plate (53) keeps rising, the telescopic outer rod (1) and the telescopic inner rod (2) are in clearance fit; when the pressing plate (53) keeps pressing down, the telescopic outer rod (1) and the telescopic inner rod (2) are elastically deformed, and the telescopic outer rod and the telescopic inner rod are in interference fit.

3. A telescopic mechanical gripper according to claim 1, characterized in that: the telescopic rod coupler (5) is composed of the following parts: the connector support comprises a cross-shaped connecting cylinder (51) and a cylinder seat (58), an inner ring of the connecting cylinder (51) is in contact with one top end of the telescopic outer rod (1) to play a limiting role, the two ends of the cylinder seat (58) are provided with an I-shaped support (57), the rigidity of the cylinder seat (58) is improved, and the light weight is realized at the same time, and the symmetrical center of the I-shaped support (57) is provided with an outward chuck rotating shaft; the holding component is used for holding the foremost end of the telescopic outer rod (1) and consists of two symmetrically-arranged holding parts (55), and the two ends of each holding part are provided with clamping grooves for connecting the inner groove parts of the eccentric discs (52) and are arranged in a space between the I-shaped bracket (57) and the cylinder seat (58); the two eccentric discs (52) are respectively connected through a chuck at the central position of the I-shaped bracket (57), and the eccentric discs (52) are provided with eccentric arc-shaped grooves matched with the clamping grooves of the locking piece (55); the telescopic rod coupler (5) also comprises end covers (56) arranged on the outer side surfaces of the two eccentric discs (52).

4. A telescopic mechanical gripper according to claim 1, characterized in that: the pressing plate (53) is connected with the eccentric disc (52), when an external load is applied, the pressing plate (53) can drive the eccentric disc (52) to rotate in the same direction, so that all parts of an eccentric arc-shaped groove generated by a indenting command correspond to clamping grooves of the locking piece (55), and the locking piece (55) controls the assembly relation of the telescopic outer rod (1) and the telescopic inner rod (2).

5. A telescopic mechanical gripper according to claim 1, characterized in that: the large slider (44) and the small slider (42) slide directionally in the base (43) with one degree of freedom, and the positioning pin limits the gripper jaw (41) to move in a swing arm manner.

6. The retractable mechanical gripper as claimed in claim 1, wherein: the base cover (46) is in interference fit with four locating pins on the base (43).

7. A telescopic mechanical gripper according to claim 1, characterized in that: the rubber handle (3) arranged at one end of the telescopic inner rod (2) is used for increasing the friction coefficient, and the triangular holes in the rubber handle (3) are easy to hang and take before and after use.