CN219649917U

CN219649917U - Mechanical gripper

Info

Publication number: CN219649917U
Application number: CN202321201338.4U
Authority: CN
Inventors: 王清松; 朱乃义; 张红生; 周光伟
Original assignee: Shanghai Shenfu Machinery Technology Co ltd
Current assignee: Shanghai Shenfu Machinery Technology Co ltd
Priority date: 2023-05-17
Filing date: 2023-05-17
Publication date: 2023-09-08
Anticipated expiration: 2033-05-17

Abstract

The utility model relates to a mechanical gripper, which relates to the field of mechanical grippers and comprises a base, two clamping arms, a centering block and a holding block, wherein the two clamping arms are respectively and rotationally fixed on the base, the rotating shafts of the clamping arms are perpendicular to the base, the two clamping arms are symmetrically arranged on the base, clamping areas are arranged at one ends of the two clamping arms, a driving assembly for driving the clamping arms to clamp is arranged on one side of the base, which is far away from the clamping areas, the centering block is fixed at one end of the base, which is close to the clamping areas, the holding block is provided with a plurality of holding blocks and is respectively fixed at one sides of the two clamping arms in the clamping areas, and one side of the centering block and one side of the holding block, which is abutted against a workpiece, are arranged as an abutting surface, and the abutting surface is a concentric arc surface. According to the utility model, the centering block is arranged on the base, when the workpiece is clamped, the workpiece can be firstly attached to the centering block, and then the clamping arm is driven by the driving assembly to clamp the workpiece, so that the workpiece can be positioned, and the processing precision of the workpiece can be improved.

Description

Mechanical gripper

Technical Field

The utility model relates to the field of manipulators, in particular to a manipulator claw.

Background

The manipulator, the finger can imitate some action functions of human hand and arm, is used for grasping, carrying the article or automatic operating device of the operating tool according to the fixed procedure. Can replace heavy labor to realize mechanization and automation of production, and is widely applied to the departments of mechanical manufacture, light industry, atomic energy and the like.

In the related art, in the production process of some cylindrical die castings or forgings, due to high temperature, a manipulator is generally used to transfer workpieces between different working positions. The mechanical gripper comprises a left gripper arm, a right gripper arm, a base and a driving assembly, wherein the left gripper arm and the right gripper arm are rotationally fixed on the base and are symmetrical with each other; the clamping areas used for clamping the workpiece are arranged at the same ends of the left claw arm and the right claw arm, and two claw teeth are respectively fixed in the clamping areas on the left claw arm and the right claw arm and used for clamping the workpiece.

When the clamping device is used, the left claw arm and the right claw arm are driven to rotate through the driving assembly, one ends of the left claw arm and the right claw arm, which are close to the clamping area, are close to each other, the workpiece is clamped and fixed through the claw teeth, and then the workpiece can be transported.

In practical use, the cylindrical workpiece has higher requirement on the precision of the center position of the workpiece in the production process, and if the center is greatly deviated, the workpiece is scrapped. When the workpiece is clamped by the mechanical gripper, the workpiece cannot be accurately positioned, and large deviation is easy to occur. For this reason, the inventors provide a robot hand that is accurate in positioning a cylindrical workpiece.

Disclosure of Invention

In order to improve the machining precision of a workpiece, the utility model provides a mechanical gripper.

The mechanical gripper provided by the utility model adopts the following technical scheme:

the utility model provides a mechanical gripper, includes base, arm, centering piece and enclasping piece, the arm is provided with two and all rotate and fix in on the base, the pivot perpendicular to of arm the base, two the arm symmetry set up in on the base, two the one end of arm the clamp is provided with the clamping area, be provided with on the base in keeping away from one side of clamping area is used for the drive assembly of arm centre gripping, the centering piece is fixed in the base is close to the one end of clamping area, enclasping piece is provided with a plurality of and is fixed in two respectively the arm one side in the clamping area, the centering piece with a side setting up to the butt face of butt work piece on the enclasping piece, the butt face is the concentric arc face.

