CN217570993U - Mechanical gripper device - Google Patents

Abstract

A mechanical gripper device relates to the technical field of engineering machinery and comprises a mechanical gripper support, a hinge frame, a mechanical gripper finger and a fixing clamp, wherein the fixing clamp is used for fixedly installing a power cylinder in the mechanical gripper support; the power cylinder is connected with a sliding wedge block in a driving mode and moves linearly and reciprocally, a wedge lug is tightly attached to an inclined plane formed by the sliding wedge block, the wedge lug is hinged to the tail portions of the mechanical claw fingers, and the tail portions of the two mechanical claw fingers are hinged to return springs; the cylindrical guide columns are fixedly arranged in the mechanical claw support and are tightly attached to the planes on two sides of the sliding wedge block, and the stroke and force in the linear direction of the power cylinder are converted into the opening and grabbing of the mechanical claw fingers by utilizing the cooperation of the wedge-shaped structure and the reset spring; the stability of the workpiece to be grabbed is ensured, and the falling-off danger is avoided.

Description

Mechanical gripper device

Technical Field

The utility model relates to an engineering machine tool's technical field, concretely relates to a mechanical tongs device that is often used for drilling equipment.

Background

At present, most of two-finger mechanical claws are in a scissor-fork type structure or a left-right direct-drive holding and clamping structure. Wherein the scissor-fork type structure is longitudinally provided with a power part, and the two claws are driven to open and close through a connecting rod, so that the scissor-fork type structure occupies a larger space in the longitudinal direction; the power parts are transversely arranged in the clamping structure directly driven by the left power and the right power, and the two mechanical claws are directly driven, so that the transverse occupied space is large. This space occupation results in large restrictions when designing mechanical equipment, such as the grab bar gripper of a drilling machine.

The common mechanical claw is limited by the structure of the common mechanical claw and cannot generate larger clamping force. And the self structural strength is limited, a heavy workpiece cannot be borne, and when a drilling tool with a thick drill rod is grabbed, the danger that the drill rod slides or falls off in the process of transferring the drill rod can be caused due to small clamping force.

SUMMERY OF THE UTILITY MODEL

To prior art not enough, the utility model aims to provide a mechanical tongs device utilizes the actuating cylinder to order about the linear motion that movable voussoir came and came for the butt carries out the flexible that relapses at the wedge ear cooperation spring of slip voussoir both sides, and simultaneously, the wedge ear articulates there is the gripper finger, finally realizes changing the linear motion of power cylinder into the gripper finger and opens and grasp, and the concrete scheme is as follows:

a mechanical gripper device comprises a mechanical gripper bracket, a hinged frame and a mechanical gripper finger, wherein a power cylinder is arranged in the mechanical gripper bracket,

the bottom of the mechanical claw support is fixedly connected with a hinge frame, and the hinge frame is hinged with the mechanical claw fingers;

the power cylinder is in driving connection with a sliding wedge block capable of sliding relative to the mechanical claw support, the sliding wedge block makes linear reciprocating motion, two symmetrically arranged inclined planes are formed at one end of the sliding wedge block, two wedge lugs capable of sliding relative to the mechanical claw support are tightly attached to the two inclined planes of the sliding wedge block respectively, the wedge lugs are hinged to the tail portions of the mechanical claw fingers, and the tail portions of the two mechanical claw fingers are hinged to reset springs.

Furthermore, a fixing clamp is fixedly installed in the mechanical claw support and used for fixing the power cylinder.

Furthermore, a cylindrical guide column is fixedly arranged on the bottom surface in the mechanical claw support, and the guide column is tightly attached to the planes on the two sides of the sliding wedge block.

Furthermore, the top end of the guide post is provided with a limiting surface abutted to the sliding wedge block, and the radius of the limiting surface is larger than that of the guide post.

Furthermore, the hinge frame is perpendicular to the gripper bracket.

Further, the hinge frame is riveted or welded on the bottom surface of the mechanical claw support.