Through adopting the technical scheme, the centering block is arranged on the base, when the workpiece is clamped and transported, the workpiece can be firstly attached to the centering block, then the clamping arms are driven to approach through the driving component, the workpiece is clamped on the centering block through the clamping blocks on the two clamping arms, so that the clamping positions of the workpiece on the mechanical gripper are relatively fixed each time, the position precision of the workpiece is improved, and the machining precision of the workpiece is improved; the abutting surface is arranged on the enclasping block and the centering block, so that the enclasping block and the centering block are more attached to the surface of the workpiece when clamping the workpiece, and in the clamping process, if the workpiece has certain offset, the workpiece can slide to the central position of the abutting surface under the action of the abutting surface, thereby being beneficial to improving the position accuracy of the workpiece.

Optionally, the mounting grooves are formed in the side walls of the clamping areas on the two clamping arms, the mounting grooves are uniformly distributed along the outline direction of the clamping arms, and the holding blocks are fixed in the mounting grooves.

Through adopting above-mentioned technical scheme, offer a plurality of mounting grooves on the centre gripping arm, can be according to the size of work piece or other demands in the production and install the piece of holding tightly in different mounting grooves to satisfy the centre gripping requirement to the work piece.

Optionally, the clasping block and the centering block are on the

Friction lines are arranged on the abutting surface.

Through adopting above-mentioned technical scheme, set up friction line on enclasping piece and centering piece, can effectively improve the centre gripping stability to the work piece.

Optionally, the drive assembly includes driving piece, connecting block and connecting rod, the connecting block follow two the symmetry line of centre gripping arm slide set up in on the base, the driving piece drive the connecting block slides, the connecting rod is provided with two, two the tip of connecting rod is rotationally fixed in respectively the connecting block is close to the both sides of centre gripping arm, the other end of connecting rod is rotationally connected respectively in two on the centre gripping arm.

Through adopting above-mentioned technical scheme, when using, slide on the base through driving piece drive connecting block, the connecting block can drive the connecting rod to both sides promote the centre gripping arm or inwards tighten up the centre gripping arm to can accomplish the centre gripping or release to the work piece, simple structure, reliable.

Optionally, the driving piece sets up to the cylinder, the base is kept away from the one end of clamping area is fixed with the fixed plate, the driving piece install in on the fixed plate, the fixed plate keep away from the one end of base is fixed with the stabilizer plate, the both ends of centre gripping arm pivot are fixed in respectively on stabilizer plate and the base.

Through adopting above-mentioned technical scheme, install the fixed plate on the base, fixed stable board on the fixed plate, fix the pivot of centre gripping arm on stable board and base, make each other link into whole, can effectively improve holistic structural strength.

Optionally, the connecting rod is provided with two sets of and set up respectively in the connecting block the centre gripping arm is close to the base with the one side of stabilizer plate.

Through adopting above-mentioned technical scheme, set up the connecting rod into two sets of, can effectively improve structural strength to effectively increase the clamping force of manipulator claw.

Optionally, the stabilizer plate with one side that is close to each other on the base all is fixed with the guide bar, the guide bar is followed the slip direction setting of connecting block, correspond on the connecting block the guide slot has been seted up to the guide bar, the guide bar with guide slot sliding fit.

Through adopting above-mentioned technical scheme, set up the guide bar on stabilizer bar and base, set up on the connecting block with guide bar sliding fit's guide way, at normal operating, the guide bar can lead the connecting block, prevents that the guide bar from taking place the skew, improves holistic operation precision.

Optionally, be fixed with the connecting seat that is used for being connected with the arm on the base, be provided with flange on the connecting seat.

Through adopting above-mentioned technical scheme, set up the connecting seat on the base, when the installation, can fix on the arm through flange.

In summary, the present utility model includes at least one of the following beneficial technical effects:

1. the centering blocks are arranged on the base, when the workpiece is clamped and transported, the workpiece can be firstly attached to the centering blocks, then the clamping arms are driven to approach through the driving assembly, the workpiece is clamped on the centering blocks through the clamping blocks on the two clamping arms, so that the clamping positions of the workpiece on the mechanical claws are relatively fixed each time, the position precision of the workpiece is improved, the machining precision of the workpiece is improved, the abutting faces are arranged on the clamping blocks and the centering blocks, the clamping blocks and the centering blocks can be attached to the surface of the workpiece when clamping the workpiece, and in addition, in the clamping process, if the workpiece has certain offset, the workpiece can slide to the central position of the abutting faces under the action of the abutting faces, and the position precision of the workpiece is improved;

2. the clamping arm is provided with the plurality of mounting grooves, and the clamping blocks can be mounted in different mounting grooves according to the size of the workpiece or the clamping requirement of the workpiece in production, so that the clamping requirement on the workpiece is met, and the clamping arm is convenient to use;

3. through fixed guide bar on stabilizer bar and base, offer with guide bar sliding fit's guide way on the connecting block, at normal operating, the guide bar can lead the connecting block, prevents that the guide bar from taking place the skew, improves holistic operation precision.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present utility model;

FIG. 2 is a schematic diagram showing a structure of a driving component according to an embodiment of the present utility model.