Further, the return spring is always in a contraction trend.

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

(1) The conventional mechanical gripper is limited by the structure of the gripper, the space of a power part for driving the gripper occupies a large space, and the common mechanical gripper is limited by the structure and the strength of the gripper, cannot generate large clamping force, and is easy to cause the condition that a heavy object slides or even falls off when bearing the heavy object.

The utility model uses the wedge-shaped structure to match the mechanical claw finger hinged on the hinged frame vertical to the mechanical claw support, thereby realizing the conversion of the stroke and force of the power cylinder in the linear direction into the opening and grabbing of the mechanical claw finger; the arrangement of the reset spring ensures that the mechanical claw fingers can ensure the stability of the workpiece in the grabbing process, and the falling-off danger is avoided.

When the utility model is not in working state, the two movable wedges are in the closest position state, the mechanical claw fingers are buckled, the mechanical claw fingers are opened to carry out grabbing work, and the power cylinder is utilized to drive the movable wedges to do reciprocating linear motion; when the power cylinder pushes the movable wedge block, the movable wedge block with the inclined plane pushes the wedge lugs to the two sides, and meanwhile, the wedge lugs are hinged with the mechanical claw fingers to realize the opening of the mechanical claw fingers; the mechanical claw fingers are also hinged with return springs, when the power cylinder pulls the movable wedge block to return to an unoperated state, the return springs pull the mechanical claw fingers to stably grab a workpiece, and at the moment, the two wedge lugs are located at an initial position or return to a position for clamping the workpiece under the influence of the size of the workpiece.

(2) The power cylinder is fixed on the mechanical claw support through the fixing frame, so that the position stability of the power cylinder is ensured, and the power cylinder always provides stroke and force in the linear direction.

(3) Through setting up the guide post for the restriction sliding wedge, make sliding wedge can only follow the reciprocal slip of linear direction.

(4) The limiting surface with the radius larger than that of the guide column is arranged to form an abutting surface for limiting the movement range of the sliding wedge block, so that the sliding wedge block is tightly attached to the mechanical claw support in the movement process and cannot go out from the upper part.

(5) The hinged frame is arranged perpendicular to the mechanical claw support, so that the mechanical claw fingers hinged to the hinged frame are perpendicular to the bottom surface of the mechanical claw support, and the workpiece in the space below the bottom surface of the mechanical claw support can be grabbed to the greatest extent.

(6) The hinged frame is firmly arranged on the bottom surface of the mechanical claw support through riveting or welding, so that the mechanical claw fingers can be suitable for clamping and bearing heavier workpieces.

(7) The reset spring that sets up is in the shrink trend all the time, and reset spring makes to have the pulling force that is close to each other all the time between the wedge ear of both sides promptly, guarantees that the clamping-force of gripper is stable, avoids appearing the slip of work piece or the risk that drops in the use.

Drawings

Fig. 1 shows the state of the gripper fingers of the present invention;

fig. 2 is a top view of the internal structure of the present invention in a loosened state;

FIG. 3 is a schematic view of the mechanical gripper finger loosening of the present invention;

fig. 4 is a top view of the internal structure of the present invention in a clamped state;

FIG. 5 is a schematic view of the gripper finger clamping process of the present invention;

fig. 6 shows the mechanical gripper fingers of the present invention in an open state;

fig. 7 shows the grabbing state of the utility model when used in pairs.

Reference numerals: 1. a gripper bracket; 2. a power cylinder; 3. a fixing clip; 4, sliding a wedge block; 5. A guide post; 6. a return spring; 7. wedging ears; 8. a hinged frame; 9. a mechanical gripper finger; 10. and (5) a workpiece.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.

The existing mechanical claw is limited by the structure of the existing mechanical claw and cannot generate larger clamping force. And the self structural strength is limited, a heavy workpiece cannot be borne, when a thicker drill rod or drilling tool is grabbed, if the clamping force of the mechanical claw is smaller, the drill rod or the drilling tool can slide or fall off in the process of transferring the drill rod or the drilling tool, and potential safety hazards exist. The utility model utilizes the motion characteristics of the wedge-shaped structure to match with the mechanical claw fingers hinged on the hinged frame arranged perpendicular to the mechanical claw bracket, thereby realizing the conversion of the stroke and the force of the power cylinder in the linear direction into the expansion and the grabbing of the mechanical claw fingers; the arrangement of the reset spring ensures that the mechanical claw fingers can ensure the stability of the workpiece in the grabbing process and ensure that the workpiece does not fall off.

Referring to fig. 1, in a mechanical gripper device, a power cylinder 2 and a fixing clamp 3 are fixedly installed in a mechanical gripper bracket 1, the power cylinder 2 is in driving connection with a sliding wedge 4, wherein the sliding wedge 4 is attached to the bottom surface inside the mechanical gripper bracket 1, and the fixing clamp 3 is used for stabilizing the power cylinder 2 in a horizontal direction; the bottom of the mechanical claw support 1 is vertically connected with a fixed hinge frame 8, the hinge frame 8 is riveted or welded on the bottom surface of the mechanical claw support 1, the hinge frame 8 is hinged with a mechanical claw finger 9, and the mechanical claw finger 9 is used for directly contacting a workpiece 10 to clamp the workpiece 10;

and four guide columns 5 fixed at the bottom of the gripper bracket 1 are arranged on two sides close to the sliding wedge 4, the sliding wedge 4 moves in a linear direction under the limitation of the four guide columns 5, a limiting surface abutted against the sliding wedge 4 is arranged at the top end of each guide column 5, and the radius of the limiting surface is larger than that of each guide column 5 and used for limiting the sliding wedge 4 to slide at a position close to the gripper bracket 1 without longitudinal deviation.

The hinged frame 8 is hinged with two mechanical claw fingers 9 in a connected mode, one end, far away from a workpiece clamping 10, of each mechanical claw finger 9 is a tail end, the tail end of each mechanical claw finger 9 is hinged with a wedge lug 7, the tail ends of the two mechanical claw fingers 9 are hinged with a return spring 6 at the same time, and the two wedge lugs 7 are arranged on the same straight line.

As shown in fig. 2 and 4, the inclined surface of the sliding wedge 4 is engaged with the inclined surface of the wedge 7, fig. 2 shows that the gripper fingers 9 are in a gripping state, fig. 4 shows that the gripper fingers 9 are in an open state, and when the return spring 6 cooperates with the sliding wedge 4 to realize that the two wedge 7 are in the gripping state, the return spring 6 is still in an extended state, that is, the return spring 6 still has a certain tightening force at this time, so that the wedge 7 is prevented from being overturned due to vibration or other factors to cause the failure of the mechanism.

The utility model uses a special driving structure, can drive the mechanical gripper fingers 9 to open and close under smaller longitudinal arrangement and transverse arrangement, has flat integral structure and is convenient to arrange; through using wedge mechanism, make the utility model discloses a tongs clamping-force has great promotion compared in traditional two fingers gripper.

In the using process, the utility model has two processes of clamping and unclamping,

and (3) clamping process: fig. 5 shows the process of clamping the workpiece 10 by the gripper fingers 9. When the device is in a clamping state, the sliding wedge 4 pushes away the wedge lugs 7 on two sides.

In the clamping process, the device is changed from the state of fig. 2 to the state of fig. 4, the piston of the power cylinder 2 extends out to push the sliding wedge 4, the sliding wedge 4 slides forwards in a straight line under the limitation of the guide post 5, the sliding wedge 4 pushes the two wedge lugs 7 tightly attached to the inclined plane to separate the two sides, each wedge lug 7 is hinged to the tail of one gripper finger 9, the two wedge lugs 7 which are far away from each other are pushed away by the sliding wedge 4 to drive the two gripper fingers 9 which are hinged to the two wedge lugs, the gripper fingers 9 rotate around the hinged point of the hinged frame 8, the tips of the two gripper fingers 9 are retracted inwards due to the lever action to generate the clamping action, so that the workpiece 10 is clamped, and the shapes of the workpiece 10 and the gripper fingers 9 are only shown as schematic diagrams, and the specific shapes are not limited by the present invention.