Reference numerals: 1. a base; 2. a clamping arm; 21. a clamping area; 22. a mounting groove; 3. a centering block; 31. an abutment surface; 32. rubbing lines; 4. a holding block; 5. a drive assembly; 51. a driving member; 52. a connecting block; 521. a guide groove; 53. a connecting rod; 54. a fixing plate; 55. a stabilizing plate; 56. a guide bar; 6. a connecting seat; 61. and (5) connecting the flanges.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-2.

The embodiment of the utility model discloses a mechanical gripper, which comprises a base 1, clamping arms 2, a centering block 3 and a holding block 4, wherein the two clamping arms 2 are respectively fixed on two sides of the base 1 in a rotating way, and the two clamping arms 2 are mutually symmetrical; the clamping area 21 is arranged at one end of the clamping arm 2 extending out of the base 1, and the centering block 3 is fixed at one end of the base 1 close to the clamping area 21; the number of the enclasping blocks 4 can be multiple, in the embodiment of the utility model, the number of the enclasping blocks 4 is two, the two enclasping blocks 4 are respectively fixed on the two clamping arms 2, and the enclasping blocks 4 are positioned in the clamping area 21; a driving component 5 for driving the two clamping arms 2 to rotate is arranged on the base 1, so that the clamping arms 2 clamp a workpiece.

The centering block 3 and the enclasping block 4 are provided with an abutting surface 31 on one surface close to the center of the clamping area 21, and the abutting surface 31 is provided with an arc surface taking the center of the workpiece as the center of a circle. When clamping the workpiece, the workpiece can be attached to the centering block 3, and then the clamping arm 2 is driven to clamp the workpiece, so that the workpiece is centered. Friction lines 32 are integrally formed on the abutting surface 31 of the centering block 3 and the enclasping block 4, so that the stability of workpiece clamping can be effectively improved. Mounting grooves 22 are formed in one side wall, close to the clamping area 21, of the two clamping arms 2, and a plurality of mounting grooves 22 are uniformly distributed along the length direction of the clamping arms 2. When different workpieces are processed, the centering requirements on the workpieces are different, and the holding blocks 4 can be installed in different installation grooves 22 according to the requirements of the workpieces, so that the workpieces can be conveniently clamped.

The driving assembly 5 comprises a driving member 51, a connecting block 52 and a connecting rod 53, wherein the driving member 51 is arranged as an air cylinder, a fixing plate 54 is fixed at one end of the base 1 far away from the clamping area 21 through bolts, the fixing plate 54 is perpendicular to the base 1, the driving member 51 is arranged on the fixing plate 54, a piston rod of the driving member 51 faces one side of the clamping area 21 and penetrates through the fixing plate 54, and the connecting block 52 is fixed on the piston rod of the driving member 51. When the driving member 51 stretches and contracts, the connecting block 52 can be driven to slide along the symmetry line of the two clamping arms 2. The stabilizer plate 55 is fixed at one end of the fixing plate 54 far away from the base 1 through bolts, the stabilizer plate 55 is parallel to the base 1, the rotating shaft of the clamping arm 2 is located at a position close to the middle of the clamping arm 2, and two ends of the rotating shaft of the clamping arm 2 are respectively fixed on the stabilizer plate 55 and the base 1. The connecting rods 53 are provided with two groups, which are respectively positioned on two sides of the connecting block 52, the clamping arms 2, which are close to the stabilizing plate 55 and the bottom plate; each group of connecting rods 53 is provided with two connecting rods 53, and two ends of the two connecting rods 53 are respectively fixed on the connecting block 52 and the clamping arm 2 in a rotating way.

When the driving member 51 drives the connecting block 52 to slide, the connecting block 52 drives the connecting rod 53 to open or close the clamping arm 2 to the two sides, so that the end of the clamping arm 2 near the clamping area 21 can be opened or closed to clamp and loosen the workpiece.