During the unclamping process, the device transitions from the state of fig. 4 to the state of fig. 2: the piston of the power cylinder 2 retracts, the sliding wedge block 4 is pulled to retract backwards linearly under the limitation of the guide column 5, the reset spring 6 tensions the tail end of the mechanical claw finger 9 all the time, the reset spring 6 pulls the wedge lug 7 to be close to each other, the inclined surface of the reset spring 6 is made to cling to the inclined surface of the sliding wedge block 4 all the time, when the sliding wedge block 4 retracts, the wedge lug 7 and the tail end of the mechanical claw finger 9 draw close inwards, the two mechanical claw fingers 9 rotate around the hinged point with the hinged frame 8, the tips of the two mechanical claw fingers 9 are separated towards two sides due to the lever action, the unclamping action is generated, and the unclamping of the workpiece 10 is completed.

Fig. 6 is attached to the present specification to show a sample when the initial manipulator is in an open state; taking a drilling machine as an example, fig. 7 is used for showing a connection mode of the paired mechanical claws and a state during clamping, and the mechanical claws can be symmetrically arranged; according to the atress analysis, suitably change the articulated position that the gripper finger 9 indicates, suitably adjust the wedge angle of wedge, can make the clamping-force of this gripper hand be far greater than the thrust of power cylinder 2, compare in two fingers gripper of tradition and have great promotion on the clamping-force, the work piece 10 that demonstrates in all drawings of this application, gripper finger 9's shape only be the schematic diagram, specific shape the utility model discloses do not do the restriction.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the fan belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (7)

1. A mechanical gripper device comprises a mechanical gripper bracket (1), a hinge frame (8) and a mechanical gripper finger (9), wherein a power cylinder (2) is arranged in the mechanical gripper bracket (1),

the mechanical claw support is characterized in that the bottom of the mechanical claw support (1) is fixedly connected with a hinge frame (8), and the hinge frame (8) is hinged with the mechanical claw finger (9);

the power cylinder (2) is in driving connection with a sliding wedge block (4) capable of sliding relative to the mechanical claw support (1), the sliding wedge block (4) makes linear reciprocating motion, two symmetrically arranged inclined planes are formed at one end of the sliding wedge block (4), two inclined planes of the sliding wedge block (4) are respectively and tightly attached to a wedge lug (7) capable of sliding relative to the mechanical claw support (1), the wedge lugs (7) are hinged to the tail portions of the mechanical claw fingers (9), and a reset spring (6) is connected between the tail portions of the two mechanical claw fingers (9).

2. The mechanical gripper device as claimed in claim 1, characterized in that a fixing clamp (3) is fixedly mounted in the gripper bracket (1), said fixing clamp (3) being used for fixing the power cylinder (2).

3. The mechanical gripper device as claimed in claim 1, characterized in that cylindrical guide posts (5) are fixedly mounted on the bottom surface inside the gripper bracket (1), said guide posts (5) clinging to the two side planes of the sliding wedge (4).

4. Mechanical gripper according to claim 3, characterized in that the top of the guiding stud (5) is provided with a limiting surface abutting against the sliding wedge (4), the radius of the limiting surface being larger than the radius of the guiding stud (5).

5. Mechanical gripper according to claim 1, characterized in that the articulated frame (8) is arranged perpendicular to the gripper bracket (1).

6. Mechanical gripper according to claim 1, characterized in that the hinged frame (8) is riveted or welded to the underside of the gripper bracket (1).

7. Mechanical gripper according to claim 1, characterized in that the return spring (6) is always in a retraction tendency.

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