A guide bar 56 is fixed on one side surface of the base 1 and the stabilizing plate 55, which is close to each other, and the guide bar 56 is a metal rod parallel to the sliding direction of the connecting block 52; the connecting block 52 is provided with guide grooves 521 corresponding to the two guide bars 56, and the guide grooves 521 are slidably matched with the guide bars 56. In use, the guide bar 56 can guide the guide block to improve the stability of the whole operation.

The base 1 is also fixedly provided with a connecting seat 6, the connecting seat 6 is integrally provided with a connecting flange 61, and the connecting flange 61 is perpendicular to the base 1 and is convenient to connect with the mechanical arm.

The embodiment of the utility model discloses a mechanical gripper, which has the implementation principle that: through installing centering piece 3 on base 1, when transporting the work piece centre gripping, lean on the work piece on centering piece 3's butt face 31 earlier, then press from both sides work piece clamp at drive clamping arm 2, can effectively improve the centre precision of work piece centre gripping transportation in-process, and then help improving the precision of work piece processing. Offer a plurality of mounting grooves 22 on centre gripping arm 2, in the production process, can install different hug blocks 4 in different mounting grooves 22 according to different demands to satisfy the centre gripping demand to different work pieces, facilitate the use.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. A mechanical gripper, characterized in that: including base (1), arm (2), centering piece (3) and enclasping piece (4), arm (2) are provided with two and all rotate and be fixed in on base (1), the pivot perpendicular to of arm (2) is base (1), two arm (2) symmetry set up in on base (1), two arm (2) one end is provided with clamping area (21), base (1) are gone up in keeping away from one side of clamping area (21) is provided with and is used for the drive arm (2) centre gripping drive assembly (5), centering piece (3) are fixed in base (1) are close to clamping area (21) one end, enclasping piece (4) are provided with a plurality of and are fixed in two arm (2) one side in clamping area (21) respectively, centering piece (3) with enclasping piece (4) one side sets up to butt face as butt face (31), butt face (31) are concentric.

2. A manipulator claw according to claim 1, characterised in that: mounting grooves (22) are formed in the side walls of the clamping areas (21) on the two clamping arms (2), the mounting grooves (22) are uniformly distributed in the outline direction of the clamping arms (2), and the enclasping blocks (4) are fixed in the mounting grooves (22).

3. A manipulator claw according to claim 1, characterised in that: friction lines (32) are arranged on the abutting surface (31) on the enclasping block (4) and the centering block (3).

4. A manipulator claw according to claim 1, characterised in that: the driving assembly (5) comprises driving pieces (51), connecting blocks (52) and connecting rods (53), the connecting blocks (52) slide along two symmetrical lines of the clamping arms (2) and are arranged on the base (1), the driving pieces (51) drive the connecting blocks (52) to slide, the connecting rods (53) are provided with two, the end parts of the two connecting rods (53) are respectively fixed on two sides, close to the clamping arms (2), of the connecting blocks (52), and the other ends of the connecting rods (53) are respectively connected to the two clamping arms (2) in a rotating mode.

5. A manipulator claw according to claim 4 wherein: the driving piece (51) is arranged to be an air cylinder, one end of the base (1) away from the clamping area (21) is fixed with a fixing plate (54), the driving piece (51) is installed on the fixing plate (54), one end of the fixing plate (54) away from the base (1) is fixed with a stabilizing plate (55), and two ends of a rotating shaft of the clamping arm (2) are respectively fixed on the stabilizing plate (55) and the base (1).

6. A manipulator claw according to claim 5 wherein: the connecting rods (53) are arranged in two groups and are respectively arranged on one side, close to the base (1) and the stabilizing plate (55), of the connecting block (52) and the clamping arm (2).

7. A manipulator claw according to claim 5 wherein: the stabilizing device is characterized in that guide strips (56) are fixed on one sides, close to each other, of the stabilizing plate (55) and the base (1), the guide strips (56) are arranged along the sliding direction of the connecting block (52), guide grooves (521) are formed in the connecting block (52) corresponding to the guide strips (56), and the guide strips (56) are in sliding fit with the guide grooves (521).

8. A manipulator claw according to claim 1, characterised in that: the base (1) is fixedly provided with a connecting seat (6) used for being connected with the mechanical arm, and the connecting seat (6) is provided with a connecting flange (61).